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선박 제조 공정 분야에서 수용접 대체를 위한 용접 로봇 시스템 도입의 적합성 분석 연구
권용섭,박창형,박상현,이정재,이재열,Kwon, Yong-Seop,Park, Chang-Hyung,Park, Sang-Hyun,Lee, Jeong-Jae,Lee, Jae-Youl 한국산업융합학회 2022 한국산업융합학회 논문집 Vol.25 No.5
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.
조선 중공업 환경 내 자율 용접 작업 경로 추출을 위한 특징 형상 인식 기법
노정민(Jung-min Noh),권용섭(Yong-seop Kwon),이만기(Mang-gi Lee),박창형(Chang-hyung Park),김경호(Kyung-ho Kim),김민규(Min-gyu Kim),서갑호(Gap-ho Seo) (사)한국CDE학회 2021 한국CDE학회 논문집 Vol.26 No.4
Many research and development for the autonomous welding have been progressed. It is necessary to extract trajectory lines from the workpieces for welding automation, and various sensors such as laser sensors have been studied. In this study, we propose a vision-based guidance line extraction method for autonomous welding robot systems. The proposed method uses a series of image processes for extracting welding trajectory data. To verify our method, we constructed test beds based on CAD data in heavy industries and conducted several experiments. These experiments confirmed the applicability of our method, which has advantages in terms of speed and cost for automatic welding in heavy industries.
박정환(Jung Whan Park),정창욱(Chang Wook Jung),권용섭(Yong Seop Kwon),강성필(Sung Pil Kang) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.1
본 연구는 선박용 프로펠러 주물 생산을 위한 후란주형 설계 및 가공 시스템을 개발하였다. 대형 선박용 프로펠러는 시멘트 혹은 후란 소재로 상형 및 하형 주형을 제작하고, 주조를 통해 소재를 제작한다. 이후 주물소재에 대한 일련의 기계가공 및 사상을 거쳐 제품을 완성한다. 기존 후란주형은 수작업을 통한 조형을 통해 제작되므로 세부 공정이 많아질뿐더러, 상당한 소재여유가 존재함으로써 기계가공 및 사상 공수가 증가한다. 이에 따라 후란주형의 제작 정밀도를 향상하고, 생산과정의 표준화 및 생산성 향상을 위해 설계 소프트웨어 및 6축 로봇을 이용한 후란주형 제작 시스템을 개발하였다. A furan mold design and machining system for marine propeller casting was developed. In general, a large marine propeller is produced by casting in a foundry, where the upper and lower molds are constructed of cement or other materials like furan. Then, the cast workpiece is machined and manually ground. Currently, furan mold construction requires a series of manual tasks. This introduces a fairly large amount of stock allowances, which require a considerable number of man-hours for later machining and grinding, and also increase the work processes. A mold design and off-line robot programming software tool with a six-axis robot hardware system was developed to enhance the shape accuracy and productivity. This system will be applied in a Korean ship building company.