• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.12
• /
• pp.446-452
• /
• 2016

Recently, heat resistant super alloys (which are wear-resistant, corrosion-resistant, and heat-resistant), have been used as the basic structural material in offshore and petrochemical plants. On the other hand, making valves from very expensive, high heat-resistant alloys increases the production cost and decreases its market competitiveness. To solve these problems, the technique of overlaying only those that flow on the fluid has been used as an effective method. Nevertheless, because the former technique of overlaying the ball is performed manually, it takes too much time and perfect welding is difficult to perform. To solve this problem, this study developed a robot automation system that can make uniformly overlay welding of the ball for ball-valves. The system consists of a 6-axis welding robot with a welding torch and additional 2 axes for the rotation of positioner, the controller, and a robot path OLP (Off-Line Programming). The CAD drawing data was entered in the Off-line program to obtain the robot teaching point and drive source. Overlay welding paths were implemented using Matlab. Through an automated overlaying system that implemented the OLP, the productivity rose 2.58 times, as the amount of time required for work decreased from 88 hours to 41 hours.

• 전기의세계
• /
• v.21 no.4
• /
• pp.27-38
• /
• 1972

This paper discusses the characteristics about the ignition of D.C. main discharge is a plasma jet generator, manufactured for trial as non-transferred type, when the electrical energy appropriate to the ignition is supplied to the gap between the electrodes by using advance discharge of attenuating high frequency voltage generated by a high frequency oscillator with mercury spark gap. These characteristics are under the influences of (a) the length of mercury gap in high frequency oscillator and the quantity of hydrogen flow supplied to it, (b) the condenser capacity of the high frequency oscillator circuit, (c) the length of plasma jet torch in D.C. main discharge circuit and the quantity of argon flow supplied to it, (d) the circuit constants of D.C. main discharge circuit. The results for these characteristics, obtained by this research, are considered to be helpful to the designs for the ignition of a plasma jet as well as the welding arc stabilizer by high frequency discharge and the high frequency arc welder.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.10
• /
• pp.64-74
• /
• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Proceedings of the KWS Conference
• /
• 2009.11a
• /
• pp.21-21
• /
• 2009

현장의 GMA 용접기는 일반적으로 용접기 본체로부터 와이어 송급장치까지의 거리가 약 50m 정도 떨어져 있고 송급장치로부터 토치까지의 거리는 약 3~5m 정도이다. 특히 국산 GMA 용접기의 와이어 송급장치는 DC 모터의 일종인 프린트모터를 사용하고 있으며 제어기는 오픈루프 제어를 하고 있다. 따라서 와이어 송급속도의 변동을 보상할 수 있는 어떤 수단도 장착되어 있지 않다. 또한 송급장치와 토치간 와이어를 안내하는 케이블 도관의 마찰 때문에 토치 끝단에서의 와이어 송급속도가 불규칙해질 수밖에 없다. 용접 시 와이어 송급속도의 순간적인 변동 때문에 용접부의 전류 파형이 매우 불규칙해지고 이 때문에 용융된 용적이 용융풀로 이행하지 못하고 스패터로 비산하는 현상을 발생시킨다. 본 연구에서는 이를 해결하고자 국산 SCR 용접기 및 인버터 용접기와 호환 가능한 디지털 제어형 와이어 송급장치와 Push-Pull 용접 토치를 개발하였다. 또한, 개발된 시스템을 이용하여 정 역 방향 제어기술을 적용하였고 아크 발생 시의 스패터 최소화 공정을 제안하였다. 실험은 SM490A 강재를 사용하여 BOP(Bead On Plate) 용접을 실행하였다. 용접 중 LabVIEW를 이용하여 아크 발생 초기 전류, 전압 그리고 와이어 송급속도를 측정하였고, 고속 카메라를 이용하여 용접현상을 분석하였다. 본 연구를 통해 아크 발생 초기의 스패터를 최소화하는 공정을 도출할 수 있었다. 용접공정 변수인 아크 발생 초기의 와이어 송급속도, 와이어의 역송급 진행거리 그리고 역송급 판단 시점의 용접 전류 값은 실험을 통해 얻을 수 있었다. 또한, 이 연구를 통해 개발된 시스템의 성능을 평가하였다.

• Journal of Dental Rehabilitation and Applied Science
• /
• v.19 no.4
• /
• pp.269-279
• /
• 2003

This study investigated the mechanical properties of precious metal-ceramic alloy joined by the laser-welding and the soldering compared with the parent metal. Twenty-four tensile specimens were cast in precious metal-ceramic alloy and divided into three groups of eight. All specimens in the control group(group 1) were left in the as-cast condition. Group 2 and 3 were the test specimens, which were sectioned at the center. Eight of sectioned specimens were joined by soldering with a propane-oxygen torch, and the remaining specimens were joined by laser-welding. After joining, each joint diameter was measured, and then tested to tensile failure on an Instron machine. Failure loads were recorded, and then fracture stress(ultimate tensile strength), 0.2% yield strength and % elongation calculated. These data for three groups were subjected to a one-way analysis of variance(ANOVA). Neuman-Keuls post hoc test was then used to determine any significant differences between groups. The fracture locations, fracture surfaces were examined by SEM(scanning electron microscope). The results were as follows: 1) The tensile strength and 0.2% yield strength of the soldered group($280.28{\pm}49.35MPa$, $160.24{\pm}26.67MPa$) were significantly less than both the as-cast group($410.99{\pm}13.07MPa$, $217.82{\pm}17.99MPa$) and the laser-welded group($383.56{\pm}59.08MPa$, $217.18{\pm}12.96MPa$). 2) The tensile strength and 0.2% yield strength of the laser-welded group were about each 98%, 99.7% of the as-cast group. There were no statistically significant differences in these two groups(p<0.05). 3) The percentage elongations of the soldered group($3.94{\pm}2.32%$) and the laser-welded group($5.06{\pm}1.08%$) were significantly less than the as-cast group($14.25{\pm}4.05%$) (p<0.05). 4) The fracture of the soldered specimens occurred in the solder material and many porosities were showed at the fracture site. 5) The fracture of the laser-welded specimens occurred also in the welding area, and lack of fusion and a large void was observed at the center of the fracture surface. However, the laser-welded specimens showed a ductile failure mode like the as- cast specimens. The results of this study indicated that the tensile strengths of the laser-welded joints were comparable to those of the as-cast joints and superior to those of the soldered joints.

• Journal of Welding and Joining
• /
• v.27 no.2
• /
• pp.32-37
• /
• 2009

In shipyard, plate forming is widely used to form the ship hull plate in various shapes. Line heating method by using a flame torch is one of the major shipbuilding processes carried out by skilled workers. Since the forming characteristics depend upon their experiences in manual forming, there are much variations between products and difficulties in communication between engineers and workers. Hence, it needs to develop an automatic forming system which can not only reduce the working time and rework costs but also improve the working environment and hull forming productivity. One of the final goals of plate forming automation is to form a target shape from the initial plate automatically. For automated plate forming, it is required to determine where and how to heat on the plate. To realize this procedure, the inverse problem should be first solved and the effect of curvature shape formed at the heating path should be investigated. In this study, the inverse problem was solved by geometrical approach using the relationship between bending angle and radius of curvature of the curved shape. In addition, experiments of two-dimensional plate forming were performed with the distance-based method considering the curved bending with curvature. The result of the formed shape agreed considerably well with the target shape.