• Journal of the Institute of Convergence Signal Processing
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• v.11 no.4
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• pp.338-344
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• 2010

Both ends of welding line are often closed by wall in the welding of ship blocks. In this research, seam tracking sensing system for butt welding in the condition with wall was developed. Seam tracking sensing system measures position of carriage from wall and detects root-pass of welding line. The system consists of the laser displacement sensors and ultrasonic sensors. The laser displacement sensor reciprocal1y rotates by the motor and measures a distance from laser sensor to the welding material. The ultrasonic sensor measures a distance between welding system and walls. The distance measured by the ultrasonic sensor is used to get X(driving) position and to determine initial and end point of the weld line. Y(weaving) and Z(height) of the weld line are obtained by the distance measured by the laser displacement sensor and the orientation of the sensor. The sensing system includes the controller that is independent from the welding carriage. The seam tracking sensing system is attached to both side of welding carriage so that interference between welding torch and sensing system can be avoided during the welding. And both side sensing system minimize dead zone. Finally, developed sensing system was adhered to welding carriage and verified usefulness by experiments.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.282-288
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• 2002

A new on-line bar joining technology employing the concept of a solid-state joining has been developed for the endless rolling by POSCO, RIST and MHMM Inc.. In the process, the bars are partially descaled, partially overlapped, joined by shearing action and crops are finally removed. The feasibility of the developed process was evaluated in this study in terms of microstructures and mechanical properties of joints, and the response of the joint to rolling.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.30-30
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• 2009

GTA 용접에서 용입, 용접부의 크기와 형상이 형성되는 아크 물리학적 현상을 이해함에 있어서 에너지 분포특성은 매우 중요한 인자이다. GTA 용접에서 아크 길이의 변화와 사용된 실드 가스 종류에 따라 음극인 텅스텐 전극 팁의 아크 루트 직경에 큰 변화를 주며, 양극인 모재 쪽의 에너지 분포에 영향을 미치며 된다. 기존의 연구자들은 저전류나 중전류 영역의 GTA 용접에서 텅스텐 전극의 선단각과 용입 형태와 의 관계를 plasma 기류 등에 의해 고찰하거나, 최대 아크압력에 미치는 전극형상의 영향에 대하여 연구하였다. 용접부에 작용하는 아크 압력의 분포는 결국 운동 에너지의 분포이다. 기존의 연구자들에 비하여 보다 간편한 실험을 통하여 양극 모재위의 아크 압력에 의한 에너지 분포특성을 규명하는 연구가 필요하다. 본 연구의 목적은 GTA 용접의 용접전류 100A~200A 영역에서 아크 길이 변화와 Ar 가스에 $H_2$ 혼합에 따른 측정된 아크 압력으로부터 기존연구자들의 아크 물리학적 결과들을 활용하여 양극 모재 위에 작용하는 전류밀도 분포를 유도하는 것이다. GTA 용접에서 아크 길이의 변화와 Ar 가스에 $H_2$ 혼합은 아크 압력분포에 큰 영향을 미치며, 이에 따라 에너지 분포특성에 많은 영향을 미친다. 아크 길이가 증가함에 따라 Ar가스와 $H_2$ 혼합가스의 에너지 분포는 감소하였고, Ar가스에 $H_2$ 혼합에 의해 아크 에너지가 증가하여 용입형상에 큰 영향을 미칠 것으로 판단된다. 이에 대한 연구는 향후 GTA 용접 응용분야 확대 적용될 것이며, 아크 물리학 연구에 기초적이고 아주 중요한 과학적인 자료가 될 것으로 판단된다.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.32-42
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• 2005

In this paper, to improve the efficiency of welding and user convenience in the shipbuilding industry, a PC-based off-line programming (OLP) technique and the development of a robot transfer unit are presented. The developed OLP system is capable of not only robot motion simulations but also automatic generations of a series of robot programs. The strength of the developed OLP system lies in its flexibility in handling the changes of the welding robot's target objects. Moreover, for a precise transfer of the robot to a desired location, an auxiliary mobile platform named a robot-origin-transfer-unit (ROTU) was developed. To enhance the cornering capability of the platform in a narrow area, the developed ROTU is equipped with 2 steering wheels and 1 driving wheel. Both the OLP and the ROTU were field­tested and their performances were proven successful.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.3
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• pp.1-8
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• 2011

Stainless steel sheets are widely used as the structure material for the railroad cars and the commercial vehicles. These kinds structures used stainless steel sheets are commonly fabricated by using the gas welding. Gas welding is very important and useful technology in fabrication of an railroad car and vehicles structure. However fatigue strength of the gas welded joints is considerably lower than parent metal due to stress concentration at the weldment, fatigue strength evaluation of gas welded joints are very important to evaluate the reliability and durability of railroad cars and to establish a criterion of long life fatigue design. In this paper, ${\Delta}-N_f$ curve were obtained by fatigue tests. Using these results, the accelerated life test (ALT) is conducted. From the experimental results, an acceleration model is derived and acceleration factors are estimated. So it is intended to obtain the useful information for the fatigue lifetime of plug and ring gas welded joints and data analysis by statistical reliability method, to save time and cost, and to develop optimum accelerated life prediction plans.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.73-78
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• 2016

In this study, GTAW was carried out on austenitic STS316 stainless steel. Overlay welding with the stellite-base filler metal was implemented using a double torch. The response variable was calculated on the measured Vickers hardness for process optimization using the Taguchi method and its response variable was then analyzed about effect on overlay welding characteristics. The optimal process design by the Taguchi method is extremely effective in the overlay welding process for the multiple response variables. In addition, the effects of contribution rate about each response variable was analyzed easily. The conditions of the optimal process were 105A, 18V, pre-heat treatment at $200^{\circ}C$, and post weld heat treatment at $100^{\circ}C$. The Vickers hardness of the specimens produced under the optimal condition of GTAW by the double torch was 8.19% higher than that by a single torch.

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.7-7
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• 2009

TIG 용접에서는 후판 용접의 경우 용입의 한계 때문에 깊고 넓은 그루브 가공을 하여 다층 용접을 한다. 이 때, 그루브를 채우는 용착금속에 의한 응고 수축과 과대한 입열로 인한 변형이 문제시 되고 있다. 변형을 줄이기 위해서는 용착금속의 양과 입열량을 줄여야 한다. 이러한 문제를 해결하기 위해 그루브의 루트패이스를 두껍게 하고 그루브각을 줄여서 용착량을 줄인다. 이때, 좁은 그루브에서 두꺼운 루트패이스를 완전 용입할 수 있는 용접 프로세스가 필요하다. 비드가 좁고 깊은 용입 특성을 가지는 Plasma welding(PAW) 경우에는 좁은 그루브 속에 토치가 접근하기 어려워 적용하기 어렵다. 따라서 접근성이 용이한 TIG 용접에서 높은 용입형상비를 가지는 용접공정 개발이 필요하다. 선행연구로 높은 용입 형상비를 가지는 Active flux Tungsten Inert Gas(ATIG) 용접이 연구되었다. ATIG의 용입 증가 메커니즘으로는 Marangoni effect, 음이온들로 인한 아크 수축 효과, 절연 플럭스에 의한 아크 수축효과 등으로 알려져 있다. 또한 선행연구에서 ATIG에서 Ar가스에 He 또는 $H_2$ 가스를 첨가하면 용입이 더욱 증가하는 것을 확인하였다. 본 연구에서는 A-TIG에 He 가스를 적용하고 아크길이 0.5mm, 1.0mm, 2.0mm와 전극 선단각 30도, 60도, 90도에 따른 용입 형상비와 변형량을 검토하기 위해 실험을 하였다. 실험 결과는 아크길이가 감소할수록 전극 선단각이 증가할수록 용입 형상비는 증가하였고, 변형량은 감소하였다.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.5
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• pp.799-810
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• 2022

Welding work is a production work method widely used throughout the industry, and various types of welding technologies exist. In addition, many methods are being studied to automate these welding operations using robots, but in the ship manufacturing field, welding such as painting, cutting, and grinding is also the most common operation, but the manual operation ratio is higher than in other industries. Such a high manual labor ratio in the field of ship manufacturing not only causes quality problems and production delays according to the skill of workers, but also causes problems in the supply and demand of manpower. Therefore, this paper analyzed the reason why the automation rate is low in welding work at ship manufacturing sites compared to other industries, and analyzed the production process and field environment for small and medium-sized ship manufacturing companies that repeatedly manufactured with a small quantity production method. Based on the analysis results, it is intended to propose a robot system that can easily move between workplaces and secure uniform welding quality and productivity by collaborating simple welding tasks with humans. Finally, the simulation environment is constructed and analyzed to secure the suitability of robot system application to current production site environment, work process, and productivity, rather than to develop and apply the proposed robot system. Through such pre-simulation and robot system suitability analysis, it is expected to reduce trial and error that may occur in actual field installation and operation, and to improve the possibility of robot application and positive perception of robot system at ship manufacturing sites.

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