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At least 325 records · Page 18

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NASA NTRS1985

Sensor control of robot arc welding

A basic problem in the application of robots for welding which is how to guide a torch along a weld seam using sensory information was studied. Improvement of the quality and consistency of certain Gas Tungsten Arc welds on the Space Shuttle Main Engine (SSME) that are too complex geometrically for conventional automation and therefore are done by hand was examined. The particular problems associated with space shuttle main egnine (SSME) manufacturing and weld-seam tracking with an emphasis on computer vision methods were analyzed. Special interface software for the MINC computr are developed which will allow it to be used both as a test system to check out the robot interface software and later as a development tool for further investigation of sensory systems to be incorporated in welding procedures.

Sias, F. R., Jr.↗

NASA NTRS1986

Acoustic-Emission Weld-Penetration Monitor

Weld penetration monitored by detection of high-frequency acoustic emissions produced by advancing weld pool as it melts and solidifies in workpiece. Acoustic emission from TIG butt weld measured with 300-kHz resonant transducer. Rise in emission level coincides with cessation of weld penetration due to sudden reduction in welding current. Such monitoring applied to control of automated and robotic welders.

Maram, J.↗

NASA NTRS1985

Explosive Welding of Aluminum, Titanium and Zirconium to Copper Sheet Metal

The main material properties affecting the explosive weldability of a certain metal combination are the yield strength, the ductility, the density and the sonic velocity of the two metals. Successful welding of the metal combination depends mainly on the correct choice of the explosive welding parameters; i.e., the stand off distance, the weight of the explosive charge relative to the weight of the flyer plate and the detonation velocity of the explosive. Based on the measured and the handbook values of the properties of interest, the explosive welding parameters were calculated and the arrangements for the explosive welding of the Al alloy 6061-T6, titanium and zirconium to OFHC copper were determined. The relatively small sheet metal thickness (1/8") and the fact that the thickness of the explosive layer must exceed a certain minimum value were considered during the determination of the explosive welding conditions. The results of the metallographic investigations and the measurements of the shear strength at the interface demonstrate the usefulness of these calculations to minimize the number of experimental trials.

Hegazy, A. A.↗

NASA NTRS1987

Optical Welding Torch

Gas/tungsten-arc welding torch supports electrode at center while enabling viewing of weld area along torch axis. Gas torch accommodates lens and optical fibers, all part of vision system for welding robot. Welding torch includes spoked structure in central bore of optical body. Structure supports welding electrode, carries electric current to it, and takes heat away from it. Spokes formed by drilling six holes 60 degrees apart around center line of torch.

Richardson, R. W.↗

NASA NTRS1987

Self-clamping arc light reflector for welding torch

This invention is directed to a coaxial extending metal mirror reflector attached to the electrode housing or gas cup on a welding torch. An electric welding torch with an internal viewing system for robotic welding is provded with an annular arc light reflector to reflect light from the arc back onto the workpiece. The reflector has a vertical split or gap in its surrounding wall to permit the adjacent wall ends forming the split to be sprung open slightly to permit the reflector to be removed or slipped onto the torch housing or gas cup. The upper opening of the reflector is slightly smaller than the torch housing or gas cup and therefore, when placed on the torch housing or gas cup has that springiness to cause it to clamp tightly on the housing or gas cup. The split or gap also serves to permit the feed of weld wire through to the weld area,

Gordon, Stephen S.↗

NASA NTRS1988

Flexible Protective Shield For Newly Welded Joints

Simple device promotes defect-free welds in oxidation-prone metals. Welding torch pulls trailing shield behind to provide protective shield of argon gas over hot weld bead. Guide at front of torch holder feeds welding wire to joint. Shield bent or straightened to fit closely against weld joint.

Dyer, Gerald E.↗

NASA NTRS1988

Separating Images For Welding Control

Torch for automatic gas/tungsten-arc welding provides separate coaxial views of weld to two sensors. Each sensor functions in real time without interfering with other. One sensor provides information for vision-guided seam tracker; other feeds data to an optical weld-contour monitor for control penetration. Contains beam splitter at angle of 45 degree with electrode axis. Beam splitter reflects wavelengths below 550 nm to sensor for seam tracking. Transmits wavelengths above 550 nm to sensor for weld-contour monitoring. Filters added to split beam paths to limit further spectra transmitted to sensors. Beam splitter and filters easily changed to suit material and welding parameters.

Gordon, Stephen S.↗

NASA NTRS1987

Better welds for launch vehicles

The use and benefits of automated variable polarity plasma arc (VPPA) welding of Al joints are described. The entire welding system, including welding head manipulator, weld-wire feed, torch, and power supply are computer controlled. The importance of proper torch dynamics and the control of argon gas flow through the plasma orifice are discussed. The use of arc-voltage control, the improvements in system monitoring, and the reduction or elimination of electromagnetic interferences are examined. VPPA welding is applicable to joining Space Shuttle components, and an example of its use on an External Tank of the Shuttle is presented.

Schwinghamer, Robert J.↗

NASA NTRS1990

Calibration Fixture For Welding Robot

Compact, lightweight device used in any position or orientation. Calibration fixture designed for use on robotic gas/tungsten-arc welding torch equipped with vision-based seam-tracking system. Through optics in hollow torch cylinder, video camera obtains image of weld, viewing along line of sight coaxial with welding electrode. Attaches to welding-torch cylinder in place of gas cup normally attached in use. By use of longer or shorter extension tube, fixture accommodates welding electrode of unusual length.

Holly, Krisztina J.↗

NASA NTRS1990

Internal Filler-Wire Feed For Arc Welding

Tungsten electrode for gas/tungsten arc welding contains lengthwise channel for feeding filler wire to weld joint. Channel makes it unnecessary to feed wire through guides outside electrode, conserving valuable space near weld and protects wire from deformation by contact with other parts in vicinity of weld. Helpful in robotic or automatic welding.

Morgan, Gene E.↗

NASA NTRS1991

Weld-Bead Profilometer Rejects Optical Noise

Optoelectronic sensor measures profile of weld seam or weld bead along line perpendicular to seam. Illuminated by fan of laser light. Image of line digitized and converted to profile of height or depth versus transverse position. Intended to be part of highly automated welding system, used in automatic tracking of seam or automatic profiling of weld bead for immediate evaluation and assurance of quality during welding process. Requires little maintenance other than cleaning glass windows protecting laser and camera.

Kennedy, Larry Z.↗

NASA NTRS1991

Tool For Robotic Resistive Roll Welding

Roll-welding attachment for robot simple, inexpensive device incorporating modified commercial resistance-welding gun. Modified welding gun easily attaches to end effector of robot. Robot applies welding force and moves electrode wheel along prescribed path. Resistance-welding current starts and stops automatically according to force exerted against workpiece. Used to apply brazing foil to workpiece.

Gilber, Jeffrey L.↗

NASA NTRS1991

Monitoring Weld Penetration Via Gas Pressure

Welding monitor uses pressure on back side of weldment to monitor penetration of weld. Sudden drop on pressure chart means weld pool has fully penetrated; sudden rise means pool no longer extends through joint. Devised to ensure full penetration along full lengths of weld joints, when direct observation of back sides by visual inspection, x rays, or fiber optics not possible. Used in initial development of welding parameters or during production as safeguard.

Coby, J. Ben, Jr.↗

NASA NTRS1991

Vacuum vapor deposition: A spinoff of space welding development

A vapor deposition process has been defined through a spinoff effort of space welding development. In this development for welding in a space environment, a hollow electrode was used to add gas precisely at the welding arc. This provides gas for ionization which carries the welding arc current. During this welding development metal vapor coatings were observed. These coatings are unique in that they are produced by a new process. Some coatings produced and the potential of this new and innovative vapor deposition process are characterized. Advantages over prior art are discussed.

Poorman, R. M.↗

NASA NTRS1992

Ultrasonic Probe For In Situ Inspection Of Welds

End effector on welding robot contains ultrasonic transducer detecting such flaws as tungsten inclusions and lack of penetration of weld immediately after weld made, while workpiece still mounted; weld reworked in place, if necessary. Mounted on standard arc-welding torch; same length as long gas cup with electrode.

Gilbert, Jeffrey L.↗

NASA NTRS1992

Robotic Welding Of Injector Manifold

Brief report presents history, up through October 1990, of continuing efforts to convert from manual to robotic gas/tungsten arc welding in fabrication of main injector inlet manifold of main engine of Space Shuttle. Includes photographs of welding machinery, welds, and weld preparations. Of interest to engineers considering establishment of robotic-welding facilities.

Gilbert, Jeffrey L.↗

NASA NTRS1991

A generalized method for multiple robotic manipulator programming applied to vertical-up welding

The application is described of a weld programming algorithm for vertical-up welding, which is frequently desired for variable polarity plasma arc welding (VPPAW). The Basic algorithm performs three tasks simultaneously: control of the robotic mechanism so that proper torch motion is achieved while minimizing the sum-of-squares of joint displacement; control of the torch while the part is maintained in a desirable orientation; and control of the wire feed mechanism location with respect to the moving welding torch. Also presented is a modification of this algorithm which permits it to be used for vertical-up welding. The details of this modification are discussed and simulation examples are provided for illustration and verification.

Fernandez, Kenneth R.↗

NASA NTRS1990

Characteristics and performance of the variable polarity plasma arc welding process used in the Space Shuttle external tank

Significant advantages of the Variable Polarity Plasma Arc (VPPA) Welding Process include faster welding, fewer repairs, less joint preparation, reduced weldment distortion, and absence of porosity. Flow profiles and power distribution of argon plasma gas as a working fluid to produce plasma arc jet in the VPPA welding process was analyzed. Major loss of heat transfer for flow through the nozzle is convective heat transfer; for the plasma jet flow between the outlet of the nozzle and workpiece is radiative heat transfer; and for the flow through the keyhole of the workpiece is convective heat transfer. The majority of the power absorbed by the keyhole of the workpiece is used for melting the solid metal workpiece into a molten metallic puddle. The crown and root widths and the crown and root heights can be predicted. An algorithm for promoting automatic control of flow parameters and the dimensions of the final product of the welding specification to be used for the VPPA Welding System operated at MSFC are provided.

Hung, R. J.↗