레이저 용접 로봇의 경로 생성에 관한 연구

강희신(Hee-Shin Kang),서정(Jeong Suh),박경택(Kyoung-Taik Park) 한국레이저가공학회 2010 한국레이저가공학회지 Vol.13 No.4

Robot path generation and laser welding technology for manufacturing automotive body are studied. Laser welding and industrial robot systems are used with the robot based laser welding system. The laser system used in this study is 1.6kW Fiber laser, while the robot system is 6 axes Industrial robot (payload:130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. The welding joints of steel plate are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. The 3 dimensional laser welding for non-linear pipe welding line is performed. This paper introduces the robot based laser welding system to resolve the limited welding speed and accuracy of the conventional spot welding system.

로봇 기반 원격 레이저 용접에 관한 연구

강희신(Hee-Shin Kang),서정(Jeong Suh),조택동(Taik-Dong Cho) 한국레이저가공학회 2008 한국레이저가공학회지 Vol.11 No.4

Remote Laser welding technology for manufacturing automotive body is studied. Laser welding and industrial robot systems are used for the robot based laser welding system. The laser system is sued 1.6kW Fiber laser(YLR-1600) of IPG. The robot system is used HX130-02 of Hyundai Heavy industry(payload : 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. During past three years the laser system, 4kW Nd:YAG laser (HL4006D) of Trumpf was sued and the robot system, IRB6400R of ABB (payload:120kg) was used. The new laser source, robot and laser scanner system are sued to increase the processing speed and to improve the process efficiency. This paper introduces the robot based remote laser welding system to resolve the limited welding speed and accuracy of the conventional laser welding system.

Quality Monitoring of Laser Welding

Hee-Shin Kang,Jeong Suh,Tae-Hyun Kim,Taik-Dong Cho 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

In this paper, a study of quality monitoring technology for the laser welding was conducted. The laser welding and the industrial robotic systems were used with robot-based laser welding systems. Over the past years, Trumpf"s 4kW Nd:YAG laser (HL4006D) and ABB"s IRB6400R robot system (payload:120kg) were used. The new laser source, robot and laser scanner system are used to increase the processing speed and to improve the efficiency of processes. The laser system used in this study was IPG"s 1.6kW Fiber laser (YLR-1600), while the robot system was Hyundai Heavy Industry"s HX130-02 (payload : 130kg). The robot-based laser welding system was equipped with a laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc were butt and lapped joints. The quality testing of the laser welding was conducted by observing the shape of the beads on the plate and the cross-section of the welded parts, analyzing the results of mechanical tension test, and monitoring the plasma intensity by using UV and IR sensor. This paper proposes the quality monitoring method and the robot-based remote laser welding system as a means of resolving the limited welding speed and accuracy of conventional laser welding systems.

Automatic Welding Robot System for the Horizontal Position in the Shipyard

Sung Hoon Ko,Jeom Goo Kim,Hyeong Soon Moon 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

In the horizontal position welding, a series of trials for automatic welding technique have been carried out. However, their results have been used under some limited scopes. In this study, a welding robot system was developed to automate the horizontal welding in ship building construction. The small mechanical robot incorporates CAN-communication based motor drivers to minimize wiring of the welding robot. In order to weld on various gaps between workpieces, an automatic gap measurement and an algorithm for weld pass design were developed. A database of optimum welding conditions for FCAW(flux cored arc welding) and GMAW(gas metal arc welding) process was also established. The developed welding robot system showed a good performance in the shop test, and it is being optimized in HHI shipyard.

원격 레이저 용접에 관한 연구

강희신(Hee-Shin Kang),서정(Jeong Suh),김정오(Jeng-O Kim),조택동(Taik-Dong Cho) 한국레이저가공학회 2008 한국레이저가공학회 학술대회 논문집 Vol.2008 No.-

Remote Laser welding technology for manufacturing automobile body is studied. Laser welding system and industrial robot are used for consisting the robot based laser welding system. The laser system is used 1.6kW Fiber laser(YLR-1600) of IPG. The robot system is used HX130-02 of Hyundai Heavy Industry(payload :130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc are butt and lap joint. The laser welding tests are performed through the observation the bead on plate and cross-section of welding part. During the past three years the laser system was used 4kW Nd:YAG laser(HL4006D) of Trumpf and the robot system was used IRB6400R of ABB(payload:120kg). The new laser source, robot and laser scanner system permit to increase the processing speed and to improve the process efficiency. This paper introduces the robot based remote laser welding system to permit to resolve the limited welding speed and accuracy of the conventional laser welding system.

자동 로봇 용접을 위한 Hand-Eye 레이저 거리 측정기 기반 용접 평면 인식 기법

박재병(Jae Byung Park),이성민(Sung Min Lee) 대한전자공학회 2012 전자공학회논문지 Vol.49 No.9

세계 용접재료 및 용접로봇시장 현황 (Ⅱ)

김병진,강민정,천현필 대한용접접합학회 2023 대한용접·접합학회지 Vol.41 No.3

This study analyzed the market trends of welding consumables and welding robots from international welding industries using data reported by SHIMPO CORPORATION. Recently established companies are planning to use automation to achieve high performance with cheap labor. In this context, welding robots are commonly used in manufacturing facilities to perform high-quality welds at a faster rate than with manual welding. In addition, most welding procedures exhaust welding consumables such as rods and wires. Therefore, it is possible to estimate the trends of the overall welding market and related application industry market through the market trends of welding robots and welding con- sumables. From 2009 to 2021, the sales of welding consumables grew at a compound annual growth rate (CAGR) of 2.17%, whereas those of welding robots grew at a CAGR of 11.17%. The higher growth rates in developing countries have lifted up the overall market growth, whereas the rates in leading markets such as the US and China have tended to slow down. In conclusion, the increasing demands for manufacturing and construction in developing countries such as India and Southeast Asia are expected to drive the market growth in the coming years.

Optimal Wrist Design of Wrist-hollow Type 6-axis Articulated Robot using Genetic Algorithm

Hyeon Min Jo(조현민),Won Jee Chung(정원지),Seung Min Bae(배승민),Jong Kap Choi(최종갑),Dae Young Kim(김대영),Yeon Joo Ahn(안연주),Hee Sung Ahn(안희성) 한국기계가공학회 2019 한국기계가공학회지 Vol.18 No.1

In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on SolidWorks<SUP>®</SUP> for robot modeling, MATLAB<SUP>®</SUP> for GA optimization, and RecurDyn<SUP>®</SUP> for analyzing dynamic characteristics of a robot. Especially RecurDyn<SUP>®</SUP> is incorporated in the GA module of MATLAB<SUP>®</SUP> for the optimization process. The results of the simulations will be verified by using RecurDyn<SUP>®</SUP> to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

Calibration Method of Roof Weld Coating Robot System Based on Plane-to-Plane Intersection Model

Shanming Luo,Fuqiang Li,Pingjiang Wang,Yin Yang,Jingyu Mo 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.8

In order to solve the problems of traditional calibration methods, such as assigning internal and external parameters for camera and hand-eye relation matrices, a new method to calibrate weld coating robots based on plane-to-plane intersection model is developed in this paper. The mathematical model of the system is established by the homogeneous transformation theory, and then used to calibrate the line structured light sensor (LSLS). By adjusting the robot, the coordinate systems of the LSLS and the workpiece are superposed to solve the hand-eye relation matrix of the car roof weld coating robot. Finally, the calibrated experimental process and results towards car roof weld coating robot system are analyzed. The results show that this method is simple and high accuracy in roof weld coating robot system, and can be applied to the field calibration of car roof weld coating robot system. Furthermore, it can provide guiding significance for calibration of other robot systems.

Development of Automated Welding System for Construction: Focused on Robotic Arm Operation for Varying Weave Patterns

Doyun Lee,Guang-Yu Nie,Aman Ahmed,Kevin Han Council on Tall Building and Urban Habitat Korea 2022 International journal of high-rise buildings Vol.11 No.2

Welding is a significant part of the construction industry. Since most high-rise building construction structures rely on a robust metal frame welded together, welding defect can damage welded structures and is critical to safety and quality. Despite its importance and heavy usage in construction, the labor shortage of welders has been a continuous challenge to the construction industry. To deal with the labor shortage, the ultimate goal of this study is to design and develop an automated robotic welding system composed of a welding machine, unmanned ground vehicle (UGV), robotic arm, and visual sensors. This paper proposes and focuses on automated weaving using the robotic arm. For automated welding operation, a microcontroller is used to control the switch and is added to a welding torch by physically modifying the hardware. Varying weave patterns are mathematically programmed. The automated weaving is tested using a brush pen and a ballpoint pen to clearly see the patterns and detect any changes in vertical forces by the arm during weaving. The results show that the weave patterns have sufficiently high consistency and precision to be used in the actual welding. Lastly, actual welding was performed, and the results are presented.