中国首台重载机器人搅拌摩擦焊系统顺利交付

2014年11月初,北京赛福斯特技术有限公司与德国KUKA机器人集团公司联合开发的国内首台重载机器人搅拌摩擦焊系统向广州有色金属研究院成功验收交付。该系统集成了多项先进技术,包括压力及位移控制、自动换刀控制、机头冷却润滑控制等技术,大大提升了搅拌摩擦焊技术焊接过程的自动化和智能化程度。该设备既适用于传统搅拌摩擦焊接,也兼容了搅拌摩擦焊最新技术,如静轴肩和双轴肩搅拌摩擦焊接等。此外,为满足客户对设备系统升级的需求,还预留了焊接过程的激光扫描、焊缝跟踪等通讯接口。     

搅拌摩擦焊设备和控制系统研究现状

搅拌摩擦焊设备是实现搅拌摩擦焊过程的前提和基础,搅拌摩擦焊技术的进步需要新型搅拌摩擦焊设备的支持。对搅拌摩擦焊设备和控制系统进行了介绍,对比分析了传统设备改造的搅拌摩擦焊机、搅拌摩擦焊专机以及工业机器人在刚性、柔性、成本等方面的特点。目前,由传统设备改造的搅拌摩擦焊机和搅拌摩擦焊专机仍然是搅拌摩擦焊生产的优选设备,其在刚性方面的优势为得到高质量的焊接接头奠定了基础。利用工业机器人进行搅拌摩擦焊具有很好的前景。焊接载荷控制系统一定程度上弥补了工业机器人刚性不足的缺点,大大扩展了该类设备的应用领域。     

机器人搅拌摩擦点焊系统设计

搅拌摩擦点焊是一种新型固相焊接技术,机器人焊接是焊接制造业的主要发展方向,将搅拌摩擦点焊与机器人相结合,通过加工相应的焊接装置以及增加机器人的承载能力,设计完成机器人搅拌摩擦点焊装置,实现对搅拌针的精确控制。机器人搅拌摩擦点焊的控制系统是将机器人控制系统和搅拌摩擦点焊控制系统结合,在焊接过程中二者既能独立运行,又相互联系,实现搅拌摩擦点焊装置与机器人协同工作模式,从而实现无间断循环的焊接过程,提高焊接效率。通过实验对比分析机器人搅拌摩擦点焊与传统龙门式搅拌摩擦点焊焊接的工件表面成形和焊点力学性能,结果表明:机器人搅拌摩擦点焊系统实现了复杂结构工件的焊接,表面成形良好,无明显的焊接缺陷,且焊点结合强度与龙门式相当,机器人搅拌摩擦点焊系统具有良好的焊接性能。     

2024-T4超薄铝合金机器人搅拌摩擦焊接头组织及力学性能

机器人作为搅拌摩擦焊系统的载体时,由于其关节采用串联模式进行连接,在焊接过程中关节易发生变形,而变形的释放会导致焊漏等缺陷,制约了机器人搅拌摩擦焊系统在超薄板焊接过程中的应用. 针对上述问题,文中对0.5 mm厚超薄2024-T4铝合金板进行了机器人搅拌摩擦焊工艺研究. 结果表明,增加下压量或提高主轴转速成功实现薄板铝合金焊接,在主轴转速为2 500 r/min,焊接速度为600 ~ 1 000 mm/min工艺参数内,接头强度呈现升高趋势,最高可达408 MPa,达到母材90%. 接头硬度呈双“W”形分布,其断裂形式为韧性断裂.     

搅拌摩擦焊CAPP系统的研究与开发

以搅拌摩擦焊工艺为主要研究方向,采用面向对象技术,利用UML建模,设计并开发了一套基于Oracle数据库的C/S结构模式的搅拌摩擦焊CAPP系统。该系统不仅实现了完整的搅拌摩擦焊工艺设计,还可以进行工艺文件管理及焊接知识查询等功能。该系统不仅提高了企业搅拌摩擦焊接的生产效率,还规范化了搅拌摩擦焊接工艺的管理、设计。     

静止轴肩搅拌摩擦焊的研究进展

综述了静止轴肩搅拌摩擦焊的研究进展,主要涉及静止轴肩搅拌摩擦焊的基本原理以及高转速、常规转速和角焊缝的静止轴肩搅拌摩擦焊等内容.高旋转频率的静止轴肩搅拌摩擦焊在降低焊接载荷的同时,能够减小、甚至消除飞边和孔洞缺陷.常规旋转频率的静止轴肩搅拌摩擦焊可获得沿板厚方向更均匀的焊缝组织,适合于热导率差的钛合金的焊接.设计与两侧板面完全贴合的静止轴肩,以角焊缝的形式实现T形接头的焊接,拓宽了搅拌摩擦焊的应用范围.无论是高旋转频率、常规旋转频率还是角焊缝的静止轴肩搅拌摩擦焊,都存在搅拌头的磨损和过热问题,尚需开展深入、系统的研究.     

搅拌摩擦点焊机器人无纸化制造控制平台

针对搅拌摩擦点焊机器人无纸化制造控制平台的实现方法进行了研究.采用STEP中性文件几何信息作为设计基础,根据对点焊机器人运动分析,利用OCC搭建了搅拌摩擦点焊机器人无纸化加工平台,以XML文件作为数控加工程序、监控与控制的数据载体.阐明了单个搅拌摩擦点焊机器人加工控制方法.同时,应用面向服务的网络控制框架方法,对搅拌摩擦点焊机器人组的远程控制与监控进行了研究与设计,使得搅拌摩擦点焊机器人焊接加工设计与控制过程更加简单.     

搅拌摩擦焊接头设计

一般认为,搅拌摩擦焊是铝合金长、直焊缝(平板对接和搭接)的理想焊接方法。实际上,由于搅拌摩擦焊过程不存在被焊接材料的熔化,焊缝成形和质量不会受到焊缝或工件位置改变的影响,依靠设备来保证,搅拌摩擦焊具有相当的柔性,可以实现1-D、2-D、3-D结构的焊接。工业生产中,搅拌摩擦焊不仅可以焊接筒形零件的环缝和纵缝,而且考虑搅拌摩擦焊不受重力影响,所以可以实现全位置空间焊接,如水平焊、垂直焊、仰焊以及任意位置和角度的轨道焊。(未完待续)图1示出了多种典型的搅拌摩擦焊接头形式,目前在实际工业制造中搅拌摩擦焊全部实现了图1所示的多种接头的焊接,如多层对接、多层搭接、T形接头、V形接头、角接等。经过不断的开发研究,针对高速船舶、列车等大量使用的工业型材和结构零件,如图2所示,技术人员设计了多种方式的铝合金挤压型材的搅拌摩擦焊接头,针对搅拌摩擦焊过程中,没有焊丝填充,没有焊缝余高,对于结构强度要求较高的型材,可以在型材焊缝处预留焊接余高的方法解决。搅拌摩擦焊接头设计$北京赛福斯特技术有限公司     

带热沉装置的搅拌摩擦焊研究

基于动态控制低应力无变形焊接法原理和搅拌摩擦焊特有的应力应变特点,设计开发了可应用于搅拌摩擦焊的单点式热沉和阵列式射流冲击热沉系统.通过两种不同热沉系统在铝合金搅拌摩擦焊中的对比研究,结果表明,单点式热沉虽然可以减小FSW焊接变形,但此种冷却方式会使接头性能大幅度下降,接头强度仅达到常规FSW的80%左右.经过改进的阵列式射流冲击热沉系统可以主动控制FSW过程中各个区域的温度分布,从而有效控制焊接过程的热弱塑性应力应变场,达到动态控制低应力无变形的焊接效果.焊缝氢含量的测试分析表明,阵列式射流冲击热沉系统可以改善接头的残余应力分布,防止冷却水侵入焊缝.带阵列式射流冲击热沉系统的搅拌摩擦焊技术可以实现低应力无变形焊接,且工艺适用性好,具有广阔的应用前景.     

基于焊缝跟踪控制系统的机器人FSW实现及表面质量

焊缝跟踪控制系统的应用对机器人搅拌摩擦焊接接头的表面质量具有重要作用。为研究焊缝跟踪系统对机器人搅拌摩擦焊缝的控制效果,设计了一种基于激光视觉传感器和PD纠偏算法的焊缝跟踪控制系统。以3 mm厚2A12-T4铝合金板材为试验材料,进行了斜线焊缝的跟踪引导焊接以及曲线焊缝的纠偏焊接试验,观察分析焊速200mm/min下斜线和曲线焊缝焊接后接头的表面质量。结果表明:两种焊缝接头表面均匀平整,本试验设计的焊缝跟踪控制系统有助于提高机器人搅拌摩擦焊焊缝的表面成形质量。     

Effects of Post-weld Heat Treatment on Microstructure,Mechanical Properties and the Role of Weld Reinforcement in 2219 Aluminum Alloy TIG-Welded Joints

In as-welded state, each region of 2219 aluminum alloy TIG-welded joint shows diff erent microstructure and microhardness due to the diff erent welding heat cycles and the resulting evolution of second phases. After the post-weld heat treatment, both the amount and the size of the eutectic structure or θ phases decreased. Correspondingly, both the Cu content in α-Al matrix and the microhardness increased to a similar level in each region of the joint, and the tensile strength of the entire joint was greatly improved. Post-weld heat treatment played the role of solid solution strengthening and aging strengthening. After the post-weld heat treatment, the weld performance became similar to other regions, but weld reinforcements lost their reinforcing eff ect on the weld and their existence was more of an adverse eff ect. The joint without weld reinforcements after the post-weld heat treatment had the optimal tensile properties, and the specimens randomly crack in the weld zone.     

The First Phase of the SRIF Industrialized Base in ＂West Area＂ Has Been Put into Operation

After nearly two years＇ tense construction, the first phase of industrialized base of Shenyang Research Institute of Foundry （SRIF）, located at the Tiexi Casting and Forging Industrial Park in the west of Tiexi District, has now been completed and formally put into operation.     

THERMODYNAMICS STUDY ON THE DECOMPOSITION OF CHROMITE WITH KOH

Institute of Process Engineering, Chinese Academy of Sciences, China, has proposed a method for oxidative leaching of chromite with potassium hydroxide. Understanding the mechanism of chromite decomposition, especially in the potassium hydroxide fusion, is important for the optimization of the operating parameters of the oxidative leaching process. A traditional thermodynamic method is proposed and the thermal decomposition and the reaction decomposition during the oxidative leaching of chromite with KOH and oxygen is discussed, which suggests that chromite is mainly destroyed by reactions with KOH and oxygen. Meanwhile, equilibrium of the main reactions of the above process was calculated at different temperatures and oxygen partial pressures. The stable zones of productions, namely, K2CrO4 and Fe2O3, increase with the decrease of temperature, which indicates that higher temperature is not beneficial to thermodynamic reactions. In addition, a comparison of the general alkali methods is carried out, and it is concluded that the KOH leaching process is thermodynamically superior to the conventional chromate production process.     

INFLUENCE OF HEAT TREATMENT ON DAMPING BEHAVIOUR OF THE MAGNESIUM WROUGHT ALLOY AZ61

The effect of isochronal heat treatments for 1h on variation of damping, hardness and microstructural change of the magnesium wrought alloy AZ61 was investigated. Damping and hardness behaviour could be attributed to the evolution of precipitation process. The influence of precipitation on damping behaviour was explained in the framework of the dislocation string model of Granato and Lücke.     

新型的治疗阿尔茨海默氏症药物(1-二甲基磷酰基-2,2,2-三氯)-乙基-1-醇烟酸醋对体外神经细胞的作用

目的: 观察本实验室合成的一种治疗阿尔茨海默氏症(AD)的药物(1-二甲基磷酰基-2, 2, 2 -三氯)-乙基^-1-醇烟酸醋(NMF),对体外培养的皮层神经细胞活性的影响以及对海人藻酸(KA)所致的神经损伤的保护作用。方法: 采用体外培养皮层神经元的方法,解剖分离 15 d胚胎小鼠皮层神经细胞, 接种于 96孔板,48 h 后加药并培养 72 h,以 MIT 法 观察 NMF 对小鼠皮层神经细胞活性的影响;同时将接种于 24 孔板的细胞预先给予 NMF,d 3 时加或不加KA处理后,以台盼蓝染色鉴别并计数死、活细胞,可得出细胞的存活率。结果: NMF 明显促进胎鼠皮层神经元活性,其中 NMF1、0. 1、10nmol·L^-1促进神经元活性增殖率分别高达 34.7%、37.4%、36. 7%, NMF 明显促进正常胎鼠皮层神经元存活卒,与对照组比较,10nmol·L^-1 NMF 对皮层神经元的存活率分别提高 39.3%、73.5%。 NMF能显著 对抗 KA 所致的神经元损伤,与 KA 损伤组相比, NMF0.1、10、10nmol·L^-1对损伤皮层神经元的保护率分别为 77.30%、80.10%、84.15%。结论: NMF 明 显促进胎鼠皮层神经元的洁性、提高正常皮层神经元,的存活卒,并能有效地保护KA所致的神经元损伤,提示 NMF 是一种很有潜力的治疗 AD 的药物。     

Effect of Rare Earth Doping on Impedance,Modulus and Conductivity Properties of Multiferroic Composites:0.5(BiLa_xFe_(1-x)O_3)–0.5(PbTiO_3)

The Lanthanum-doped bismuth ferrite–lead titanate compositions of 0.5(Bi LaxFe1-xO3)–0.5(Pb Ti O3)(x = 0.05,0.10,0.15,0.20)(BLxF1-x-PT) were prepared by mixed oxide method.Structural characterization was performed by X-ray diffraction and shows a tetragonal structure at room temperature.The lattice parameter c/a ratio decreases with increasing of La(x = 0.05–0.20) concentration of the composites.The effect of charge carrier/ion hopping mechanism,conductivity,relaxation process and impedance parameters was studied using an impedance analyzer in a wide frequency range(102–106Hz) at different temperatures.The nature of Nyquist plot confirms the presence of bulk effects only,and non-Debye type of relaxation processes occurs in the composites.The electrical modulus exhibits an important role of the hopping mechanism in the electrical transport process of the materials.The ac conductivity and dc conductivity of the materials were studied,and the activation energy found to be 0.81,0.77,0.76 and 0.74 e V for all compositions of x = 0.05–0.20 at different temperatures(200–300 °C).     

Three-Dimensional Growth of Coherent Ferrite in Austenite: A Molecular Dynamics Study

Coherent second phase often exhibits anisotropic morphology with specifi c orientations with respect to both the second and the matrix phases. As a key feature of microstructure, the morphology of the coherent particles is essential for understanding the second-phase strengthening eff ect in various industrial alloys. This letter reports anisotropic growth of coherent ferrite from austenite matrix in pure iron based on molecular dynamics simulation. We found that the ferrite grain tends to grow into an elongated plate-like shape, independent of its initial confi guration. The fi nal shape of the ferrite is closely related to the misfi t between the two phases, with the longest direction and the broad facet of the plate being, respectively, consistent with the best matching direction and the best matching plane calculated via the Burgers vector content(BVC) method. The strain energy calculation in the framework of Eshelby's inclusion theory verifi es that the simulated orientation of the coherent ferrite is energetically favorable. It is anticipated that the BVC method will be applicable in analysis of anisotropic growth and morphology of coherent second phase in other phase transformation systems.     

Using Finite Element and Contour Method to Evaluate Residual Stress in Thick Ti-6Al-4V Alloy Welded by Electron Beam Welding

This work was to reveal the residual stress profile in electron beam welded Ti-6Al-4V alloy plates(50 mm thick) by using finite element and contour measurement methods.A three-dimensional finite element model of 50-mmthick titanium component was proposed,in which a column–cone combined heat source model was used to simulate the temperature field and a thermo-elastic–plastic model to analyze residual stress in a weld joint based on ABAQUS software.Considering the uncertainty of welding simulation,the computation was calibrated by experimental data of contour measurement method.Both test and simulated results show that residual stresses on the surface and inside the weld zone are significantly different and present a narrow and large gradient feature in the weld joint.The peak tensile stress exceeds the yield strength of base materials inside weld,which are distinctly different from residual stress of the thin Ti-6Al-4V alloy plates presented in references before.     

Microstructures and Tensile Properties of Ultrafine-Grained Ni–(1–3.5) wt% SiC_(NP) Composites Prepared by a Powder Metallurgy Route

Silicon carbide nanoparticle-reinforced nickel-based composites(Ni–Si CNP),with a Si CNPcontent ranged from1 to 3.5 wt%,were prepared using mechanical alloying and spark plasma sintering.In addition,unreinforced pure nickel samples were also prepared for comparative purposes.To characterize the microstructural properties of both the unreinforced pure nickel and the Ni–Si CNPcomposites transmission electron microscopy(TEM) was used,while their mechanical behavior was investigated using the Vickers pyramid method for hardness measurements and a universal tensile testing machine for tensile tests.TEM results showed an array of dislocation lines decorated in the sintered pure nickel sample,whereas,for the Ni–Si CNPcomposites,the presence of nano-dispersed Si CNPand twinning crystals was observed.These homogeneously distributed Si CNPwere found located either within the matrix,between twins or on grain boundaries.For the Ni–Si CNPcomposites,coerced coarsening of the Si CNPassembly occurred with increasing Si CNPcontent.Furthermore,the grain sizes of the Ni–Si CNPcomposites were much finer than that of the unreinforced pure nickel,which was considered to be due to the composite ball milling process.In all cases,the Ni–Si CNPcomposites showed higher strengths and hardness values than the unreinforced pure nickel,likely due to a combination of dispersion strengthening(Orowan effects) and particle strengthening(Hall–Petch effects).For the Ni–Si CNPcomposites,the strength increased initially and then decreased as a function of Si CNPcontent,whereas their elongation percentages decreased linearly.Compared to all materials tested,the Ni–Si CNPcomposite containing 1.5% Si C was found more superior considering both their strength and plastic properties.     

Directional Growth of Tin Crystals Controlled by Combined Solute Concentration Gradient Field and Static Magnetic Field

A new method was introduced to achieve directional growth of Sn crystals. Microstructures in liquid(Pb)/liquid(Sn) diffusion couples were investigated under various static magnetic fields. Results show that the β-Sn crystals mainly reveal an irregular dendritic morphology without or with a relatively low static magnetic field(B0.3 T). When the magnetic field is increased to 0.5 T, the β-Sn dendrites close to the final stage of growth begin to show some directional character. With a further increase in the magnetic field to a higher level(0.8–5 T), the β-Sn dendrites have an enhanced directional growth character, but the dendrites show a certain deflection. As the magnetic field is increased to 12 T, the directional growth of the β-Sn dendrites in the center of the couple is severely destroyed. The mechanism of the directional growth of the β-Sn crystals and the deflection of the β-Sn crystals with the application of static magnetic field was tentatively discussed.