Development of an auto-welding system for CRD nozzle repair welds using a 3D laser vision sensor
- Authors
- Park, K.; Kim, Y.; Byeon, Jeong Hoon; Sung, K.; Yeom, Chisun; Rhee, Se Hun
- Issue Date
- Oct-2007
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- laser vision sensor; Welding path creation; CRD nozzle
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.21, no.10, pp.1720 - 1725
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
- Volume
- 21
- Number
- 10
- Start Page
- 1720
- End Page
- 1725
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/179504
- DOI
- 10.1007/BF03177400
- ISSN
- 1738-494X
- Abstract
- A control rod device (CRD) nozzle attaches to the hemispherical surface of a reactor head with J-groove welding. Primary water stress corrosion cracking (PWSCQ causes degradation in these welds, which requires that these defect areas be repaired. To perforin this repair welding automatically on a complicated weld groove shape, an auto-welding system was developed incorporating a laser vision sensor that measures the 3-dimensional (3D) shape of the groove and a weld-path creation program that calculates the weld-path parameters. Welding trials with a J-groove workpiece were performed to establish a basis for developing this auto-welding system. Because the reactor head is placed on a lay down support, the outer-most region of the CRD nozzle has restricted access. Due to this tight space, several parameters of the design, such as size, weight and movement of the auto-welding system, had to be carefally considered. The cross section of the J-groove weld is basically an oval shape where the included angle of the J-groove ranges from 0 to 57 degrees. To measure the complex shape, we used double lasers coupled to a single charge coupled device (CCD) camera. We then developed a program to generate the weld-path parameters using the measured 3D shape as a basis. The program has the ability to determine the first and final welding positions and to calculate all weld-path parameters. An optimized image-processing algorithm was applied to resolve noise interference and diffused reflection of the joint surfaces. The auto-welding system is composed of a 4-axis manipulator, gas tungsten arc welding (GTAW) power supply, an optimized designed and manufactured GTAW torch and a 31) laser vision sensor. Through welding trials with 0 and 38-degree included-angle workpieces with both J-groove and U-groove weld, the performance of this auto-welding system was qualified for field application.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/179504)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.