Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image. According to using the image segmentation method based on pattern match, not on...Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image. According to using the image segmentation method based on pattern match, not only advanced the speed and anti-jamming capability, but also captured the edge information of the weld seam and the edge of the workpiece, and the image coordinate of the initial welding position can be obtained. The matrix for hand-eye relationship of the robot can be calculated by adopting the rapid calculation method. According to the depth calculating principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space, and the function to guide the welding robot to the initial welding position can be realized.展开更多
Pulsed MIG welding is suitable for aluminum alloys welding, because spray transfer and excellent profile can be arrived during whole welding current range, and the energy of droplet can be controlled to overcome losin...Pulsed MIG welding is suitable for aluminum alloys welding, because spray transfer and excellent profile can be arrived during whole welding current range, and the energy of droplet can be controlled to overcome losing of alloy elements with lower melting and steam point by controlling pulse current and pulse time. Because of the special physic properties of aluminum alloys, there are different requirements for pulsed MIG welding between starting arc short circuit and drop transfer short circuit, pulse period and base period. In order to satisfy the need of aluminum alloys MIG welding, self adjusting dynamic characteristics are designed to output different dynamic characteristics in different welding startes. The self adjusting dynamic characteristics of pulsed MIG welding are achieved through a short circuit controller and a dynamic electronic inductor. The welding machine(AL MIG 350) with self adjusting dynamic characteristics has a high rate of successfully starting arc up to 96%, and the short circuit time during transfer is less than 1 ms, in the mean time, the arc is stiffness, spatter is low and weld appearance is good.展开更多
The high entropy alloys(HEAs)are the newly developed high-performance materials that have gained significant importance in defence,nuclear and aerospace sector due to their superior mechanical properties,heat resistan...The high entropy alloys(HEAs)are the newly developed high-performance materials that have gained significant importance in defence,nuclear and aerospace sector due to their superior mechanical properties,heat resistance,high temperature strength and corrosion resistance.These alloys are manufactured by the equal mixing or larger proportions of five or more alloying elements.HEAs exhibit superior mechanical performance compared to traditional engineering alloys because of the extensive alloying composition and higher entropy of mixing.Solid state welding(SSW)techniques such as friction stir welding(FSW),rotary friction welding(RFW),diffusion bonding(DB)and explosive welding(EW)have been efficiently deployed for improving the microstructural integrity and mechanical properties of welded HEA joints.The HEA interlayers revealed greater potential in supressing the formation of deleterious intermetallic phases and maximizing the mechanical properties of HEAs joints.The similar and dissimilar joining of HEAs has been manifested to be viable for HEA systems which further expands their industrial applications.Thus,the main objective of this review paper is to present a critical review of current state of research,challenges and opportunities and main directions in SSW of HEAs mainly CoCrFeNiMn and Al_xCoCrFeNi alloys.The state of the art of problems,progress and future outlook in SSW of HEAs are critically reviewed by considering the formation of phases,microstructural evolution and mechanical properties of HEAs joints.展开更多
The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have ...The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD （position sensitive detector） displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.展开更多
This paper presents generalized CAPP （G-CAPP） method which deals with macro process planning for multiobjective in the planning stage of production line of accuracy welding （PLAW） based on the features of accuracy...This paper presents generalized CAPP （G-CAPP） method which deals with macro process planning for multiobjective in the planning stage of production line of accuracy welding （PLAW） based on the features of accuracy welding production （ AWP ）. G-CAPP offers foundations for prototype design and general equipment sorting, production capacity predication and production analysis by means of simulation and optimization. A synthetic hierarchy evaluation （SHE） model for G-CAPP established according to the planning objective is utilized to estimate the alternate processing plans by using membership function and analytic hierarchy process （AHP） of operational theory. The assembly welding line of hydraulic torque converter （HTC） is as an example of typical A WP to explicate G-CAPP and synthetic evaluating strategy of PLAW. The feasible and rational process configuration strategies of HTC assembly welding line are pointed oat under different planning objective.展开更多
stability of welding process is the prerequisite and assurance for ideal joint. The structure of stability model and its optimization are the key to on-line evaluation technology of arc welding. Characteristic paramet...stability of welding process is the prerequisite and assurance for ideal joint. The structure of stability model and its optimization are the key to on-line evaluation technology of arc welding. Characteristic parameters are extracted from the single transfer period while variation coefficients of the characteristic parameters are concerned for whole welding process of continuous drop transfer. Based on the characteristic parameters and their variation coefficients, stability model of short-circuit arc welding process is established by partial-least-square regression （PLSR） that can overcome multicollinearity of input parameters. The experiment results show that this model can meet the requirement of accuracy.展开更多
Pulsed tungsten inert gas （TIG） welding is widely used in industry due to its superior properties, so the measurement of arc telnperature is important to analyse welding process. Arc image of spectral line in 794.8 ...Pulsed tungsten inert gas （TIG） welding is widely used in industry due to its superior properties, so the measurement of arc telnperature is important to analyse welding process. Arc image of spectral line in 794.8 nm is captured by high speed camera; both the Abel inversion and the Fowler-Milne method are used to calculate the temperature distribution of the pulsed TIG welding. Characteristic of transient variation in arc intensity and temperature is analyzed. When the change of current happens, intensity and temperature of arc jump as well, it costs several millisoconds. The flirther the axial position from the tungsten is, the greater the intensity jumps, and the smaller the temperature changes.展开更多
Some parts with capillary to plate joint have important application in aerocrafi. Vacuum electron beam brazing （VEBB） technology is used to realize this jointing with capillaries. Firstly 3D finite element analysis ...Some parts with capillary to plate joint have important application in aerocrafi. Vacuum electron beam brazing （VEBB） technology is used to realize this jointing with capillaries. Firstly 3D finite element analysis model is built in this paper according to this special structure. And then ANSYS finite element analysis software is used to analyze brazing temperature field at different brazing parameters. The calculation results show that the temperature field of simulation has good agreement with that measured by experiment, which proves dependence of the model built in this paper. And also reference parameters could be provided for real brazing process through calculation in this model. Brazed joint of capiUary to plate with good performance is achieved using VEBB technology. The achievement of the study will be applied in aerocrafi in the future.展开更多
A novel visual robotic arc welding system based on circular laser vision sensor is developed. After image de-noising, image segmentation, and image thinning, the relation of depth value of workpiece and off-axis angle...A novel visual robotic arc welding system based on circular laser vision sensor is developed. After image de-noising, image segmentation, and image thinning, the relation of depth value of workpiece and off-axis angle % three-dimensional （3D） calculation, and seam tracking experiments are carried out. Finally, the error for seam tracking system is analyzed. The results show that 1） 3D information can be obtained using the proposed visual robotic arc welding system and the real-time seam tracking is realized; 2） the seam tracking error is small enough for gas tungsten arc welding （GTAW） process, and this system can be used for seam location and seam tracking or seam finder.展开更多
A multi-physics hybrid numerical model,which couples electric,magnetic,thermal and flow fields,was used to investigate electromagnetic stirring behavior in a resistance spot weld nugget.The differences of two kinds of...A multi-physics hybrid numerical model,which couples electric,magnetic,thermal and flow fields,was used to investigate electromagnetic stirring behavior in a resistance spot weld nugget.The differences of two kinds of different excitation inputs,i.e.,a sinusoidal current and its root-mean-square(RMS)value,were studied to examine if they could produce equivalent electromagnetic stirring effects in the weld nugget.Research showed that the two types of current inputs could produce almost identical fluid flow and heat transfer patterns and consistent evolution of flow and thermal fields in the nugget.At the end of the welding cycles,the maximum flow velocity and temperature between the two inputs differed by 11.6%and 0.3%,respectively.Therefore,the RMS current can be assumed to produce an approximately equivalent electromagnetic stirring effect with the sinusoidal current,and can be used in the future research to greatly improve the solution efficiency of the electromagnetic stirring behavior in the resistance spot weld nugget.展开更多
文摘Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image. According to using the image segmentation method based on pattern match, not only advanced the speed and anti-jamming capability, but also captured the edge information of the weld seam and the edge of the workpiece, and the image coordinate of the initial welding position can be obtained. The matrix for hand-eye relationship of the robot can be calculated by adopting the rapid calculation method. According to the depth calculating principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space, and the function to guide the welding robot to the initial welding position can be realized.
文摘Pulsed MIG welding is suitable for aluminum alloys welding, because spray transfer and excellent profile can be arrived during whole welding current range, and the energy of droplet can be controlled to overcome losing of alloy elements with lower melting and steam point by controlling pulse current and pulse time. Because of the special physic properties of aluminum alloys, there are different requirements for pulsed MIG welding between starting arc short circuit and drop transfer short circuit, pulse period and base period. In order to satisfy the need of aluminum alloys MIG welding, self adjusting dynamic characteristics are designed to output different dynamic characteristics in different welding startes. The self adjusting dynamic characteristics of pulsed MIG welding are achieved through a short circuit controller and a dynamic electronic inductor. The welding machine(AL MIG 350) with self adjusting dynamic characteristics has a high rate of successfully starting arc up to 96%, and the short circuit time during transfer is less than 1 ms, in the mean time, the arc is stiffness, spatter is low and weld appearance is good.
基金financially supported by Ministry of Science and Higher Education of the Russian Federation(Grant No.FENU-2023-0013)。
文摘The high entropy alloys(HEAs)are the newly developed high-performance materials that have gained significant importance in defence,nuclear and aerospace sector due to their superior mechanical properties,heat resistance,high temperature strength and corrosion resistance.These alloys are manufactured by the equal mixing or larger proportions of five or more alloying elements.HEAs exhibit superior mechanical performance compared to traditional engineering alloys because of the extensive alloying composition and higher entropy of mixing.Solid state welding(SSW)techniques such as friction stir welding(FSW),rotary friction welding(RFW),diffusion bonding(DB)and explosive welding(EW)have been efficiently deployed for improving the microstructural integrity and mechanical properties of welded HEA joints.The HEA interlayers revealed greater potential in supressing the formation of deleterious intermetallic phases and maximizing the mechanical properties of HEAs joints.The similar and dissimilar joining of HEAs has been manifested to be viable for HEA systems which further expands their industrial applications.Thus,the main objective of this review paper is to present a critical review of current state of research,challenges and opportunities and main directions in SSW of HEAs mainly CoCrFeNiMn and Al_xCoCrFeNi alloys.The state of the art of problems,progress and future outlook in SSW of HEAs are critically reviewed by considering the formation of phases,microstructural evolution and mechanical properties of HEAs joints.
文摘The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD （position sensitive detector） displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.
文摘This paper presents generalized CAPP （G-CAPP） method which deals with macro process planning for multiobjective in the planning stage of production line of accuracy welding （PLAW） based on the features of accuracy welding production （ AWP ）. G-CAPP offers foundations for prototype design and general equipment sorting, production capacity predication and production analysis by means of simulation and optimization. A synthetic hierarchy evaluation （SHE） model for G-CAPP established according to the planning objective is utilized to estimate the alternate processing plans by using membership function and analytic hierarchy process （AHP） of operational theory. The assembly welding line of hydraulic torque converter （HTC） is as an example of typical A WP to explicate G-CAPP and synthetic evaluating strategy of PLAW. The feasible and rational process configuration strategies of HTC assembly welding line are pointed oat under different planning objective.
文摘stability of welding process is the prerequisite and assurance for ideal joint. The structure of stability model and its optimization are the key to on-line evaluation technology of arc welding. Characteristic parameters are extracted from the single transfer period while variation coefficients of the characteristic parameters are concerned for whole welding process of continuous drop transfer. Based on the characteristic parameters and their variation coefficients, stability model of short-circuit arc welding process is established by partial-least-square regression （PLSR） that can overcome multicollinearity of input parameters. The experiment results show that this model can meet the requirement of accuracy.
基金the National Natural Science Foundation of China （No. 51275299）
文摘Pulsed tungsten inert gas （TIG） welding is widely used in industry due to its superior properties, so the measurement of arc telnperature is important to analyse welding process. Arc image of spectral line in 794.8 nm is captured by high speed camera; both the Abel inversion and the Fowler-Milne method are used to calculate the temperature distribution of the pulsed TIG welding. Characteristic of transient variation in arc intensity and temperature is analyzed. When the change of current happens, intensity and temperature of arc jump as well, it costs several millisoconds. The flirther the axial position from the tungsten is, the greater the intensity jumps, and the smaller the temperature changes.
文摘Some parts with capillary to plate joint have important application in aerocrafi. Vacuum electron beam brazing （VEBB） technology is used to realize this jointing with capillaries. Firstly 3D finite element analysis model is built in this paper according to this special structure. And then ANSYS finite element analysis software is used to analyze brazing temperature field at different brazing parameters. The calculation results show that the temperature field of simulation has good agreement with that measured by experiment, which proves dependence of the model built in this paper. And also reference parameters could be provided for real brazing process through calculation in this model. Brazed joint of capiUary to plate with good performance is achieved using VEBB technology. The achievement of the study will be applied in aerocrafi in the future.
基金This work was supported by the Youth Foundation of Shanghai University of Engineering Science(No.06-7)Specialized Research Fund for Excellent Young Teachers of Shanghai(No.06xpyq17).
文摘A novel visual robotic arc welding system based on circular laser vision sensor is developed. After image de-noising, image segmentation, and image thinning, the relation of depth value of workpiece and off-axis angle % three-dimensional （3D） calculation, and seam tracking experiments are carried out. Finally, the error for seam tracking system is analyzed. The results show that 1） 3D information can be obtained using the proposed visual robotic arc welding system and the real-time seam tracking is realized; 2） the seam tracking error is small enough for gas tungsten arc welding （GTAW） process, and this system can be used for seam location and seam tracking or seam finder.
基金the support of National Natural Science Foundation of China(Grant Nos.50705059,50605044)National Basic Research Program of China("973"Program)(Grant No.2006CB705400)General Motors Collaborative Research Laboratory at Shanghai Jiao Tong University
文摘A multi-physics hybrid numerical model,which couples electric,magnetic,thermal and flow fields,was used to investigate electromagnetic stirring behavior in a resistance spot weld nugget.The differences of two kinds of different excitation inputs,i.e.,a sinusoidal current and its root-mean-square(RMS)value,were studied to examine if they could produce equivalent electromagnetic stirring effects in the weld nugget.Research showed that the two types of current inputs could produce almost identical fluid flow and heat transfer patterns and consistent evolution of flow and thermal fields in the nugget.At the end of the welding cycles,the maximum flow velocity and temperature between the two inputs differed by 11.6%and 0.3%,respectively.Therefore,the RMS current can be assumed to produce an approximately equivalent electromagnetic stirring effect with the sinusoidal current,and can be used in the future research to greatly improve the solution efficiency of the electromagnetic stirring behavior in the resistance spot weld nugget.
