A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

热轧带钢卷取机夹送辊修复材料与再制造工艺研究

为了提高热轧带钢卷取机夹送辊表面的修复质量，通过正交试验优选出埋弧堆焊专用焊丝ZJ－11和ZJ－12，过渡层选用ZJ－11药芯焊丝，堆焊硬层选用ZJ－12药芯焊丝，采用优选出的焊丝进行了堆焊修复试验。试验结果显示，堆焊焊缝金相组织中的马氏体更加细化，且碳化物颗粒明显增加，材料的硬度与耐磨性显著提升。研究表明，通过采用合理的再制造工艺对热轧带钢卷取机夹送辊进行修复，修复后满足要求，使用效果良好，显著提高了夹送辊的使用寿命。     

Machining accuracy improvement for a dual-spindle ultra-precision drum roll lathe based on geometric error analysis and calibration

This paper performs a comprehensive analysis and calibration on the geometric error of the ultra-precision drum roll lathe with dual-spindle symmetrical structure and cross slider layout. Firstly, the volumetric error model which contains all geometric errors of the dual-spindle ultra-precision drum roll lathe (DSUPDRL) is developed based on the combination of the homogenous transfer matrix (HTM) and multi-body system (MBS) theory. Secondly, sensitivity analysis for the volumetric error model is conducted to identify the sensitive geometric error components of the DSUPDRL using an improved Sobol method based on the quasi-Monte Carlo algorithm. The result of sensitivity analysis laid the foundation for the subsequent geometric error calibration. Then, some sensitive error components along the X and Z directions are calibrated using a laser interferometer and a pair of inductance displacement probes. Besides the volumetric error model, the concentricity error caused by dual-spindle symmetrical structure is proposed and calibrated by the on-machine measurement using a classic reversal method. Finally, a large-scale roller mold with a diameter of 250 mm and a length of 600 mm is machined using the DSUPDRL after calibration. The experimental result shows that 1.4 μm/600 mm generatrix accuracy is obtained, which validate the effectiveness of the geometric error analysis and calibration.     

Fe基非晶合金增强1060铝基多层复合材料的组织与性能

采用累积叠轧焊+中间退火法复合轧制1060Al/Fe基非晶多层铝合金复合板材。利用光学显微镜、扫描电镜、X-衍射分析仪以及拉伸试验机分析Al基复合材料的微观组织结构变化、断口形貌、物相组成以及力学性能。结果表明:Fe基非晶复合材料的增强体在300 ℃中间退火过程中发生部分晶化,在累积变形轧制过程中发生破碎,并随着变形道次的增加,破碎程度随之增大;复合板前6道次的累积轧制变形出现了明显的加工软化现象,并且随着变形道次的增加,其加工软化的效果愈明显;随着累积轧制变形道次增加,Al基复合材料的力学性能发生了明显的变化,第2道次轧制变形后屈服强度与抗拉强度达到了最大值为140 MPa和156 MPa,伸长率为5.53%,达到最佳综合性能。     

轧机两侧刚度差的数字化分析与改善措施

轧机两侧刚度差是轧机功能精度的最重要指标之一，以弹跳方程为基础定量计算了轧机两侧刚度差对轧制稳定性的影响，主要包括调平值、调平值随轧制力的变化以及甩尾3个方面。以此为基础在某热轧线建立了轧机刚度评价体系，对轧机功能精度进行管控。同时，还分析了轧机两侧刚度差的影响因素，并在定量分析的基础上采取了一系列的改善措施，包括衬板、垫片维护、最大压靠轧制力和标定轧制力的调整等，使轧机刚度和轧制稳定性得到大幅提升。     

Verification of unified effective stress theory based on the effect of moisture on mechanical properties of fiber reinforced unsaturated soil

The unified effective stress theory based on suction stress (SSCC theory) enables the characterization of soils under both saturated and unsaturated conditions with one closed-form relationship. This study provides experimental verification of this theory through the unconfined compressive strength test (UCS) and indirect tensile test strength (ITS) on silty clay soil stabilized with fiber. A series of matric suction, ITS, and UCS tests were conducted to validate the SSCC theory through the representation of the results of ITS and UCS tests in terms of mean total stress (p) versus deviatoric stress (q) and mean effective stress (p`) versus deviatoric stress (q). The results of the validation procedures showed that the SSCC theory is applicable and valid at a range of 6%–16% of water content on the silty clay and the silty clay fiber-reinforced soils. There is a small fluctuation in the increase of ITS and UCS values with increasing fiber content due to randomly oriented distribution of the fiber. The addition of glass fiber does not significantly affect the capacity of water retention of the soil. It improves the condition of the mechanical soil properties at the end of construction more than of the effective stress condition.     

退火炉内罩中气体流动及钢卷传热的数值模拟

摘要：轧制力预报一直是热连轧过程控制模型的核心，浅层神经网络对复杂函数的表示能力有限，而深度学习模型通过学习一种深层非线性网络结构，实现复杂函数逼近。利用深度学习框架TensorFlow，构建了一种深度前馈神经网络轧制力模型，采用BP算法计算网络损失函数的梯度，运用融入Mini batch策略的Adam优化算法进行参数寻优，采用Early stopping、参数惩罚和Dropout正则化策略提高模型的泛化能力。基于上述建模策略，针对宝钢1880热连轧精轧机组的大量轧制历史数据进行了建模实验，对比分析了4种不同结构的前馈网络预测精度。结果表明，相比于传统SIMS轧制力模型，深度神经网络可实现轧制力的高精度预测，针对所有机架的预测精度平均提升21.11%。     

高铬铸钢轧辊的组织及其氧化行为

轧辊氧化膜形成及剥落显著影响轧辊的辊耗及钢板的表面质量。为控制轧辊的氧化行为，采用增重法研究离心铸造高铬铸钢轧辊在大气及水蒸气环境中的氧化行为，并采用金相显微镜(OM)、扫描电子显微镜(SEM)、X射线衍射(XRD)等方法研究了高铬铸钢组织及氧化膜的结构。结果表明，高铬铸钢组织为回火马氏体基体和共晶Cr7C3碳化物；氧化过程中基体优先被氧化，粗大碳化物表面几乎不被氧化；温度及环境对氧化膜生长及相结构都有一定的影响，高温及水蒸气环境加速氧化，并促进γ Fe2O3向γ Fe3O3转化。因此，控制轧辊的氧化，关键是控制轧辊的使用温度。