自升式钻井平台桩腿齿条窄间隙机器人自动立焊工艺研究

随着先进制造技术的发展,机器人焊接逐步取代手工焊已成为工程装备行业发展的必然趋势。本文采用一种新型窄间隙机器人自动立焊系统代替传统手工电弧焊,研究一种178mm超厚桩腿齿条板双面同时立焊对接工艺。试验结果分析表明,选用合理的焊接工艺,机器人自动立焊系统在实现良好的齿条板自动化对接的同时,焊缝成形美观,综合力学性能良好。与传统手工电弧焊对接工艺相比,生产效率得到了极大的提高。     

Internet-based Teleoperation Platform For Mobile Robot

An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display . Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.     

国外船舶焊接技术发展近况

焊接技术是船舶工业的关键技术之一.本文从焊接工艺、焊接设备和焊接质量控制等3方面介绍了近期国外发达国家在焊接技术上的发展.在焊接工艺方面介绍了激光 - 电弧混合焊接工艺和搅拌摩擦焊接工艺;在焊接设备方面介绍了目前美国使用的便携式脉冲气体保护焊系统和移动式激光电弧混合焊系统以及日本机器人技术在焊接设备上的应用;在焊接质量控制方面介绍了数字化检测技术和焊接变形预测和控制技术.     

Y形坡口埋弧自动焊反面定位法应用

为了提高埋弧自动焊的焊接效率和质量,以某FPSO机舱分段平台板拼板的Y型坡口埋弧自动焊为例,采用反面定位焊接,对比传统的正面定位法和改进后的反面定位法,从定位焊要求、埋弧焊特性、碳刨特点和反变形控制等方面分析作业过程、工作量和利弊,结果表明,利用胎架进行拼板的Y形坡口埋弧自动焊采用反面定位法有一定的施工优势,埋弧自动焊...     

一种数字化逆变弧焊电源的研制

本文设计了一种基于ZVS移相全桥的逆变弧焊电源,给出了主电路元器件的设计方法与选取原则:采用数字信号处理器实现控制系统的数字化,对系统的零电压开关工作原理以及软件流程进行了详细说明;给出了一台10 kW逆变弧焊电源样机的实验波形,实验结果证明了设计原则的正确性与可行性.     

基于多传感器信息融合的焊缝跟踪系统设计

针对埋弧焊（Submerged—Are Welding，SAW）控制系统，提出一种用于焊缝跟踪的仿人智能控制算法。该方法根据专家知识和操作人员的经验，给出了基于规则的仿人智能控制器的设计方案。通过比较模糊控制算法和仿人智能控制算法的仿真结果，可以得出：仿人智能控制算法在焊缝跟踪中是可行的，且与模糊控制算法相比，其具有更好的动态性能和控制精度，且还具有较强的鲁棒性。     

Residual stress measurement in an extra thick multi-pass weld using initial stress integrated inherent strain method

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.     

FOPID在船舶焊缝跟踪控制中的应用

针对船用焊接机器人焊缝跟踪问题,提出一种分数阶比例积分微分(Fractional Order Proportion Integration Differentiation,FOPID)控制技术.根据FOPID控制原理,设计FOPID控制器.针对FOPID特有的控制参数λ和μ,通过阶跃响应试验确定最佳论域范围,优化设计F...     

窄间隙焊缝跟踪电弧传感方法及特性研究

为了推广应用高效高质量的窄间隙电弧焊方法,迫切需要解决焊缝跟踪问题。针对新型高速旋转电弧焊接工艺,建立了一种窄间隙焊缝跟踪电弧传感检测方法及系统,并分析了电弧传感器的工作特性。试验结果表明:通过计算电弧旋转中心前点两侧一定区域内电弧电流(或电压)信号的积分差,旋转电弧传感系统能够有效地检测出焊缝偏差,其传感检测灵敏度受电弧电信号积分域和被检电信号种类(电弧电流或电压)等影响。     

大型机器人焊接工作站自动安全防护策略

随着多机器人协同作业的大型机器人焊接工作站的广泛应用，对机器人安全防护策略提出更高要求以满足企业安全生产需要。在对大型机器人焊接工作站危险因素进行分析的基础上，重点从设备碰撞和人员安全角度入手，对机器人本体、上位机控制系统、视觉安全系统和物理限位等方面的安全防护提出明确的配置方案，并在实际的焊接工作站中得到验证应用。     

船用薄板机器人激光复合焊接工艺数据库设计

针对焊接工艺数据的高效管理与应用需求，设计船用薄板机器人激光复合焊接工艺数据库。基于焊接工艺设计、焊接工艺评定和焊接生产加工等3个场景，该系统由数据信息管理、焊接工艺定义、标准系统查询、实例检索推理、数值模拟验证、焊接工艺规程(Welding Procedure Specification, WPS)制定和焊接工艺反馈等7个功能模块组成，对于解决激光复合焊接的数据管理问题和需求具有重要意义。     

Integrated design optimization of spar floating wind turbines

A linearized aero-hydro-servo-elastic floating wind turbine model is presented and used to perform integrated design optimization of the platform, tower, mooring system, and blade-pitch controller for a 10 MW spar floating wind turbine. Optimal design solutions are found using gradient-based optimization with analytic derivatives, considering both fatigue and extreme response constraints, where the objective function is a weighted combination of system cost and power quality. Optimization results show that local minima exist both in the soft-stiff and stiff-stiff range for the first tower bending mode and that a stiff-stiff tower design is needed to reach a solution that satisfies the fatigue constraints. The optimized platform has a relatively small diameter in the wave zone to limit the wave loads on the structure and an hourglass shape far below the waterline. The shape increases the restoring moment and natural frequency in pitch, which leads to improved behaviour in the low-frequency range. The importance of integrated optimization is shown in the solutions for the tower and blade-pitch control system, which are clearly affected by the simultaneous design of the platform. State-of-the-art nonlinear time-domain analyses show that the linearized model is conservative in general, but reasonably accurate in capturing trends, suggesting that the presented methodology is suitable for preliminary integrated design calculations.     

船舶焊接末端受电抖振及其电频细化研究

船舶焊接领域中，钢板等焊接不可避免的会产生焊接残余应力，针对这一问题，文章通过分析焊接机器人焊枪末端受电抖振及其扰动等影响来揭示其响应规律。首先通过搭建的焊接模型阐明焊接过程动力学特性，然后研究不同特性电弧力对焊枪运动稳定性的影响，探索末端焊枪作业稳定性与焊接区电弧力及电源频率等参量之间响应关系，并对多组不同驱动电频下的焊接运动进行动力学仿真，得到电频变化与电弧力的对应规律。研究表明，焊接电源频率的有效细化有利于末端焊枪焊接运动过程的平稳，且发现最优焊接电源频率在10HZ邻域时焊枪末端动态振动最小，通过控制电源频率大小能明显抑制焊枪振动，在一定程度上降低残余应力大小，有利于船舶焊接表面质量的提高。     

便携式水下机器人设计

出于对近海海洋探索的目的,本文应用了上次研究[1]的水下ROV空间姿态控制系统设计了一种便携式水下机器人。该水下机器人系统硬件部分主要由电源模块、无刷电调、遥控部分以及姿态传感器模块组成,软件控制以及相关数据处理由一块ARM-M3内核的处理器完成,编译软件使用Kile。水下机器人结构采用3D打印机制作,材料选用PLA。遥控通讯采用CAN总线协议。水下机器人经过实际调试可以达到相关技术要求,下潜深度100 M,能实现简单的水下作业要求。     

Recent research on welding distortion prediction in thin plate fabrication by means of elastic FE computation

Elastic FE simulation with inherent deformation and interface element is an ideal and practical computational approach for predicting welding distortion in production of thin plate structures. In this study, recent researches on inherent deformation theory and welding induced buckling investigation of ship panel were sequentially introduced. Taking bead-on-plate welding as research objective (plate with 2.28 mm in thickness), integration approach with inherent strain was proposed to accurately and conveniently evaluate magnitude of inherent deformation. Also, average temperature to clarify the mechanism of influential effect of plate width on magnitude of inherent deformation was presented and examined. With the mechanism investigation of welding induced buckling by elastic FE analysis using inherent deformation, an application for predicting and mitigating the welding induced buckling in fabrication of ship panel with thin plates by employing different welding procedure patterns was carried out. Examined intermittent zigzag welding procedure is effective to reduce the magnitude of in-plane inherent shrinkages and control the possible welding induced buckling.     

应用零航速减摇鳍的海洋机器人近水面时的横摇减摇控制(英文)

A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.     

海洋机动浮标机电测控系统的设计

为克服锚系浮标只能在固定站位进行海洋环境观测的不足,研发了一种可以移动的无人海洋监测平台——海洋机动浮标,本文介绍了海洋机动浮标的总体结构,构建了机动浮标的机械结构模型,设计了机动浮标测控系统,叙述了机动浮标数据通信、运动控制以及机动浮标测控系统的人机界面,并给出了机动浮标在湖中测试的实例。通过本文工作可以发现海洋机动浮标具有自主地在较大区域开展海洋环境观测等能力,对于获取大范围的海洋环境信息具有较重要价值。     

浅谈海洋平台钢结构建造过程的焊后热处理

海洋平台钢结构壁厚50mm以上的中厚板焊缝,按照规范要求需要进行焊后热处理(PWHT)。这些构件通常为平台的主要构件或特殊构件,焊缝质量直接影响到平台的安全。当前随着海洋平台设计规模的日益增大,建造过程中需要进行焊后热处理(PWHT)的焊缝越来越多,暴露的问题也日益多样性。本文结合工程实际,详细总结海洋平台钢结构在焊后热处理(PWHT)过程中常出现的但不易被发现的一些隐患问题,以期通过介绍,达到相互交流和借鉴的目的。     

船舶小组立复杂结构智能焊接装备应用方案

为提升船舶企业焊接自动化率,研究面向机器人焊接的小组立三维结构模型处理、复杂结构机器人焊接仿真、复杂结构焊接工艺数据库等关键技术,以提高船舶部件的焊接效率和质量.明确船舶小组立复杂结构智能焊接装备应用方案:针对加工对象梳理焊接流程;利用软件建立工艺数据库以实现焊接数据处理;完成控制系统设计和总体结构优化.利用该方案构建...     

激光功率对激光-电弧复合焊接头成型的影响

采用激光-电弧复合焊(Laser-Arc Hybrid Welding,LAHW)技术对6.0 mm厚的AH36钢板进行复合焊接,分析不同激光功率对焊接接头成型的影响,并对最优参数的焊缝进行力学性能分析.焊接缺陷主要表现为:在激光功率偏小时,焊缝背部不完全熔透;在激光功率偏大时,焊缝正面出现咬边和凹陷;在激光功率为44...