NDLI: Development of an auto-welding system for CRD nozzle repair welds using a 3D laser vision sensor

Content Provider	Springer Nature Link
Author	Park, K. Kim, Y. Byeon, J. Sung, K. Yeom, C. Rhee, S.
Copyright Year	2007
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 (PWSCC) causes degradation in these welds, which requires that these defect areas be repaired. To perform 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 carefully 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 3D 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.
Starting Page	1720
Ending Page	1725
Page Count	6
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	21
Issue Number	10
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2007-01-01
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Laser vision sensor Welding path creation CRD nozzle Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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