Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of...Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.展开更多
A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis o...A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.展开更多
The pipeline all-position automatic welding machine system is a special welding system for automatically welding circumferential joint of pipeline on site, which has been widely used to the long-distance pipeline cons...The pipeline all-position automatic welding machine system is a special welding system for automatically welding circumferential joint of pipeline on site, which has been widely used to the long-distance pipeline construction projects due to the advantages of automatic control for welding parameters at all-position, moving speed of bugs and operating. In this paper, the key control technologies of PAWM all-position automatic welding machine （ developed by Pipeline Research Institute of CNPC） such us the automatic control system, control software, personal digital assistant （PDA） software and complex programmable logic device （ CPLD ） program as well us the control method of welding parameter have been described detailedly. With the higher welding quality, higher welding effwiency and lower labor intensity, PA WM all-position automatic welding machine has been successfully applied in many famous pipeline construction projects.展开更多
Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controll...Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.展开更多
Because of the high requirement of quality,vile working environment and great difficulty of automatic welding,MMAW is usually adopted for the welding of the platform jacket and the pile pipe.Its low efficiency and har...Because of the high requirement of quality,vile working environment and great difficulty of automatic welding,MMAW is usually adopted for the welding of the platform jacket and the pile pipe.Its low efficiency and hard working is one of the choke points for construction progress. In this article,an up-to-date technology for platform pile pipe welding was introduced. Cored with FCW-S and combined with the characters and requirements of platform construction,the special automatic horizontal welding equipment and process were developed. Further more,the offshore application were introduced too.展开更多
X80 pipeline steel was welded with submerged arc automatic welding, the microstructures, cavity sizes, fusion depths and plane scanning of chemical elements in the welded zone, fusion zone, heat affected zone and base...X80 pipeline steel was welded with submerged arc automatic welding, the microstructures, cavity sizes, fusion depths and plane scanning of chemical elements in the welded zone, fusion zone, heat affected zone and base steel were observed with OM（optical microscope） and SEM（scanning electron microscope）, respectively. The experimental results show that there is main acicular ferrite in the base steel and welded zone, the microscopic structure of fusion zone is a blocked bainite, and the heat affected zone is composed of multilateral ferrite and pearlite. M-A unit of the welded zone is the main factor to strengthen the welded zone, composed of acicular ferrites. The percentage of cavities in the welded joint is less than that in the base steel, which is beneficial to increasing its mechanical performance and corrosion resistance. The fusion depth in the fusion zone and welded zone is 101.13 μm and 115.85 μm, respectively, and the distribution of chemical elements in the welded zone is uniform, no enrichment phenomena.展开更多
In order to realize the automatic welding of pipes in a complex operation environment,an automatic welding system has been developed by use of all-position self-shielded flux cored wires due to their advantages,such a...In order to realize the automatic welding of pipes in a complex operation environment,an automatic welding system has been developed by use of all-position self-shielded flux cored wires due to their advantages,such as all-position weldability,good detachability,arc's stability,low incomplete fusion,no need for welding protective gas or protection against wind when the wind speed is<8 m/s.This system consists of a welding carrier,a guide rail,an auto-control system,a welding source,a wire feeder,and so on.Welding experiments with this system were performed on the X-80 pipeline steel to determine proper welding parameters.The welding technique comprises root welding,filling welding and cover welding and their welding parameters were obtained from experimental analysis.On this basis,the mechanical properties tests were carried out on welded joints in this case.Results show that this system can help improve the continuity and stability of the whole welding process and the welded joints'inherent quality,appearance shape,and mechanical performance can all meet the welding criteria for X-80 pipeline steel;with no need for windbreak fences,the overall welding cost will be sharply reduced.Meanwhile,more positive proposals were presented herein for the further research and development of this self-shielded flux core wires.展开更多
Traditional CAD technique does not support the design processes such as function definition, conceptual design and preliminary design, which are most creative and play significant roles on the design quality. Because ...Traditional CAD technique does not support the design processes such as function definition, conceptual design and preliminary design, which are most creative and play significant roles on the design quality. Because scheme design has close relationship with product structure, performance and technology cost, it is important for applying the intelligent CAD of scheme design to improve the quality and competitive level of the product. The definition and function of welding positioner are discussed in this paper. The new definition of welding positioner extends the research scope of welding positioner to welding fixture and welding positioning motion mechanism. The design process of welding fixture and positioning motion system is described, and the cased based and knowledge based design strategy of welding positioner scheme design intelligent CAD is then put forward, which lays foundation for developing proto type system of welding positioner scheme design.展开更多
With the development of science and technology, automation technology has begun to be applied to various fields. Automatic welding technology is increasingly used in the welding industry in the area. The introduction ...With the development of science and technology, automation technology has begun to be applied to various fields. Automatic welding technology is increasingly used in the welding industry in the area. The introduction of automatic welding technology not only improve the quality and production efficiency, but also reduce production costs, the production environment in which the staff has also been improved. This paper discusses the current situation of automatic welding technology, mechanical industry, the demand for automatic welding, automatic welding technology advantages and development trends.展开更多
The all position automatic welding machine system is the special welding system for pipeline girth automatic welding on site, which has been widely used in the long distance pipeline construction projects due to the a...The all position automatic welding machine system is the special welding system for pipeline girth automatic welding on site, which has been widely used in the long distance pipeline construction projects due to the advantages of automatic control for welding parameters at all position, moving speed of bugs and operating. This automatic pipeline welding system has been successfully used in several main pipeline projects in China, and has been approved by the constructors with the benefits of higher quality passing rate, higher welding efficiency and lower labor intensity.展开更多
A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memor...A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds.展开更多
During the process of laying long-distance oil and gas transmission pipelines, the hot-induction-bend method is extensively used when the direction has to be changed. By considering the pipeline＇ s ongoing processing...During the process of laying long-distance oil and gas transmission pipelines, the hot-induction-bend method is extensively used when the direction has to be changed. By considering the pipeline＇ s ongoing processing and loading states during service, the pipeline that is generally used exhibits thicker walls than those that are observed in the line pipe. As such, during pipeline construction, hot-induction-bend and line pipes with different wall thickness are girth-welded. The chemical composition of hot-induction-bend and line pipes differs, with the carbon content being particularly higher in the hot-induction-bend pipe;it also depicts a higher carbon equivalent, which makes it possible to modify the girth of the pipe. In this study, using Baosteel＇ s standard X70M UOE hot- induction-bend and line pipes, solid-wire automatic gas-metal-arc girth welding was performed and the performance of the girth-welded joint was evaluated. Furthermore,the weldability of the pipeline girth and the microstructure of the girth-welded joint were analyzed. The results reveal that Baosteel＇ s standard UOE hot-induction-bend and line pipes exhibit good girth weldability, and their technical quality can be guaranteed in case of consumer field- construction applications.展开更多
Geometric information is important for automatic programming of arc welding robot. Complete geometric models of robotic arc welding are established in this paper. In the geometric model of weld seam, an equation with ...Geometric information is important for automatic programming of arc welding robot. Complete geometric models of robotic arc welding are established in this paper. In the geometric model of weld seam, an equation with seam length as its parameter is introduced to represent any weld seam. The method to determine discrete programming points on a weld seam is presented. In the geometric model of weld workpiece, three class primitives and CSG tree are used to describe weld workpiece. Detailed data structure is presented. In pose transformation of torch, world frame, torch frame and active frame are defined, and transformation between frames is presented. Based on these geometric models, an automatic programming software package for robotic arc welding, RAWCAD, is developed. Experiments show that the geometric models are practical and reliable.展开更多
This paper deals with the structure, components, characteristics and work principle of a newly developed automatic arc welding machine for saddle joint seams on large diameter cylinders. The equations for designing th...This paper deals with the structure, components, characteristics and work principle of a newly developed automatic arc welding machine for saddle joint seams on large diameter cylinders. The equations for designing the geometry and dimensions of the cam controlling the moving locus of the welding torch have been derived. This welding machine has successfully been used in automatic welding saddle joint seams on boiler drums with good results and low cost.展开更多
A system for fully automatic selection of welding specifications in resistance welding equipment has been developed to address the problem of workers frequently choosing the wrong specifications during manual welding ...A system for fully automatic selection of welding specifications in resistance welding equipment has been developed to address the problem of workers frequently choosing the wrong specifications during manual welding of multiple parts on a single machine in automobile factories. The system incorporates an automatic recognition system for different workpiece materials using the added machine fixture,visual detection system for nuts and bolts,and secondary graphical confirmation to ensure the correctness of specification calling. This system achieves reliable,fully automatic selection of welding specifications in resistance welding equipment and has shown significant effects in improving welding quality for massproduced workpieces,while solving the problem of specification calling errors that can occur with traditional methods involving process charts and code adjustments. This system is particularly suitable for promoting applications in manual welding of multiple parts on a single machine in automobile factories,ensuring correct specification calling and welding quality.展开更多
Aimed at the welding ttechnological requirements of foe missile shell,a computer control system for automatic TIG welding of aluminium alloy sheets has been developed in this paper.The hardware of the system is compos...Aimed at the welding ttechnological requirements of foe missile shell,a computer control system for automatic TIG welding of aluminium alloy sheets has been developed in this paper.The hardware of the system is composed of the four sub-systems,i.e.weldingpower source,arc length controller,welding wire feeder and welding head traveller.The software of the system comprises the on-line executing program and the off-line serving program.The operating principle,specifications and control of the system are introduced.The experiments indicate that the system possesses rational hardware structure and practical software function,and has solved the problem of high frequency interference to the computer control system. Therefore,the control system can satisfy the requirements of automatic TIG welding of the missile shell.展开更多
To meet the demands of rapid development of pipeline constructions in China, a complete set of full automatic external welding machine for annular welds of pipeline and welding procedure have been developed thereof. T...To meet the demands of rapid development of pipeline constructions in China, a complete set of full automatic external welding machine for annular welds of pipeline and welding procedure have been developed thereof. The system has been applied in the “West East Pipeline Project” and its performance is proven. With this welding machine the welding parameters can be either preset before or adjusted in real time during the welding process, which avoids the blemishes of same type domestic and international products. Thus it is best propitious to in situ construction conditions and workers’ technical level in China. In this article the development of mechanical and control systems of this product is introduced and typical welding procedure parameters are provided.展开更多
An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot'...An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot's walking carriage. It makes the robot directly attracted tothe surface of the spherical tank so as to realize the all-position walking and welding withoutrail. At the same time, a CCD real-time tracing system is developed for the robot to repeatedlytrace the all-position and multi-layer seams. The welding tests show that the welding robot can makethe all-position and multi-layer welds with high tracing accuracy, excellent quality and reliablebehavior, and it can be applied for practical production.展开更多
The force flow cooled superconducting cable-in-conduit conductor （CICC） is used in both of EAST toroidal field （TF） and poloidal field （PF） coils. The conductor consists of multi-stage NbTi superconducting cable...The force flow cooled superconducting cable-in-conduit conductor （CICC） is used in both of EAST toroidal field （TF） and poloidal field （PF） coils. The conductor consists of multi-stage NbTi superconducting cable and 1.5 mm thick square jacket. The cable is pulled through in a thin wall circular jacket and then compacted to square cross-section conductor. The jacket material is SUS316LN austenitic stainless steel seamless tubes （about 10 m each）, which is assembled by butt-welding up to 600 m. The results of the welding procedure investigation and quality assurance procedures carrying out are described in this paper.展开更多
To meet the requirements of pipeline consumers abroad,in this study,an automatic gas metal arc welding type of girth welding was performed with a heat input of no more than 0.25 kJ/mm and high-strength solid-wire matc...To meet the requirements of pipeline consumers abroad,in this study,an automatic gas metal arc welding type of girth welding was performed with a heat input of no more than 0.25 kJ/mm and high-strength solid-wire matching for an X70M large-diameter UOE pipeline.An integral evaluation of the X70M pipeline girth weldability was performed with respect to the girth-weld cold-cracking sensitivity during the welding process and the strengthening,hardening,and embrittlement of the girth weld joint after girth welding in especially rigorous welding conditions with accelerated failure characteristics.The performance of the above girth weld joint with joints welded using the main construction-field girth welding procedure was compared to ensure the good girth weldability of the X70M pipeline.The results of this study have important supervisory significance for field-construction girth welding.Finally,the girth weldability of the X70M pipeline was found to satisfy the field construction requirements even when the welding conditions are especially rigorous.展开更多
基金ThispaperissupportedbyNationalNatureScienceFoundation (No .5 96 35 16 0 )AdvancedUniversityDoctoralSubjectFoundation (No .980 2 1311)
文摘Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.
文摘A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.
文摘The pipeline all-position automatic welding machine system is a special welding system for automatically welding circumferential joint of pipeline on site, which has been widely used to the long-distance pipeline construction projects due to the advantages of automatic control for welding parameters at all-position, moving speed of bugs and operating. In this paper, the key control technologies of PAWM all-position automatic welding machine （ developed by Pipeline Research Institute of CNPC） such us the automatic control system, control software, personal digital assistant （PDA） software and complex programmable logic device （ CPLD ） program as well us the control method of welding parameter have been described detailedly. With the higher welding quality, higher welding effwiency and lower labor intensity, PA WM all-position automatic welding machine has been successfully applied in many famous pipeline construction projects.
文摘Aiming at the robotic welding positioner with characteristic of parameter change, load change, nonlinearity, and an intelligent control system was researched and developed. This control system used a two-mode controller that based on Fuzzy and PID control method. The results of simulation show that the dynamic and steady performances of the intelligent controller are better than that of single PID or Fuzzy controller. This paper has made a detail theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time control software of high precisely and numerically controlled welding positioner, which has a good result in practice.
文摘Because of the high requirement of quality,vile working environment and great difficulty of automatic welding,MMAW is usually adopted for the welding of the platform jacket and the pile pipe.Its low efficiency and hard working is one of the choke points for construction progress. In this article,an up-to-date technology for platform pile pipe welding was introduced. Cored with FCW-S and combined with the characters and requirements of platform construction,the special automatic horizontal welding equipment and process were developed. Further more,the offshore application were introduced too.
基金Funded by the Chief Expert (Engineer) Project of Jiangsu Provincial Association for Science(No.2013-216)the Innovation Program of Graduated Student of Jiangsu Province(CXLX2014-1098)
文摘X80 pipeline steel was welded with submerged arc automatic welding, the microstructures, cavity sizes, fusion depths and plane scanning of chemical elements in the welded zone, fusion zone, heat affected zone and base steel were observed with OM（optical microscope） and SEM（scanning electron microscope）, respectively. The experimental results show that there is main acicular ferrite in the base steel and welded zone, the microscopic structure of fusion zone is a blocked bainite, and the heat affected zone is composed of multilateral ferrite and pearlite. M-A unit of the welded zone is the main factor to strengthen the welded zone, composed of acicular ferrites. The percentage of cavities in the welded joint is less than that in the base steel, which is beneficial to increasing its mechanical performance and corrosion resistance. The fusion depth in the fusion zone and welded zone is 101.13 μm and 115.85 μm, respectively, and the distribution of chemical elements in the welded zone is uniform, no enrichment phenomena.
文摘In order to realize the automatic welding of pipes in a complex operation environment,an automatic welding system has been developed by use of all-position self-shielded flux cored wires due to their advantages,such as all-position weldability,good detachability,arc's stability,low incomplete fusion,no need for welding protective gas or protection against wind when the wind speed is<8 m/s.This system consists of a welding carrier,a guide rail,an auto-control system,a welding source,a wire feeder,and so on.Welding experiments with this system were performed on the X-80 pipeline steel to determine proper welding parameters.The welding technique comprises root welding,filling welding and cover welding and their welding parameters were obtained from experimental analysis.On this basis,the mechanical properties tests were carried out on welded joints in this case.Results show that this system can help improve the continuity and stability of the whole welding process and the welded joints'inherent quality,appearance shape,and mechanical performance can all meet the welding criteria for X-80 pipeline steel;with no need for windbreak fences,the overall welding cost will be sharply reduced.Meanwhile,more positive proposals were presented herein for the further research and development of this self-shielded flux core wires.
文摘Traditional CAD technique does not support the design processes such as function definition, conceptual design and preliminary design, which are most creative and play significant roles on the design quality. Because scheme design has close relationship with product structure, performance and technology cost, it is important for applying the intelligent CAD of scheme design to improve the quality and competitive level of the product. The definition and function of welding positioner are discussed in this paper. The new definition of welding positioner extends the research scope of welding positioner to welding fixture and welding positioning motion mechanism. The design process of welding fixture and positioning motion system is described, and the cased based and knowledge based design strategy of welding positioner scheme design intelligent CAD is then put forward, which lays foundation for developing proto type system of welding positioner scheme design.
文摘With the development of science and technology, automation technology has begun to be applied to various fields. Automatic welding technology is increasingly used in the welding industry in the area. The introduction of automatic welding technology not only improve the quality and production efficiency, but also reduce production costs, the production environment in which the staff has also been improved. This paper discusses the current situation of automatic welding technology, mechanical industry, the demand for automatic welding, automatic welding technology advantages and development trends.
文摘The all position automatic welding machine system is the special welding system for pipeline girth automatic welding on site, which has been widely used in the long distance pipeline construction projects due to the advantages of automatic control for welding parameters at all position, moving speed of bugs and operating. This automatic pipeline welding system has been successfully used in several main pipeline projects in China, and has been approved by the constructors with the benefits of higher quality passing rate, higher welding efficiency and lower labor intensity.
文摘A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds.
文摘During the process of laying long-distance oil and gas transmission pipelines, the hot-induction-bend method is extensively used when the direction has to be changed. By considering the pipeline＇ s ongoing processing and loading states during service, the pipeline that is generally used exhibits thicker walls than those that are observed in the line pipe. As such, during pipeline construction, hot-induction-bend and line pipes with different wall thickness are girth-welded. The chemical composition of hot-induction-bend and line pipes differs, with the carbon content being particularly higher in the hot-induction-bend pipe;it also depicts a higher carbon equivalent, which makes it possible to modify the girth of the pipe. In this study, using Baosteel＇ s standard X70M UOE hot- induction-bend and line pipes, solid-wire automatic gas-metal-arc girth welding was performed and the performance of the girth-welded joint was evaluated. Furthermore,the weldability of the pipeline girth and the microstructure of the girth-welded joint were analyzed. The results reveal that Baosteel＇ s standard UOE hot-induction-bend and line pipes exhibit good girth weldability, and their technical quality can be guaranteed in case of consumer field- construction applications.
基金This paperis supported by National Nature Science Foundation! (No.5963 51 60 )Advanced University Doctoral Subject Foundatio
文摘Geometric information is important for automatic programming of arc welding robot. Complete geometric models of robotic arc welding are established in this paper. In the geometric model of weld seam, an equation with seam length as its parameter is introduced to represent any weld seam. The method to determine discrete programming points on a weld seam is presented. In the geometric model of weld workpiece, three class primitives and CSG tree are used to describe weld workpiece. Detailed data structure is presented. In pose transformation of torch, world frame, torch frame and active frame are defined, and transformation between frames is presented. Based on these geometric models, an automatic programming software package for robotic arc welding, RAWCAD, is developed. Experiments show that the geometric models are practical and reliable.
文摘This paper deals with the structure, components, characteristics and work principle of a newly developed automatic arc welding machine for saddle joint seams on large diameter cylinders. The equations for designing the geometry and dimensions of the cam controlling the moving locus of the welding torch have been derived. This welding machine has successfully been used in automatic welding saddle joint seams on boiler drums with good results and low cost.
文摘A system for fully automatic selection of welding specifications in resistance welding equipment has been developed to address the problem of workers frequently choosing the wrong specifications during manual welding of multiple parts on a single machine in automobile factories. The system incorporates an automatic recognition system for different workpiece materials using the added machine fixture,visual detection system for nuts and bolts,and secondary graphical confirmation to ensure the correctness of specification calling. This system achieves reliable,fully automatic selection of welding specifications in resistance welding equipment and has shown significant effects in improving welding quality for massproduced workpieces,while solving the problem of specification calling errors that can occur with traditional methods involving process charts and code adjustments. This system is particularly suitable for promoting applications in manual welding of multiple parts on a single machine in automobile factories,ensuring correct specification calling and welding quality.
文摘Aimed at the welding ttechnological requirements of foe missile shell,a computer control system for automatic TIG welding of aluminium alloy sheets has been developed in this paper.The hardware of the system is composed of the four sub-systems,i.e.weldingpower source,arc length controller,welding wire feeder and welding head traveller.The software of the system comprises the on-line executing program and the off-line serving program.The operating principle,specifications and control of the system are introduced.The experiments indicate that the system possesses rational hardware structure and practical software function,and has solved the problem of high frequency interference to the computer control system. Therefore,the control system can satisfy the requirements of automatic TIG welding of the missile shell.
文摘To meet the demands of rapid development of pipeline constructions in China, a complete set of full automatic external welding machine for annular welds of pipeline and welding procedure have been developed thereof. The system has been applied in the “West East Pipeline Project” and its performance is proven. With this welding machine the welding parameters can be either preset before or adjusted in real time during the welding process, which avoids the blemishes of same type domestic and international products. Thus it is best propitious to in situ construction conditions and workers’ technical level in China. In this article the development of mechanical and control systems of this product is introduced and typical welding procedure parameters are provided.
基金This project is supported by National 863 High Technology R&D Program (No.863-512-9913-02).
文摘An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot's walking carriage. It makes the robot directly attracted tothe surface of the spherical tank so as to realize the all-position walking and welding withoutrail. At the same time, a CCD real-time tracing system is developed for the robot to repeatedlytrace the all-position and multi-layer seams. The welding tests show that the welding robot can makethe all-position and multi-layer welds with high tracing accuracy, excellent quality and reliablebehavior, and it can be applied for practical production.
基金The project supported by the National Meg-Science Engineering Project of the Chinese Government
文摘The force flow cooled superconducting cable-in-conduit conductor （CICC） is used in both of EAST toroidal field （TF） and poloidal field （PF） coils. The conductor consists of multi-stage NbTi superconducting cable and 1.5 mm thick square jacket. The cable is pulled through in a thin wall circular jacket and then compacted to square cross-section conductor. The jacket material is SUS316LN austenitic stainless steel seamless tubes （about 10 m each）, which is assembled by butt-welding up to 600 m. The results of the welding procedure investigation and quality assurance procedures carrying out are described in this paper.
文摘To meet the requirements of pipeline consumers abroad,in this study,an automatic gas metal arc welding type of girth welding was performed with a heat input of no more than 0.25 kJ/mm and high-strength solid-wire matching for an X70M large-diameter UOE pipeline.An integral evaluation of the X70M pipeline girth weldability was performed with respect to the girth-weld cold-cracking sensitivity during the welding process and the strengthening,hardening,and embrittlement of the girth weld joint after girth welding in especially rigorous welding conditions with accelerated failure characteristics.The performance of the above girth weld joint with joints welded using the main construction-field girth welding procedure was compared to ensure the good girth weldability of the X70M pipeline.The results of this study have important supervisory significance for field-construction girth welding.Finally,the girth weldability of the X70M pipeline was found to satisfy the field construction requirements even when the welding conditions are especially rigorous.
