• Journal of Korean Institute of Industrial Engineers
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• v.18 no.2
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• pp.83-97
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• 1992

A new approach, to seam tracking for robotic are welding is proposed. In this approach, the weld model is a snapshot image and the acquired image is analyzed and compared to the welding database which contains CAD data, weld positions, weld parameters, etc. This paper presents a fast and robust algorithm for the Hough Transform. This modified Hough Transform(MHT) algorithm uses the least-squares regression analysis method in order to approximate the edge lines more precisely, and leads to a significant reduction in both computation and storage. In comparison with the conventional seam tracking methods, this new approach has the advantages of low cost, continuous welding, and various type welding.

• Journal of Ocean Engineering and Technology
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• v.37 no.6
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• pp.266-272
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• 2023

The structure of a ship is completed by processing various steel plates and welding these plates. This butt welding of plates is defined as a seam in shipyards, and this study seeks to find a way to decrease costs by reducing the utilization of steel through effective seam arrangement. Seams were defined and classified according to purpose, and examples of "pieces" and "main plates" where seam creation had an economical saving effect were selected. For "pieces," the change in the weight of steel utilized depending on the presence or absence of a seam was calculated, and the resulting change in cost increase was presented. In the case of the "main plate," the quantity of seams does not change, but an example of cost variation due to the appropriate placement of seams is presented. Hence, a large difference was found in the costs of "pieces" depending on seam location. Thus, it was advantageous to create additional seams. For the "main plate," it was found that narrow-width and wide-width materials incur more costs. This study demonstrates that creating seams is economically advantageous but may not be preferred owing to the increased workload from a production perspective.

• Journal of Welding and Joining
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• v.18 no.1
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• pp.83-90
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• 2000

It was attempted to improve seam-tracking performance by applying a new arc-sensing algorithm for FCAW(flux-cored arc welding) process in fillet joints. For this study the authors have introduced three different weight factors: $\circled1$ arc currents at the weaving end are more weighted, $\circled2$ arc currents are evenly weighted along the weaving, and $\circled3$ arc currents at the weaving center are more weighted. To evaluate the 3 factors the values of signal-to-noise(S/N) ratio has been measured. The values were obtained for various welding conditions with different gaps in horizontal and vertical fillet joints. The test results showed that the S/N ratio of the 1st case was highest which resulted in the best of seam tracking performance. In addition, the comparison between the seam tracking performance in horizontal fillet joints and that in vertical ones has been done, and the result showed that tracking performance in vertical joints was relatively better than that in horizontal joints.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.3
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• pp.19-23
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• 2005

To minimize the weld defect in manufacturing of the welded tube by using $CO_2$ laser, the monitoring of the welding quality and the seam tracking along the butt-joint lengthwise to the tube axis are studied. The longitudinal butt-joint is shaped from $60kgf/mm^2$ grade steel sheet by 2 roll bending method, and welded by the $CO_2$ laser welding system equipped with the seam tracker and plasma sensor. The laser welded tube has the thickness of 1.5mm, diameter of 105.4mm and length of 2000mm. The precise positioning of the laser beam on the butt-joint to be assembled is obtained within $200{\mu}m$ by the laser vision sensor. The artificial defects in the butt-joint are well observed by the signal of plasma intensity measured from the plasma sensor of UV wavelength range within 400nm. The developed $CO_2$ laser tube welding system has the function of the precision seam tracking and the real-time monitoring of the welding quality. In conclusion, the laser welded tube can be used for manufacturing of automobile chassis and components after hydro-forming.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.775-778
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• 1996

In this research, the robustness of a seam tracking for the automatic welding system is studied. The laser displacement sensor is used as a seam finder. X-Y moving table drived by ac servo motor controls the position and velocity of the torch-and-sensor part. However, dc servo motor is used to control the position and velocity of the torch. The sensor locates ahead of torch to preview the weld line, and brings about the inaccuracy on the torch tracking. To enhance the robustness on this system against the influence of disturbances and model uncertainty, H$\_$.inf./ control is applied to the angular motion of torch. The simulation shows that the tracking accuracy improved significantly. Also, experimental results give a good performance of H$\_$.inf./ control strategy to the automatic seam tracking system for the welding.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.3
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• pp.243-251
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• 2015

In order to develop an automatic system for welding thin steel plates with curvature such as the corrugated membranes of an LNG storage tank, a rotating mechanism should be firstly designed for the torch to easily follow the weld seam with a constant distance and angle. In this study, a torch rotating mechanism consisting of three circular links, two square-type links and a torch link was proposed for automation of the welding process. A weld-seam tracking system with two axis slides and the proposed rotating mechanism was successfully simulated with a dynamic simulation software. A prototype tracking system was manufactured and a tracking test with the system was then carried out. The test results with tracking system showed that the rotating mechanism could be implemented and it was feasible to be used in automatic tracking of weld seam with curvature.

• Journal of Welding and Joining
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• v.17 no.1
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• pp.133-144
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• 1999

To fine seam annealer capacity of through thickness seam annealing in terms of through thickness microstructure change with increased toughness and elongation leaving heat trace on it, high strength steel pipes of ERW with different thickness were tested in different seam annealing temperature measured on the outer surface of pipes. Annealing temperature and microstructure of the weld seam were changed through applied seam annealing condition. Toughness and tensile test with hardness and microstructure analysis were done on the annealed weld seam to fine its characteristics as a primary step and annealing characteristics according to different seam annealing condition. Through a study of annealed ERW weld seam characteristics and seam annealing technology, amount of electric power should apply in decreased manner to arranged inductors of annealer in the order of 1st, 2nd, 3rd, so on for proper seam annealing. For example of 15.4mm thick and 610mm outside diameter pipe, applied power for proper seam annealing is 600 -650kw at 1st inductor, 450 - 500kw at 2nd inductor, 200-250 kw at 3rd inductor of annealer during 10 - 12M/minute moving speed of pipe. Also, the penetration depth of heat trace along the thickness direction of weld during seam annealing can be estimated through the equation 17mm/kv$\times$voltage(kv) with the microstructure and hardness analysis of thick weld seam as well as study of seam annealing and comparison of cooling condition to CCT diagram of low carbon high strength steel. From this result, the difference between the technological applicability of full annealing condition based on phase diagram and full penetration of heat trace based on CCT diagram along the thickness of weld seam is discussed.

• Journal of Welding and Joining
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• v.23 no.4
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• pp.66-72
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• 2005

An electromagnetic inductive sensor consisted of one exciter and three separated (triple) detectors has been developed for both tracking the weld seam of a workpiece and controlling the sensor-to-workpiece distance (height) simultaneously. The left and right detectors are used to track the seam, while the fore and the other two detectors allow the sensor to determine the height and the gap width by being coupled their outputs together. A series of experiments with the proposed sensor located above a mild steel plate containing a weld seam of gap are carried out to examine the feasibility of the sensor. The results revealed that the proposed sensor could fairly well track the desired seam and also well control the height to be constant even when the gap width of the seam varied. The gap width can be also determined during the seam tracking by using the sensor outputs. As a consequence, these can provide the developed sensor with substantial improvement for industrial uses with respect to the previous electromagnetic sensors being used for the weld seam tracking.

• Proceedings of the KWS Conference
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• 1992.04a
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• pp.63-63
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• 1992

본 연구에서는 Zn도금강판의 mash seam용접부의 조직학적 특성 및 도금층 및 인산염 coating의 용접 접합 계면에서의 거동율 검토하여 용접과정율 단계별로 분리 파악하여 계면 파단의 mechanism을 제시하였다. 이와 더불어, mash seam용접부에서 발견 되는 결함의 종류 및 방지대책에 관하여서도 언급하였다.

• Journal of Welding and Joining
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• v.9 no.3
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• pp.34-40
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• 1991

An automatic welding system was constructed with a personal computer to capture the welding data in addition to vision seam tracking for the gas metal arc welding process. The monitoring of welding signals is composed of the acquisition of welding voltage and current, obtained by using two differential amplifiers and A/D converters, and processing of the measured data. Using interrupt handing circuit for time sharing, two jobs of seam tracking and monitoring were performed at the required sampling time. Relations between welding signals and various welding circumstances were analyzed from the experimental results.