焊接激光致熔池亚像素边缘提取方法研究

由于热变形等因素的影响,薄板激光焊接中焊缝会偏离预设轨迹,造成焊接激光束与焊缝偏离,使焊接质量下降.因此,焊接过程中要检测激光致熔池中心与焊缝偏差,并根据偏差量调整焊接位置.熔池中心由熔池边缘拟合求得,为精确获取熔池中心需要计算熔池的亚像素边缘.熔池亚像素边缘由以下步骤得到:(1)根据黑白CCD相机拍摄的图像中熔池灰度值大的特点,可初步确定熔池的中心;(2)以初步确定熔池中心为起点,在利用形态学方法得到熔池图像中搜索得到熔池像素级边缘;(3)在熔池图像中,提取以像素级边缘点为中心的一定区域像素灰度值,根据灰度值变化拟合曲线得到亚像素边缘.试验表明,所提出的方法能精确提取熔池亚像素边缘.     

搭接接头焊接角变形产生的原因分析

运用固有应变法研究了六个固有应变分量分别对搭接接头焊接角变形的影响.采用热弹塑性有限元法计算出搭接接头的六个固有应变分量和角变形,并以各个固有应变分量作为边界条件,对搭接接头的有限元模型进行弹性分析,计算出各个固有应变分量对应的角变形.结果表明：搭接接头焊接角变形的产生主要是由焊缝及其附近区域与焊缝平行的平面内垂直于焊缝方向上不均匀分布的固有剪切应变分量引起的.     

搅拌摩擦焊工艺探索与研究

对铝合金薄板的对接、角接及圆筒纵缝进行了搅拌摩擦焊工艺实验.实验结果表明:搅拌焊头的结构形状、旋转速度及焊接速度是决定搅拌摩擦焊焊缝成型及接头组织、性能的重要因素.     

动车组构架激光-MAG复合热源焊接工艺参数

针对高速列车转向架焊接构架中典型的平板对接接头、T型角接接头和管板搭接接头,采用激光-MAG电弧复合热源焊接方法进行了系统的焊接工艺试验,确定了平板对接、T型角接和管板搭接接头的坡口角度、钝边尺寸和组焊间隙,以及相应的激光-MAG复合热源焊接工艺参数,为激光-电弧复合焊接方法在构架制造中的应用提供了工艺参数和技术基础.     

动车组构架激光-MAG复合热源焊接工艺参数

针对高速列车转向架焊接构架中典型的平板对接接头、T型角接接头和管板搭接接头,采用激光-MAG电弧复合热源焊接方法进行了系统的焊接工艺试验,确定了平板对接、T型角接和管板搭接接头的坡口角度、钝边尺寸和组焊间隙,以及相应的激光-MAG复合热源焊接工艺参数,为激光-电弧复合焊接方法在构架制造中的应用提供了工艺参数和技术基础.     

惯性载荷作用下结构应力法焊接结构抗疲劳性能研究

基于结构应力法计算了焊缝的等效结构应力和累积损伤比,对这两种焊接形式在惯性载荷作用下的疲劳特性进行了分析.分析了采用名义应力法和等效结构应力法对有限元网格尺寸的敏感性,验证了采用等效结构应力法对网格尺寸不敏感;分析了焊缝类型、承载方向及焊接板厚度对结构疲劳寿命的影响.结果表明,当载荷方向垂直于焊线且垂直板所在平面时,焊缝的寿命最低,且对接焊缝比角焊缝更易发生破坏;在三个方向惯性载荷共同作用下,角焊缝的疲劳寿命要比对接焊缝疲劳寿命长;在保证焊趾两侧刚度协调的前提下,同时增加两个焊接板件厚度可以提高焊缝的疲劳寿命,只增加或者减少一个板件厚度,都会导致焊缝疲劳寿命降低,尤其是角焊缝.     

搅拌摩擦焊工艺探索与研究

对铝合金薄板的对接、角接及圆筒纵缝进行了搅拌摩擦焊工艺实验。实验结果表明：搅拌焊头的结构形状、旋转速度及焊接速度是决定搅拌摩擦焊焊缝成型及接头组织、性能的重要因素。     

激光参数对高强度不锈钢搭接焊接结构和断裂行为的影响

通过焊接和拉伸试验及微观组织分析,研究了焊接参数对高强度301L-HT板搭接非熔透激光焊接接头结构、断裂行为和力学性能的影响.结果表明：激光焊缝的硬度为HV215,δ铁素体比电阻点焊少,热影响区硬度更接近于母材;焊缝几何结构对激光参数敏感,熔深变化的规律性更明显,特定部位的熔宽与焊接参数耦合有关;板材厚度相同的焊接接头变形刚度接近,焊缝的几何结构决定最后的变形和断裂行为,焊接内板的弯曲变形角度比外板大,两板的弯曲角度差随熔深增加而减小;焊接板弯曲角度和焊接强度随焊缝尺寸同步升高;焊缝硬度低于母材和热影响区导致拉伸变形集中在很窄的区域,焊接接头的断裂位移都小于2mm.     

动车组铝合金车体焊接接头应力集中区域识别

基于结构应力研究动车组铝合金车体焊接接头的应力分布特征.首先,建立某动车组铝合金车体包括焊接接头在内的有限元模型,然后,在EN12663-1:2010标准中的主要静态载荷作用下,分析车体典型焊接接头的结构应力沿焊缝长度的分布规律.结果表明:车体焊缝应力集中发生部位主要为门立柱下方以及设备舱挡板附近的底架地板型材与底架边梁搭接焊缝处.当通过打磨等改善技术提高车体焊缝疲劳强度时,应重点关注这些区域.     

钢构件对接焊焊缝横向残余应力分布研究

采用ANSYS通用有限元分析软件对钢板对接焊进行模拟分析,通过对不同厚度钢板的对接焊缝横向残余应力分布的研究,得出了横向焊接残余应力分布与板厚关系的一些简便的数学公式,以便设计人员在进行焊缝设计时进行残余应力的估算.     

BWELDY700QL4低合金高强钢焊接接头组织与力学性能

通过拉伸、弯曲、冲击、硬度试验以及金相分析等对BWELDY700QL4低合金高强钢焊接接头的显微组织和力学性能进行了研究.结果表明:采用YM80-A焊丝焊接BWELDY700QL4低合金高强钢可以获得拉伸、弯曲和冲击性能均良好的焊接接头;其焊缝组织晶界为先共析铁素体、平行排列的无碳贝氏体从晶界伸向晶内,晶内为针状铁素体与珠光体,个别部位有粒状贝氏体.熔合区及粗晶区组织为板条马氏体和少量M-A组元.正火区组织为粒状贝氏体和少量铁素体.BWELDY700QL4焊接接头的硬度值在264～380 HV之间,焊缝处硬度最高,比母材高48 ～76 HV,热影响区虽有软化现象,但不明显.     

Multiple welding seam video transmission and monitoring of welding robot in local area network

A method of transmission and monitoring in local area network (LAN) for the welding seam video information of binocular vision welding robot is proposed. This paper uses MPEG-4 video CODEC functions of DivX, video for Windows (VFW) video capture technology, multi-threaded network communication idea and WinSock Socket in Visual C++ 6.0. In the end, client/server (C/S) communication model based on TCP/IP protocol has been developed. Experimental results show that the method can achieve the multiple welding seam video??s real-time transmission in LAN. Moreover, the Canny operator is used to realize the edge feature extraction of the seam image which is captured by the client, so that the edge of the seam extracted is continuous and clear.     

斜拉桥钢桥面板顶板-U肋-横隔板过焊孔细节群数字疲劳试验

为研究多场耦合作用下斜拉桥钢桥面板疲劳裂纹的扩展机理，建立了跨尺度斜拉桥全桥数字疲劳试验模型；通过模拟顶板-U肋-横隔板过焊孔细节群处多道焊缝的焊接全过程，将焊接残余应力引入数字疲劳试验模型中；基于扩展有限元法，在多场耦合作用下对顶板-U肋-横隔板过焊孔细节群处典型疲劳裂纹进行扩展机理的数字断裂参数分析与扩展行为的数字疲劳试验。研究结果表明:在顶板-U肋-横隔板过焊孔细节群处存在较大的残余拉应力，其最大值接近钢材的屈服强度，焊接残余应力对钢桥面板疲劳性能的影响不可忽略；后续焊缝会影响已有焊缝区域的应力场分布，在分析计算多道焊缝影响区域的焊接残余应力场时，需模拟多道焊缝的焊接全过程；在恒载应力场、活载应力场和焊接残余应力场的多场耦合作用下，按复合型裂纹扩展的工程准则，顶板-U肋-横隔板过焊孔细节群处4种典型疲劳裂纹的最大等效应力强度因子幅均大于疲劳裂纹扩展阈值，均将在疲劳循环荷载作用下发生疲劳扩展；在多场耦合作用下，过焊孔上方顶板-U肋连接焊缝的顶板侧焊趾处疲劳裂纹和U肋侧焊趾处疲劳裂纹均为以Ⅰ型裂纹为主导的Ⅰ-Ⅱ-Ⅲ型复合裂纹，Ⅱ型和Ⅲ型裂纹的影响不容忽略；过焊孔上方顶板-U肋连接焊缝的顶板侧焊根处疲劳裂纹和横隔板过焊孔边缘处疲劳裂纹均为Ⅰ型裂纹；建立的多场耦合作用下多尺度数字疲劳试验可为运营阶段大跨度桥梁钢桥面板疲劳裂纹的扩展提供分析与模拟方法。      

机器人焊割柱管相贯线的路径规划研究

近年来,柱管接管相贯线接缝焊割由传统的手工焊逐渐被焊割机器人操作所代替。本文建立了圆锥、球体与柱管相贯线的一般化数学模型,并将空间相贯线展成平面曲线,利用等步长原理获取焊割轨迹的路径点。为保证焊割精度,步长的数值由输入的允许插补误差值经计算获得。文中还给出了柱管相贯线获取焊割路径点的流程图。此方法方便了焊割程序的编制,提高了工作效率,同时又保证了焊割的平稳性和精确性。最后给出了一个常见的柱管相贯实例,利用Matlab软件编程得到了其相贯线焊割路径点。     

PREDICTION OF WELDING DEFORMATIONS BY FEM BASED ON INHERENT STRAINS

IntroductionIt is of importance to predict and control theresidual deformations caused by welding pro-cesses to ensure the accuracy of a welded produc-tion.Nowadays there are three ways to deter-mine the welding deformations:( 1 ) empiricalformulas or curves based on the experiments;( 2 ) thermo- elasto- plastic analysis by FEM;( 3)inherent strain method.The empirical formulasare only suited to the cases of simple plates orbeams that undergo a welding cycle close to theexperiment conditions. …     

Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient's brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.     

点焊镀锌钢板时球形电极表面熔敷TiC涂层对电极失效的分析

利用SEM、EDX和XRD等方法分析了在点焊镀锌钢板时球形电极表面熔敷TiC涂层对电极失效的影响。结果表明:点焊镀锌钢板时,球形电极的失效机制,主要是电极和镀锌板之间局部焊接的断裂发生在电极表面而导致的电极磨损,以及电极和镀锌板表面的锌之间的合金化。表面涂敷TiC的CuCrZr电极的寿命(1200点)是CuCrZr电极寿命(500点)的2.4倍,表面处理能提高电极寿命的主要原因是,在点焊镀锌钢板时表面涂敷的TiC层能阻碍电极和镀锌板之间的局部焊接和阻碍电极和镀锌板表面的锌之间的合金化。     

基于Cognex视觉的机器人自动搬运控制

针对企业原有生产圆盘类连接轴的工艺,设计了基于Cognex视觉的机器人自动搬运系统,将S7-300 PLC、Cognex视觉系统和FANUC机器人系统集成在一起,实现了1台机器人同时为铣床和车床2个加工系统自动上下料;通过Profibus总线和Ethernet通讯将PLC技术、视觉技术与工业机器人结合起来,发挥了工业以太网传输速度快、信号稳定的优势,提高了机器人的柔性取料能力;目前已应用在企业当中,提高了企业的自动化程度及生产效率,降低了企业的用工支出。     

Application of image morphology in detecting and extracting the initial welding position

A method of image morphology in detecting and extracting the initial welding position during the autonomous welding process is described. During the process, firstly visual sensing technology is used to capture the straight seam image, and secondly the image edges are detected by morphological corrosion edge detection algorithm, with which can retain the critical information while filter other interferences effectively at the same time. Then morphological processing algorithm is used to conduct the direction of filter by selecting the multidirectional linear structuring elements and finally get the initial weld position point coordinates with the Hough transform. The algorithm is simple, rapid, self-adaptability with high accuracy for interferences except long lines so as to accomplish the entire process of detecting the initial welding position. It can meet the practical demands of automatic guidance for robotic welding.     

Depth Camera-Based Robot-Assisted Ultrasonic Lipolysis System

With many advantages such as non-invasive,safe and quick effect,focused ultrasound lipolysis stands out among many fat-removing methods.However,during the whole process,the doctor needs to hold the ultra-sound transducer and press it on the patient's skin with a large pressure for a long time;thus the probability of muscle and bone damage for doctors is greatly increased.To reduce the occurrence of doctors' occupational diseases,a depth camera-based ultrasonic lipolysis robot system is proposed to realize robot-assisted automatic ultrasonic lipolysis operation.The system is composed of RealSense depth camera,KUKA LBR Med seven-axis robotic arm,PC host,and ultrasonic lipolysis instrument.The whole operation includes two parts:preoperative planning and intraoperative operation.In preoperative planning,the treatment area is selected in the camera image by the doctor;then the system automatically plans uniformly distributed treatment points in the treat-ment area.At the same time,the skin normal vector is calculated to determine the end posture of the robot,so that the ultrasound transducer can be pressed down in the normal direction of skin.During the intraoperative operation,the robot is controlled to arrive at the treatment point in turn.Meanwhile,the patient's movement can be detected by the depth camera,and the path of robot is adjusted in real time so that the robot can track the movement of patient,thereby ensuring the accuracy of the ultrasonic lipolysis operation.Finally,the human body model experiment is conducted.The results show that the maximum error of the robot operation is within 5 mm,average error is 3.1 mm,and the treatment points of the robot operation are more uniform than those of manual operation.Therefore,the system can replace the doctor and achieve autonomous ultrasonic lipolysis to reduce the doctor's labor intensity.