Em geral, um problema importante em um sistema de soldagem robotizado, ou com manipuladores automáticos, é a necessidade de uma trajetória ser reprogramada quando a forma ou a posição das peças mudam. Como solução a esse problema é proposto um método que utiliza técnicas de visão computacional, para assim detectar a trajetória de soldagem em juntas de topo. O método deve ser dinâmico permitindo a identificação de juntas de topo com cantos não próximos, linhas não retas e tamanhos diferentes entre as peças, assim como apresentar robustez contra variáveis desfavoráveis do ambiente industrial como riscos nas peças ou no fundo e mudanças de luminosidade. A trajetória é detectada baseando-se na linha de bordas da imagem global e adicionalmente trabalha-se sobre duas características da linha de solda: distância quase constante entre linhas paralelas e pixels de linha de solda com menor intensidade de luminosidade que as bordas. Uma etapa é proposta para robustez do método sobre linha de bordas descontinuas e possíveis erros em ponto inicial e final de solda. O trabalho proposto é validado com distintas configurações de junta de topo, como com cantos de peças não coincidentes, linha de solda não reta e diferentes orientações de peças. Os pontos da trajetória de solda obtidos são comparados com uma linha de solda considerada ideal, resultando em uma média e desvio padrão geral inferiores à um valor de 0,5 mm. Uma validação experimental é realizada com uma solda executada por um robô industrial seguindo os pontos de solda detectados, com os resultados demostrando que o método efetivamente pode definir uma trajetória de solda para aplicações industriais robotizadas. / In general, one of the most important problems in a robotic welding system, or in automatic manipulations, is the requirement of a path trajectory to be reprogramed when the shape or the position of the welding pieces are changed. In order to detect the welding seam in butt joints, a method that makes use of computational vision techniques is proposed. The method needs to be dynamic against variation in the configuration of the pieces, so as curved or not straight seam lines, not coincident corners; beside of that, it must to present robustness against unfavorable variables of the industrial environment, so as scratches in the pieces or illumination changes. Two features of the welding line are taken into account to develop the method: almost constant distance between parallel seam lines and darker pixels in the center of the seam than in the borders. Moreover a robustness step is proposed over two weaknesses of the method: discontinuities in the edges of the welding line and possible errors in the location of the start and end welding points. The validation step of the method involves different configuration of butt joints, as pieces without corner being coincident, not straight welding line and different orientations. The points of the welding seam detected by the method, are compared against a set of welding points considered as an ideal set of points, getting as results a mean and standard deviation lower than ± 0.5 mm. An experimental test is carried out by an industrial robot that welds two pieces following the welding line points, with the results showing that the method can effectively define a welding trajectory for industrial robotics applications.

Augmented Reality (AR) is an emerging technology that utilizes computer vision methods to overlay virtual objects onto the real world scene so as to make them appear to co-exist with the real objects. Its main objective is to enhance the user’s interaction with the real world by providing the right information needed to perform a certain task. Applications of this technology in manufacturing include maintenance, assembly and telerobotics. In this paper, we explore the potential of teaching a robot to perform an arc welding task in an AR environment. We present the motivation, features of a system using the popular ARToolkit package, and a discussion on the issues and implications of our research. / Singapore-MIT Alliance (SMA)

Tungsten carbide-based metal matrix composite coatings are deposited by PTAW (Plasma Transferred Arc Welding) on production critical components in oil sands mining. Homogeneous distribution of the reinforcement particles is desirable for optimal wear resistance in order to reduce unplanned maintenance shutdowns. The homogeneity of the coating can be improved by controlling the heat transfer, solidification rate of the process and the volume fraction of carbide. The degree of settling of the particles in the deposit was quantified using image analysis. The volume fraction of carbide was the most significant factor in obtaining a homogeneous coating. Lowering the current made a modest improvement in homogeneity. Changes made in other operational parameters did not effect significant changes in homogeneity. Infrared thermography was used to measure the temperature of the surface of the deposit during the welding process. The emissivity of the materials was required to acquire true temperature readings. The emissivity of the deposit was measured using laser reflectometry and was found to decrease from 0.8 to 0.2 as the temperature increased from 900C to 1200C. A correction algorithm was applied to calculate the actual temperature of the surface of the deposit. The corrected temperature did increase as the heat input of the weld increased. A one dimensional mathematical model of the settling profile and solidification of the coatings was developed. The model considers convective and radiative heat input from the plasma, the build-up of the deposit, solidification of the deposit and the settling of the WC particles within the deposit. The model had very good agreement with the experimental results of the homogeneity of the carbide as a function of depth. This fundamental model was able to accurately predict the particle homogeneity of an MMC deposited by an extremely complicated process. It was shown that the most important variable leading to a homogeneous coating is to operate at the packing saturation limit of the reinforcement. In the case of the MMC explored, a fully homogeneous coating was obtained with 50 vol% WC in a NiCrBSi matrix. / Materials Engineering

Submerged arc welding (SAW) is often the method of choice in pressure vessel fabrication. This process features high production rates, welding energy and/or welding speed and requires minimal operator skill. The selection of appropriate parameters in SAW is essential, not only to optimize the welding process in order to maintain the highest level of productivity, but also to obtain the most desirable mechanical properties of the weld.<p> The focus of this study was to investigate the effect of welding speed on the properties of SA516 Grade 70. Plates of SA516 Gr. 70 steel 17 mm x 915 mm x 122 mm were submerged arc welded with a welding current of 700 A and welding speeds of 15.3, 12.3 and 9.3 mm/s. Following the welding; strength, microstructure, hardness and impact toughness of the specimens were examined. Charpy impact testing was performed according to ASTM E 23 on specimens notched in the weld metal (WM) and in the heat-affected zone (HAZ), to measure the impact toughness. Fractography was performed on broken specimens using optical and scanning electron microscopy in order to correlate the mechanisms of fracture with the impact toughness values.<p> The highest hardness values were in the coarse-grained HAZ followed by the WM with the lowest hardness in the parent metal (PM). The HAZ had higher impact toughness than the WM and PM for all welding speeds. The slowest welding speed (9.3 mm/s) obtained complete penetration and therefore produced the most visually sound weld. The fastest welding speed (15.3 mm/s) had the narrowest HAZ and showed good ductile-to-brittle transition behaviour for both the WM and HAZ specimens, but produced incomplete penetration defects. Welding speed had little affect on the notch toughness of the HAZ with only a 9 J rise in upper shelf energy and an 8 °C drop in the impact transition temperature (ITT) with increased welding speed from 9.3 to 15.3 mm/s. However, for the WM, there was a 63 J drop in the upper shelf energy but also a 41 °C improvement of the ITT between the 9.3 and 15.3 mm/s welding speeds.

Submerged arc welding (SAW) is commonly used for fabricating large diameter linepipes, pressure vessels and wind turbine towers due to its high deposition rate, high quality welds, ease of automation and low operator skill requirement. In order to achieve high melting efficiency required for high productivity, best weld quality and good mechanical properties in manufacturing industries, the welding process parameters need to be optimized. In this study, the effect of SAW current and speed on the physical and mechanical properties of ASME SA516 Gr. 70 (pressure vessel steel) and ASTM A709 Gr. 50 (wind turbine tower steel) were investigated. Three welding currents (700 A, 800 A and 850 A) and four travel speeds (5.9, 9.3, 12.3 and 15.3 mm/s) were used to weld sample plates measuring 915 mm x 122 mm x 17 mm. The weld quality and properties were evaluated using weld geometry measurements, visual inspection, ultrasonic inspection, hardness measurements, optical microscopy, tensile testing, Charpy impact testing and scanning electron microscopy. It was found that the physical and mechanical properties of the weldments were affected by SAW parameters. Severe undercuts were found at high travel speed and welding current. Low heat input caused lack of penetration defects to form in the weldments. The welding process melting efficiency (WPME) achieved was up to 80%. The hardness of the coarse grain heat affected zone (CGHAZ) and the weld metal increased with travel speed. The toughness of both materials increased with increasing travel speed and welding current. The yield and tensile strengths of the weldments of SA516 Gr.70 and A709 Gr.50 steels were within the same range as those of their respective parent metals because all test specimens broke in the parent metals. Also, the parent metals of both steels had the highest fracture strain and percent elongation. The percentage elongation increased with travel speed but decreased with welding current.

Det finns flera fördelar med robotiserad bågsvetsning jämfört med manuell bågsvetsning. När det gäller produktivitet och repeterbarhet är robot överlägsen människa, vilket gör att produkterna håller jämnare kvalitet. I slutet av 80-talet började offline-programmering att tillämpas. Att programmera en robot offline innebär att utföra programmeringen med dator utan direkt tillgång till roboten. Genom simulering visualiseras ett robotprogram i en grafisk modell av den fysiska robotcellen utan att den fysiska roboten behöver tas ur produktion. För att systemet för offline-programmering (OLP) ska vara effektivt, måste dess modellers kinematik överensstämma med dess fysiska motsvarigheter. En virtuell modell av en cell skiljer sig dock alltid något från verkligheten. Därför krävs kalibrering När simuleringsprogrammet är färdigt och kalibreringen är utförd, ska programmet översättas till ett för roboten specifikt programspråk. Detta görs genom en så kallad translator. Denna rapport har skrivits på uppdrag av Delfoi. Delfoi har i flera år använt sig av DELMIA IGRIP för offline-programmering av bågsvetsningsrobotar. DELMIA har nu gett ut en ny generation program i den gemensamma plattformen V5. Plattformen innehåller bland annat DELMIA V5 Robotics och CATIA V5. Området för bågsvetsning har varit relativt outforskat. Därför vill företaget undersöka hur långt V5 Robotics har utvecklats inom detta område. Syftet är att undersöka om utvecklingen av V5 Robotics kommit tillräckligt långt för att kunna säljas till kund för offline-programmering av bågsvetsning. Arbetet påbörjades genom att kartlägga den arbetsmetodik som Delfoi använder sig av vid bågsvetsning i IGRIP. Detta har skett i programvaran UltraArc, som innehåller IGRIP’s applikation för bågsvetsning. Dessutom gjordes en kartläggning av användandet av AMP, Arc weld Macro Programming, vid offline-programmering av bågsvetsning. Nästa del var att ta fram en metodik för bågsvetsning i V5 Robotics. De båda programmen och dess metodik har sedan jämförts, för att ta reda på om V5 Robotics är tillräckligt utvecklat för att migrera från IGRIP till V5 Robotics. Demonstrationer av arbetssättet i V5 Robotics har genomförts på Delfoi samt hos en av Delfois kunder, BT Industries i Mjölby. Författarnas slutsats är att V5 Robotics är redo att användas för OLP av bågsvetsning. För de företag som använder sig av CATIA V5 finns det stora fördelar med att starta migrationen från IGRIP till V5 Robotics. Metodiken mellan de båda mjukvarorna har stora likheter, men vissa delar har utvecklats till det bättre i V5 Robotics. Dock kan den nya programvaran behöva testas i verkliga projekt för att säkerställa att hela programmeringsprocessen fungerar tillfredsställande innan bytet genomförs. / There are several advantages in robotic arc welding, compared to manual arc welding. When it comes to productivity and repeatability, robot is superior to man, which generates more even quality in products. In the end of the 1980’s, offline programming was put into practice. To program a robot offline means to perform the programming on a computer with no direct access to the robot. Through simulation, the robot program is visualized as a graphic model of the actual workcell, without having to take the actual robot out of production. For the offline programming system (OLP) to be efficient, the kinematics of the models need to correspond to its physical counterpart. A virtual model is always slightly different from the reality. That is why calibration is necessary. When the simulation program is complete and the calibration is done, the program needs to be translated to the language of the target robot. This is done through a post processor. This thesis was written as an assignment from the company Delfoi. Delfoi has been using DELMIA IGRIP for offline programming of robotic arc welding for several years. DELMIA now has released a new generation of programs in the common platform V5. The platform includes for example DELMIA V5 Robotics and CATIA V5. The area of arc welding has been relatively unexplored. That is why the company wants to investigate how far V5 Robotics has developed in this area. The purpose is to investigate if the development of V5 Robotics has come far enough for V5 Robotics to be taken to customers for OLP of arc welding. The work was begun by surveying the methodology used by Delfoi in arc welding in IGRIP. This has been done in the software UltraArc, which consists of the arc welding application from IGRIP. There was also a surveillance of the application of AMP, Arc weld Macro Programming, in offline programming of arc welding. The next step was to evolve a methodology for arc welding in V5 Robotics. The two softwares and their methodologies were then compared to find out whether or not V5 is enough developed for migration from IGRIP to V5 Robotics. Demonstrations of the method of working in V5 Robotics were held on Delfoi and on BT Industries in Mjölby, which is one of Deloi’s clients. The conclusion of the writers is that V5 Robotics is ready to be used in OLP of arc welding. For companies using CATIA V5, there are great advantages in migrating from IGRIP to V5 Robotics. The methodoldgies of the softwares show great similarities, but some parts have been developed to the better in V5 Robotics. Though, the new software needs to be tested in real projects to assure that the entire process of programming functions satisfying before the change is completed.

Submerged arc welding (SAW) is commonly used for fabricating large diameter linepipes, pressure vessels and wind turbine towers due to its high deposition rate, high quality welds, ease of automation and low operator skill requirement. In order to achieve high melting efficiency required for high productivity, best weld quality and good mechanical properties in manufacturing industries, the welding process parameters need to be optimized. In this study, the effect of SAW current and speed on the physical and mechanical properties of ASME SA516 Gr. 70 (pressure vessel steel) and ASTM A709 Gr. 50 (wind turbine tower steel) were investigated. Three welding currents (700 A, 800 A and 850 A) and four travel speeds (5.9, 9.3, 12.3 and 15.3 mm/s) were used to weld sample plates measuring 915 mm x 122 mm x 17 mm. The weld quality and properties were evaluated using weld geometry measurements, visual inspection, ultrasonic inspection, hardness measurements, optical microscopy, tensile testing, Charpy impact testing and scanning electron microscopy. It was found that the physical and mechanical properties of the weldments were affected by SAW parameters. Severe undercuts were found at high travel speed and welding current. Low heat input caused lack of penetration defects to form in the weldments. The welding process melting efficiency (WPME) achieved was up to 80%. The hardness of the coarse grain heat affected zone (CGHAZ) and the weld metal increased with travel speed. The toughness of both materials increased with increasing travel speed and welding current. The yield and tensile strengths of the weldments of SA516 Gr.70 and A709 Gr.50 steels were within the same range as those of their respective parent metals because all test specimens broke in the parent metals. Also, the parent metals of both steels had the highest fracture strain and percent elongation. The percentage elongation increased with travel speed but decreased with welding current.

Submerged arc welding (SAW) is often the method of choice in pressure vessel fabrication. This process features high production rates, welding energy and/or welding speed and requires minimal operator skill. The selection of appropriate parameters in SAW is essential, not only to optimize the welding process in order to maintain the highest level of productivity, but also to obtain the most desirable mechanical properties of the weld.<p> The focus of this study was to investigate the effect of welding speed on the properties of SA516 Grade 70. Plates of SA516 Gr. 70 steel 17 mm x 915 mm x 122 mm were submerged arc welded with a welding current of 700 A and welding speeds of 15.3, 12.3 and 9.3 mm/s. Following the welding; strength, microstructure, hardness and impact toughness of the specimens were examined. Charpy impact testing was performed according to ASTM E 23 on specimens notched in the weld metal (WM) and in the heat-affected zone (HAZ), to measure the impact toughness. Fractography was performed on broken specimens using optical and scanning electron microscopy in order to correlate the mechanisms of fracture with the impact toughness values.<p> The highest hardness values were in the coarse-grained HAZ followed by the WM with the lowest hardness in the parent metal (PM). The HAZ had higher impact toughness than the WM and PM for all welding speeds. The slowest welding speed (9.3 mm/s) obtained complete penetration and therefore produced the most visually sound weld. The fastest welding speed (15.3 mm/s) had the narrowest HAZ and showed good ductile-to-brittle transition behaviour for both the WM and HAZ specimens, but produced incomplete penetration defects. Welding speed had little affect on the notch toughness of the HAZ with only a 9 J rise in upper shelf energy and an 8 °C drop in the impact transition temperature (ITT) with increased welding speed from 9.3 to 15.3 mm/s. However, for the WM, there was a 63 J drop in the upper shelf energy but also a 41 °C improvement of the ITT between the 9.3 and 15.3 mm/s welding speeds.

The heat-affected zone (HAZ) is the most common region of weld failures. The weld failures are directly related to the microstructure. Microstructure control of the HAZ is crucial to weld quality and prevention of weld failures. However, publications on modeling the development of the HAZ are relatively limited. Moreover, no efforts have been made to predict the HAZ microstructures in real-time. The primary goal of this research is to present a methodology to enable real-time predictions of microstructure evolution in the HAZ and its mechanical properties. This goal was achieved by an approach based on materials science principles and real-time sensing techniques. In this study, the entire welding process was divided into a series of sub-processes. Real-time multiple measurements from multiple sensors were incorporated into the sub-processes. This resulted in an integrated welding system upon which the predictions for the final HAZ microstructure are based. As part of the integrated system, the microstructural model was used to predict the TTT curves, volume fractions of the decomposition products, and hardness numbers of the heat-affected zones of steel alloys. Actual welds were performed under two different sets of conditions, and the resulting experimental data were compared with predictions made using the microstructural model. The predicted and experimental microstructure and hardness are found to be in good agreement, indicating that the microstructural model can be used in real applications. This research can act as an important component of future research to enable physics-based flexible control of welding. / text

No description available.