Detection of weld line and automatic seam tracking by ultrasonic sensing robot for underwater wet welding
- Keio Univ., Yokohama (Japan)
An underwater wet welding robot with an ultrasonic sensor was developed to detect the weld line and to track the weld line automatically. The robot can move the welding torch toward X and Y directions and the ultrasonic sensor can oscillate along the X direction. As the ultrasonic sensor, an immersion type probe of 9.0 mm in diameter was used. The frequency of the ultrasonic wave is 5.0 MHz. The spot size of the ultrasonic beam is approximately 2 mm at a water distance of 50 mm. As the result of the detecting experiment of weld line by the ultrasonic method, there was no problem in the case of as-received steel plate. However, when the surface condition of the base metal is poor, the robot sometimes makes misjudgment. In the tracking test of the butt weld line of steel plates, which has the angle of 30{degree} to the Y-axis, the tracking error was about 0.5 mm. As the result of the experiments, it was made clear that the robot system is effective on the automatic seam tracking of underwater wet welding.
- OSTI ID:
- 433611
- Report Number(s):
- CONF-940409-; ISBN 1-880653-10-9; TRN: IM9709%%44
- Resource Relation:
- Conference: 4. international conference on offshore and polar engineering, Osaka (Japan), 10-15 Apr 1994; Other Information: PBD: 1994; Related Information: Is Part Of The proceedings of the fourth (1994) international offshore and polar engineering conference. Volume 4; Ueda, Yukio; Tomita, Yasumitsu [eds.] [Osaka Univ. (Japan)]; Dos Santos, J.F. [ed.] [GKSS Forschungszentrum Geesthacht (Germany)]; Langen, I. [ed.] [Statoil, Stavanger (Norway)]; Waagaard, K. [ed.] [Veritec, Hovik (Norway)]; PB: 692 p.
- Country of Publication:
- United States
- Language:
- English
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