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레이저 비전 시스템을 이용한 SUS-pipe Butt MAG 용접시스템의 개발
조영식,김수호,강계형 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
Using the laser vision system, we developed automatic SUS-pipe MAG welding system that produces SUS-pipes for the LNGC pump-mast structure. This system consists of a 6-DOF serial robot on the bogie, a laser vision system, pipe turning rollers, and a welder. The algorithm that determines automatically welding velocity and total number of welding passes is applied by the laser vision system which measures the joint geometry information. And the adaptive control is used updating the shooting point and welding current and voltage to obtain the welding quality satisfying the LNGC quality assurance. Moreover we developed the welding layer method optimized to the automatic welding system, and found out the relational equations between the melting rate and the welding current and voltage from experiments.
LNG 탱크의 주름진 내벽박판용 자동용접시스템의 개발에 관한 연구
유제용,유원상,나석주,강계형,한용섭 대한용접접합학회 1996 대한용접·접합학회지 Vol.14 No.1
Development of an automatic TIG welding system incorporating a vision sensor and torch control mechanism leads to an improved welding quality and greater production efficiency. The automatic welding system should be greatly restricted in its size and weight for the LNG(Liquefied Natural Gas) storage tank and also provide a unique torch rotating mechanism which keeps the torch tip in the constant position while the angle is changed continuously to maintain the welding torch substantially perpendicular to the weld line. The developed system is driven by two translation axes X, Z and one rotational axis. A moving line window method is adopted to the image recognition of the corrugated membranes with specular reflection. This method decides original laser stripe patterns in image which is affected by multi-reflection. A self-teaching algorithm, which guides the automatic welding machine with the information provided by the CCD camera without any previous learning of a reference trajectory, was developed for tracking the corrugated membrane of the LNG tank along the weld line.
유보현(Bo-Hyun Yu),김원배(Won-Bae Kim),김정민(Jung Min Kim),강계형(Gye Hyung Kang),김수호(Soo Ho Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
A grit blasting consists of attacking the surface of a material with grits. The grit blasting is very dangerous and difficult work in the shipbuilding industry. Particularly, it is very dangerous for workers to grit blasting in double hull ship block which has very hazardous environment. So, many workers have musculoskeletal disorders and respiratory disorders. Recently, shipbuilding industry demands the autonomous process instead of manual work process in double hull ship block. This paper describes blasting robot’s control system and work process due to the work surface preparation for girt blasting