• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.626-630
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, $1{\sim}7$ [mm] and inclination, $0{\sim}30$ [deg]. Since available conventional carriage type is limited to use below root gap of 3 [mm], only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage, current and travel speed, with respect to root gap and inclination to achieve good welding quality. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verify the trajectory tracking accuracy of end-effector.

• Special Issue of the Society of Naval Architects of Korea
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• 2005.06a
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• pp.171-176
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, 1-7 (mm) and inclination, 0-30 (deg). Since available conventional carriage type is limited to use below root gap of 3 (mm), only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage. current, weaving speed, dwell time and travel speed, with respect to root gap and inclination to achieve good welding qualify. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verifying the trajectory tracking accuracy of end-effector.

• Journal of Welding and Joining
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• v.29 no.6
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• pp.77-81
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• 2011

In most industry, manual GTAW welding is preferred for formation of stable back bead in root weld of butt joint. However, manual GTAW welding has low productivity as compared with GMAW, also it has unstable bead quality which depend on skilled workers. So it is necessary to develop process of root pass welding by using automation GMAW that have stable back bead formation and high productivity. In this paper, the design of U-groove with 3mm root face was applied to extend the tolerance of misalignment in condition of standard root gap 1.5mm. Consequently, for the formation of stable back bead in root pass of butt welding, in case of the narrow root gap(0.5mm) the large arc force was applied by increasing the current and voltage. In case of the large root gap(2.5mm), the small arc force was applied by decreasing the current and voltage. Considering the various root gap, the required deposited metal was controlled by welding speed only.

• Journal of the Korean Society of Industry Convergence
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• v.5 no.2
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• pp.111-118
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• 2002

In GMAW(Gas Metal Arc Welding) processes, bead geometry (penetration, bead width and height) is a criterion to estimate welding quality, Bead geometry is affected by welding current, arc voltage and travel speed, shielding gas, CTWD (contact-tip to workpiece distance) and so on. In this paper, welding process variables were selected as welding current, arc voltage and travel speed. And bead geometry was reasoned from the chosen welding process variables using neuro-fuzzy algorithm. Neural networks was applied to design FLC(fuzzy logic control), The parameters of input membership functions and those of consequence functions in FLC were tuned through the method of learning by backpropagation algorithm, Bead geometry could he reasoned from welding current, arc voltage, travel speed on FLC using the results learned by neural networks. On the developed inference system of bead geometry using neuo-fuzzy algorithm, the inference error percent of bead width was within ${\pm}4%$, that of bead height was within ${\pm}3%$, and that of penetration was within ${\pm}8%$, Neural networks came into effect to find the parameters of input membership functions and those of consequence in FLC. Therefore the inference system of welding quality expects to be developed through proposed algorithm.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.1
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• pp.17-22
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• 2011

As the quality of a weld joint is strongly influenced by process parameters the welding process, an intelligent algorithms that can predict the bead geometry and shape to accomplish the desired mechanical properties of the weldment should be developed. In this study, prepared by ${\Phi}1.6mm$ GMA welding of metal wire nose Advice jowelui 350A 600A grade level inverter welder and DAIHEN SCR's were carried out using welding. Welding conditions were 5.5m/min wire feed rate the welding current is rapidly transmit approximately 260A, welding voltage was about 30V. CTWD a 22mm, shielding gas was Ar 20L/min and the welding speed was a 240mm/min. Using data collected during welding equipment welding current and welding voltage waveform was analyzed by measuring the volume of the transition mode. Addition of $CaCO_3$ as a loss of the spread of the weld bead dilution rate decreased, suggesting that, GMA in the overlay welding bead shape control, dilution control and may be used as a welding flux is considered. Stabilizing effect of the arc by the Ca-containing $CaF_2$, $CaCO_3$, $CaMg(CO_3)_2$, respectively, welding flux 0.1wt.% added GMA welding and weld overlay were evaluated with dilution, $CaF_2$, and $CaMg(CO_3)_2$ added to the dilution of Seemed to increase.

• International Journal of Korean Welding Society
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• v.4 no.1
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• pp.23-29
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• 2004

In weaving welding where a V groove exists, the heat input distribution is an important factor that determines the defectiveness of the bead shape, undercut and over-lap. In this study, the amount of heat input, which is determined by the welding current, voltage, speed and weaving conditions is calculated through mathematical development and numerical methods. Furthermore, the heat input distribution as a two- dimensional heat source was observed when applied to each groove.

• Journal of Welding and Joining
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• v.2 no.1
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• pp.25-29
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• 1984

In order to investigate the predominant factors which determine penetration depth and bead width in electron beam welding, bead-on-plate welding was carried out using 7075-T6 Al alloy. The results obtained from the present experiments can be summarized as follows; 1) With increasing accelerating voltage, bead width (B.W) decreases but penetration increases remarkably. 2) Increasing beam current results in increase of bead width and penetration respectively, and decrease of the ratio of penetration increment to beam current increment. 3) With increasing welding speed penetration decreases remarkably, while bead width creases.

• Journal of Welding and Joining
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• v.28 no.2
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• pp.54-59
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• 2010

The effects of welding parameters such as contact tip-to-work distance (CTWD), voltage, and current on the weld metal diffusible hydrogen contents (HD) were investigated and rationalized by the calculation of heating time and amount of heat generated in the extension length of flux cored wire. As CTWD increased from 15 to 25mm, HD decreased from 8.46 to 5.45mL/100g deposited metal. Calculations showed that, with an increase of CTWD, the amount of heat generated increased from 46 to 92J in addition to an increase of heating time. Increase of current from 250 to 320A, however, gave little variation of HD. It showed that no significant change in the amount of heat generated was found, and heating time was decreased with an increase of current. It also showed that CTWD is more influential than voltage in relatively lower heat input ranges, while voltage is more in higher input ranges

• Journal of Welding and Joining
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• v.16 no.6
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• pp.52-58
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• 1998

The effect of Si content in welding wires on th arc stability was investigate, in the region of short circuit transfer and spray transfer. In the region of short circuit transfer, with increasing Si content, average arcing time and average short circuit time were increased. Therefore, droplet transfer frequency was decreased, due to the increase of arcing time and peak current at the moment of arc-reiginition was increased, due to the increase of short circuit time. In the region of spray transfer, the fluctuations of arc current and arc voltage was the most stable in wire with Si content of about 00.60 wt.%.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.585-590
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• 1999

The conventional $CO_2$ inverter arc machine has constant voltage output characteristic and uses constant wire speed controller for welding current control. By adoption of PWM inverter to the welding machine, the spattering was reduced rather than the thyrister arc welding machine or AC arc welding machine. Moreover, by the high switching frequency, the output reactor size could be reduced evidently. Recently, the studies on optimal voltage and current waveform for the welding performance improvement have been studied. In this paper, a new instantaneous output current control scheme during the short circuit mode was proposed and showed the capability of arc stability improvement and the reduction of spatter generation.