复杂环境下氧化铝储槽定向爆破拆除

在较为复杂的环境下,爆破拆除钢筋混凝土氧化铝储槽。该储槽自重大、呈圆形,内有4根立柱支撑下料漏斗。为使储槽顺利定向倒塌,通过爆破方案选择、参数确定,采取梯形切口和预处理以及安全防护和减振措施,使储槽爆破拆除获圆满成功。     

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.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

基于数值模拟的挤压参数对AZ91镁合金管转角焊合室分流挤压焊合压力的影响规律研究

提出了一种镁合金管材转角焊合室分流挤压新工艺，该工艺可在有效延长焊合室长度和焊合时间前提下保证舌针刚度，从而保证管材尺寸精度，并且可通过转角剪切变形机制增加预焊合金属变形量和动态再结晶程度，从而有利于提高管材性能和焊缝焊合性能。利用有限元法揭示了转角焊合室分流挤压成形过程中金属的流动特征，应变分布特征和焊合室内的静水压力分布特征。结果表明，整个挤压过程无金属折叠，从而保证管材的表面质量；流经转角后预焊合金属变形量明显增加，有利于提高管材质量和焊缝质量。最后，研究揭示了坯料初始温度，挤压速度和模具转角对焊合室内静水压力的影响规律。结果表明，随着挤压速度的增加和模具转角的增大，转角焊合室内静水压力增大；随着坯料预热温度的增加，转角焊合室内静水压力呈先增大后减小的趋势。     

非径向管板焊接接头的超声检测

对AP1000压水堆核电站安全壳贯穿件的非径向管板焊接接头结构特点进行了介绍,并分析其超声检测工艺的重点和难点。通过建立统一的缺陷定位坐标系并结合被检构件的几何特点进行综合分析,推导得出了h值(缺陷回波最高点距套管外壁的距离)的计算方法。为超声检测对这类焊接接头缺陷的准确识别和定位提供了行之有效的方法,为解决这类焊接接头的超声检测技术受限区提供了行之有效的措施。     

An integrated model for analysing the effects of ultrasonic vibration on tool torque and thermal processes in friction stir welding

An integrated model of ultrasonic vibration enhanced friction stir welding (UVeFSW) is developed by integrating the thermal-fluid model with the ultrasonic field model and tool torque model. The tool torque and the heat generation rate at tool/workpiece contact interfaces are coupled with the interfacial temperature, strain rate and ultrasonic energy density. The model is used in quantitatively analysing the effects of ultrasonic vibration on tool torque and thermal processes in friction stir welding (FSW). The results show that ultrasonic vibration reduces the flow stress, which results in a decreasing of tool torque, interfacial heat generation rate and interfacial temperature. The complicated interaction of ultrasonic energy with the thermal processes in FSW leads to a gentle thermal gradient and an enhanced plastic material flow in UVeFSW. The model is validated by a comparison of the calculated thermal cycles and tool torque at various welding parameters with the experimentally measured ones.     

Measurement of residual stresses in dissimilar friction stir-welded aluminium and copper plates using the contour method

The longitudinal residual stresses in the friction stir-welded plates of 5A06 aluminium and pure copper were determined using the contour method. The results revealed the presence of high tensile and compressive residual stresses on the aluminium and copper sides, respectively. The residual stresses were detected on the weld zone as well as the thermo-mechanically affected zone (TMAZ) of the aluminium plate. In contrast, the compressive residual stresses in the copper plate had a much narrower width along the weld line. Peak tensile stresses up to 240?MPa were found in the TMAZ of the aluminium plate.     

Effect of metallurgical evolution during post-weld aging treatment on localised corrosion of resistance spot welding joints of A286 superalloy

The combined effect of resistance spot welding and precipitation hardening on the localised corrosion of A286 superalloy is studied. The specimens tested by double loop electrochemical potentiokinetic reactivation were welded in the solution treated condition, and then subjected to different precipitation hardening treatments. For both base metal and weld nugget, the maximum localised corrosion is reached when η phase is clearly observable. The fact that the localised corrosion resistance of weld nugget is different from that shown by base metal may be explained by the segregation of Ni and Ti towards the interdendritic region of weld nugget (studied by using scanning electron microscope/energy dispersive X-ray analysis).     

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。     

新型树启发式搜索算法的机器人路径规划

面对三维空间移动机器人从起始点到终止点的最短路径问题,提出一种新型的边缘点树启发式搜索(TreeEP)算法,该方法将地图空间进行密度可调的三维离散化处理,根据障碍安全距离筛选出障碍物的可靠边缘点信息,再利用树扩散架构选出最能引导搜索方向的潜力点进行扩散搜索,最终得出最短路径。提出局部调整策略,得到改进的Tree-EP算法。实验结果表明,在带障碍复杂地形最短路径搜索应用中,提出的Tree-EP算法与已有方法相比,能找到更短的移动路径。