基于边缘检测的焊缝图像自动识别算法

提出一种基于边缘检测的焊缝图像识别方法,即通过对螺旋钢管焊缝图像的实时采集、处理、分析,一旦发现焊枪偏离焊缝中心则及时对焊枪走向加以调整.该方法运用在实际螺旋钢管焊接中,具有检测时间短、误差小、工作稳定可靠、抗干扰能力强等特点.     

杭州湾跨海大桥创多项世界第一

今年5月1日通车的杭州湾跨海大桥创下多项世界第一：全长36公里，其长度在目前世界上在建和已建成的跨海大桥中位居第一；架设运输重量从900吨提高到1430吨，到目前为止居世界第一；采用整桩螺旋钢管桩，最大直径1．6米，单桩最大长度89米，整桩螺旋钢管桩长度在国内外桥梁钢管桩中位居第一；     

双层气体保护焊的试验研究

本文通过对双层气体保护焊焊枪结构设计及其工艺试验研究,指出双层保护气体从内外喷咀喷出后维持层流流态是焊枪结构设计的重要依据,并给出了焊枪内外喷咀尺寸参数的设计计算方法,工艺试验研究结果表明,在内层为20％～25％Ar,外层为75％～80％CO_2的气体比例的范围内,配合以恰当的焊接规范参数,可以获得与富Ar混合气体(80％Ar+20％CO_2)保护时相近的各项工艺性能,但Ar气消耗量仅为富Ar混合气体保护时的1/4左右,取得了以少量Ar气保护达到富Ar保护效果。     

船体结构件中常见焊缝的优化布置

为提高船体制造的焊接效率和质量,根据焊缝布置的基本要求,从合理布置焊缝出发,对部分船体结构件焊缝提出了一系列的优化布置方案.依据生产一线的实际加工经验,提出了焊缝布置应便于钢板加工和避开应力集中区域、焊缝的位置应尽量可能的左右对称布置的观点;另外对焊缝与构件交错等应用中的实际问题也提出了一些解决方法,从而更好地发挥了设...     

磁测法测试钢结构桥梁的焊接残余应力

磁测法是基于铁磁材料压磁效应的应力测量的一种新方法,对这种方法的原理进行了介绍,并通过在3个观音岩长江大桥足尺比例构件试验研究中,对焊接完成后的焊缝应力和超声波冲击后的焊缝应力采用磁测法进行了测试。测试结果表明,在熔透焊缝中,平行和垂直焊缝方向都存在着相当大的焊接残余应力,很多测点应力已经接近钢材的屈服强度;局部构造设计对于防止焊接应力集中有着重要的意义;超声波冲击对消除焊缝残余应力效果明显,磁测法能方便有效地测试出桥梁钢构件的焊接应力,为人们了解桥梁复杂节点的焊缝应力的分布状况,掌握消除焊缝残余应力工艺处理后的效果情况,提供了切实可行的测试手段,是一种测试灵敏度高、测试系统简单、操作灵活的很具发展前景的焊缝应力测试方法。     

输气管线对接环缝的超声波成像检测

对射线、超声和超声波成像几种检测方法检测管道焊缝的优缺点进行比较，对超声波配合超声成像检测现行管道焊缝的可行性进行了探讨。     

广州珠江黄埔大桥悬索桥钢箱梁焊接线形控制技术

在大跨度悬索桥钢箱梁工地焊接施工中,钢箱梁长度和钢箱梁轴线是着重控制的两个关键焊接指标,钢箱梁焊缝宽度是实施调控的关键参数,调控措施是合理控制焊缝宽度。针对钢箱梁长度控制,将焊缝收缩试验与分阶段调整方法相结合,均匀调整若干条焊缝宽度,补偿由施工及焊缝收缩经验值产生的长度误差;针对钢箱梁轴线控制,根据焊接进程,通过设置上、下游焊缝宽度或控制上、下游焊缝收缩量,促成梁段微量偏转,迫使梁段渐进回归至理想位置。     

活性化焊剂成分对A-TIG焊缝成形的影响

采用活性化焊剂TIG焊接方法研究了奥氏体不锈钢焊缝熔深的变化.结果表明:在相同焊接工艺参数下,活性化焊剂成分、活性化焊剂涂层厚度对焊缝成型有显著影响.与单一成分相比,混合型助焊剂,特别是加稀土的混合助焊剂可使焊缝熔深显著增加.     

薄壁铜及铜合金高频焊焊缝接头的错位研究

分析了薄壁铜及铜合金高频焊接焊缝接头的错位及其产生的主要原因,研究了焊缝接头错位与焊接过程稳定性及焊缝强度的关系,提出了焊缝接头错位的预防和控制方法。     

基于PZT的金属结构焊缝裂纹检测仿真研究

起重机金属结构的损伤一般出现在焊缝处,裂纹是损伤中危害最大和最普遍的一种。应用压电阻抗法并借助ANSYS仿真软件对带焊缝钢板进行谐响应分析,采用RMSD指数法研究了基于PZ T传感器的焊缝裂纹损伤程度和定位方法识别。仿真结果表明,压电导纳频谱曲线对裂纹深度和裂纹与PZ T的偏移距离很敏感,呈现出一定的规律性。压电阻抗法可以用于对焊缝裂纹损伤程度和裂纹位置识别的分析。     

Analysis of arc physical property of pulsed tungsten inert gas welding based on Fowler-Milne method

Pulsed tungsten inert gas (TIG) welding is widely used in industry due to its superior properties, so the measurement of arc temperature 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 milliseconds. The further the axial position from the tungsten is, the greater the intensity jumps, and the smaller the temperature changes.     

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.     

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。     

基于Simufact的焊接应力的对比分析

焊接部位要经历不均匀的加热和冷却历程,最终在焊接结构中产生应力,焊接应力会导致焊接接头产生冷、热裂纹等缺陷,焊接结构破坏事故许多是由焊接应力和变形所引起。因此,为了提高焊接结构的质量和使用性能,简化焊条电弧焊焊接的实验过程,本文运用Simufact-Welding软件对Q345钢的T形接头进行平焊仿真,对比分析了焊件不完全约束和完全约束两种方法下在焊接过程中和冷却过程中熔合线处的应力。结果表明：该仿真过程中,其它参数相同的情况下,不同的焊件装夹方法得到不同结果的焊接应力,焊接过程中,两种方法下大部分熔合线处的等效应力的最大值大于Q345的屈服强度,焊件不完全约束方法下大部分熔合线处的残余应力大于Q345的屈服强度,焊件完全约束方法下大部分熔合线处的残余应力小于Q345的屈服强度。     

基于ASME标准的机车制动闸瓦托焊接疲劳分析

以ASME标准中的基于等效结构应力的主S-N曲线法对闸瓦托结构中的14条焊缝疲劳寿命进行分析.建立闸瓦托有限元模型,根据实际制动工况分析其承载载荷,计算制动过程中焊缝区域的应力分布,基于等效结构应力算法将应力进行转换,进而求解各条焊缝在实际工况载荷的疲劳寿命,并对疲劳寿命较低的危险焊缝进行预测及分析,结果表明该闸瓦托分别存在两条对称的主要危险焊缝和两条对称的次级危险焊缝.     

Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding

Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, theseam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.     

小波分析在弧焊机器人视觉检测中的应用

针对弧焊机器人薄板对接、搭接焊缝的自动焊接问题,将小波分析应用在CCD直接获取的焊缝图像的处理中,用来提取焊缝轨迹.根据薄板的对接和搭接焊缝图像的特点,建立了斜坡型及梯形小波分析模型,通过对模型的多尺度小波变换和李氏指数的分析,可以区分焊缝的边缘类型,从而增强了焊缝轨迹提取方法的抗干扰性和适应性,也为弧焊机器人的自动化和智能化焊接提供一定的技术参考.     

Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding

Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.     

用数值模拟方法优化列车转向架侧梁焊接工艺的研究

基于ANSYS平台热弹塑性有限元分析,利用APDL语言,采用单元生死技术模拟焊缝形成过程,对B型列车14t转向架侧梁的焊接残余应力与变形进行了模拟。结果显示,侧梁沿x方向（即焊缝方向）产生了收缩,两端向中心的收缩量大致相等,其值分别为0．846mm和-0．935mm;在Y方向上,上盖板沿Y的负方向产生了较大的变形,其值为-1．548mm,下盖板的位移较小,最大值仅为0．213mm;z方向上,由于约束较强,其变形值较其它方向相比大约小一个数量级。等效残余应力在焊缝上最大,其峰值约为270MPa,随着与焊缝中心距离的增加,其值迅速减小。总体而言,模拟结果符合焊接理论,且与实际情况吻合,证明了用数值模拟方法进行焊接工艺优化的可行性。     

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.