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Lae-hyung Ryu Tae-wan Kim Min-jae Oh Nam-kug Ku Kyu-yeul Lee 《Journal of Marine Science and Technology》2009,14(3):345-358
We propose a method to determine the optimal initial location and to generate torch paths for a ship welding robot with 6
degrees of freedom (DOF). The optimal initial location is determined using an objective function, which is set up by combining
constraints on the torch posture, manipulability, and the range of each joint angle to avoid collisions. A genetic algorithm
(GA) is used to optimize the objective function because it does not require additional derivatives. After the initial location
is determined, torch paths are generated by interpolating the starting point, endpoints and torch postures using inverse kinematics.
Our method can be applied to automate the welding job for each block during ship building, irrespective of the shape of the
robots, by changing the objective function. 相似文献
14.
激光电弧复合焊克服了传统电弧焊和激光焊的缺点,其良好的焊接特性及可控的焊接成本,使其完全满足邮轮上层建筑建造的技术要求,即:焊后上层建筑外板平整、线型流畅和焊缝成形美观等,且焊接成本应在可控范围。由于目前船级社规范以及国内相关标准尚未制定出可执行的激光电弧复合焊焊接工艺认可的技术要求,制约了激光电弧复合焊在我国邮轮建造领域的应用。为了获得科学合理的激光电弧复合焊焊接工艺认可的工艺技术参数,通过焊接工艺试验,就激光电弧复合焊的特性、焊接设备的选配、试验所用的钢板和焊接材料进行了详细介绍;经对焊接工艺试验数据的分析研究,获得并建立了激光电弧复合焊焊接工艺认可所需的最佳可控的焊接工艺技术参数。这些工艺技术参数不仅能帮助船厂顺利完成激光电弧复合焊焊接工艺计划书等焊接工艺文件的编制、焊接工艺试验的实施及其认可,也能为完善规范提供参考,同时还为激光电弧复合焊在我国建造的邮轮上得以顺利实施提供技术支持。 相似文献
15.
本文通过实例重点介绍了通过改进生产周期过长的机器人焊接工位,来提高生产节拍,为以后提高焊装线生产效率提供了一种参考方法. 相似文献
16.
Residual stresses existing in a multi-pass butt joint with a thickness of 70 mm, using a flux-cored arc welding process, were measured by an inherent strain method (ISM). Since such a thick plate before welding contains a large amount of initial residual stresses (−300 to +100 MPa), the initial stresses were integrated with conventional ISM in order to determine the total residual stresses in a welded joint. Two methods named as initial stress integrated ISM and initial inherent strain integrated ISM were suggested for the consideration of the initial stress distributions through the thickness of base plates. The results show that there is a significant difference between the integrated ISM with initial stresses or initial inherent strain and the conventional ISM without initial stresses. The residual stresses measured by any of the initial stress integrated ISM and initial inherent strain integrated ISM agreed well with the neutron diffraction measurement. Thus, the proposed initial stress integrated ISM is a proper destructive measurement method in the case of thick weld joints. 相似文献
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文章针对客车顶置空调连接固定螺栓的使用机理进行分析,结合市场上出现的质量案例,从连接固定螺栓的原材料材质、焊接冶金原理、固定结构、连接方式等方面进行分解、优化,综合多项方案中,从实施最简单、成本最低廉、连接最可靠、解决问题最佳效果的途径选中取出,应用到批量的生产过程中,以解决客车生产企业顶置空调安装、使用过程中的重大问题,避免产品存在质量隐患,提高客车运行的可靠性。 相似文献
19.
模拟钢轨焊接及焊后热处理工况,采用热膨胀方法分别测定UIC900A及U75V钢轨钢的连续冷转变曲线(CCT曲线)。通过对UIC900A及U75V钢轨钢连续冷却特性的分析和比较,结果表明:当模拟焊接的奥氏体化温度为1 300℃和冷却速度小于1.5℃.s-1时,这2种钢轨钢的组织均为珠光体,并且在正常情况下焊接后直接空冷也都不会出现马氏体组织,这时UIC900A和U75V钢轨钢的硬度分别达到329 HV和354 HV;当模拟焊后热处理的奥氏体化温度为900℃和冷却速度为0.5℃.s-1时,这2种钢轨钢的硬度均为300 HV左右。UIC900A钢轨钢可直接空冷,U75V钢轨钢则需用冷却速度为1~2℃.s-1的喷风软淬火,以使其硬度达到320~350 HV左右。 相似文献
20.
This paper presents a fatigue design method for plug and ring type gas welded joints, which incorporates welding residual
stress effects. A non-linear finite element analysis (FEA) was first performed to simulate the gas welding process. The numerically
predicted residual stresses of the gas welds were then compared to experimental results measured using a hole drilling method.
In order to evaluate the fatigue strength of the plug and ring type gas welded joints, a stress amplitude (σ
a
)
R
taling the welding residual stress of the gas weld into account was introduced and is based on a modified Goodman equation
incorporating the effect of the residual stress. Using the stress amplitude (σ
a
)
R
, the ΔP-N
f
relations obtained from fatigue tests for plug and ring type gas welded joints having various dimensions and shapes were
systematically rearranged into (σ
a
)
R
-N
f
relations. It was found that the proposed stress amplitude (σ
a
)
R
could provide a systematic and reasonable fatigue design criterion for the plug and ring type gas welded joints. 相似文献