微型自动循迹搬运车控制系统的开发

为了探究复杂路径多点搬运的问题,开发了基于Arduino控制器的微型循迹搬运车控制系统。对系统硬件和系统软件进行了研究,系统硬件包含控制器、驱动元件和检测元件等,系统软件按功能将其分成循迹模块、颜色识别模块和串口通信模块等。提出了采用Arduino Nano和串口通信对小车进行控制,以实现循迹校正、红外寻标、自动搬运等功能。通过现场调试,该系统能控制自动搬运小车在铺设的轨迹上对不同颜色的物体进行循迹搬运,并根据颜色的不同将其放置在指定位置。     

一种自平衡机器人的制作和研究

阐述了一种自平衡机器人的构成、控制系统的工作原理、硬件电路和控制算法。其系统结构主要由机械行走装置、控制系统和传感器三大部分组成,机械行走装置主要由车体平台、小型直流电机和左、右车轮组成。控制系统以C8051F310单片机为核心,由电池模块、电机驱动芯片及外围电路组成。车体平台位姿的监测采用倾角传感器。通过对实物进行控制试验,验证了该系统的合理性和有效性。     

危险品气动搬运系统研制

研制了危险品气动搬运系统,该搬动系统由机械系统、气动系统和基于单片机的控制系统组成.机械系统主要由机械手和6工位运输小车组成,运输小车具有运输、分度等功能,机械手能完成伸缩、夹持、提升、旋转和倾倒等动作.气动系统由直线气缸、摆动气缸、翻转气缸和气压马达组成.控制系统以单片机为核心,通过控制电磁阀驱动各气动元件带动机械装置实现上述动作.系统充分利用单片机的软硬件资源,以较低的成本,实现了自动运行、手动运行以及自动和手动相结合等控制方式.结构简单,操作容易,实现了危险品搬运的自动化.     

工业机器人分拣技术的实现

以MOTOMAN-UP6机器人为基础,构建了一个基于机器视觉的机器人分拣实验系统.该分拣实验系统由机器人、PC机、相机、图像采集卡、传送带和自开发的分拣控制软件组成.系统的工作原理和工作过程为:当目标对象源源不断地进入分拣作业区时,通过相机连续自动地获取作业对象图像,然后由软件对采集到的图像进行运算分析、变换目标对象坐标、识别目标对象分类信息、维护分拣目标的运动踪迹,最终控制机器人实现分拣动作."单目标跟踪--抓取--搬运"实验和"多目标跟踪--抓取--搬运"实验证明了该技术的意义和实用价值.     

矿用梯子梁自动焊接控制系统设计与实现

介绍了矿用梯子梁生产线自适应自动焊接单片机控制系统设计与实现。矿用梯子梁生产线主要由钢筋调直系统、送料缓存与反馈系统、自动焊接系统和剪切装置等部分组成,产品生产过程连续进行。为了解决钢带调直系统连续送料与自动焊接系统断续工作之间的矛盾,设计了送料缓存装置,通过单片机自适应控制实现了焊接生产线的连续自动运行。通过自适应自动焊接单片机控制系统,能够实现自动步进焊接,保证焊接尺寸要求,提高了生产效率。     

基于无线网络控制技术的智能搬运小车的设计

通过设计基于无线网络控制技术的智能搬运小车,以完成各种工厂环境的零件和成品搬运工作。该小车主要由车身、码垛装卸一体化装置及控制系统等部分组成。其中,车身采用直流电机驱动;码垛装卸一体化装置由机械手爪和传送装置组成,通过在机械手爪中的夹持器上装有压力传感器,可对不同大小形状的物品进行夹取,传送装置主要由传送带和张紧机构组成,使车厢空间得到充分利用;控制系统以PLC为控制核心,采用无线接收发送装置、传感器、限位开关、无线摄像头等为辅助部件,可实现小车的远程控制、智能避障、远程监控等功能。     

米线抓取机器人的研制

以某米线厂的米线生产为研究背景,研制出一种具有双臂独立运动的抓取机器人。该机器人主要由执行机构、驱动系统、控制系统和位置检测传感器组成。介绍了抓取机器人的总体设计方案及工作流程;详细介绍了抓取机构、移动系统和PLC控制系统的结构设计及工作原理。该机器人能与原输送机协同工作,将待捆扎米线从传送带末端的支撑平台搬运至自动捆扎机进行捆扎。结果表明,研制的抓取机器人可减轻工人劳动强度,提高生产效率。     

圆锥滚子直径自动测量分组系统设计

文章介绍了研制的一种圆锥滚子直径自动测量分组系统。包括机械装置和测控系统,其中机械装置由加载机构、传感器测量机构和滚子定位机构等组成,测控系统由电感位移传感器、PLC和触摸屏等组成。使用一对电感位移传感器差动测量滚子直径方向上两点的位移变化,经过PLC分析处理,得到测量结果并进行直径分组,同时在触摸屏上显示。实验结果表明,测量分组系统的测量精度达到了±0.5μm,能够实现圆锥滚子直径的快速精准测量和不同公差滚子的分组,满足圆锥滚子直径自动测量分组的要求。     

机械加工全自动冷却供给系统仿真实验的设计与实现

零件在切削加工过程中,通常需要使用冷却液来降低切削温度,以保证加工零件质量,延长刀具寿命。设计一种全自动冷却供给系统,由控制冷却液流速随切削温度变化的控制模块、冷却液箱中液位控制模块以及冷却液循环利用回收模块三部分组成。通过温度传感器及液位传感器将采集到的数据送入单片机,从而控制冷却液的流速和完成冷却液的自动补给。该系统可实现冷却液供给过程的自动化,达到节能环保、降低生产成本的目的,具有很好的应用价值。     

基于多功能传感器的机器人手控制系统研究

基于多功能传感器的机器人手控制系统主要由视觉和力觉传感器、液压装置及其控制器构成,它能完成机器人手爪的位置和力的多功能控制.本文论述了该控制系统图像分析过程、系统硬件的结构和抓取控制的原理.实验结果表明,该系统能根据图像分析出不同种物体的可抓取性,并能通过多功能控制成功实现抓取.     

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.     

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).     

Quantitative Analysis of the Crystallographic Orientation Relationship Between the Martensite and Austenite in Quenching–Partitioning–Tempering Steels

The orientation relationships(ORs)between the martensite and the retained austenite in low-and medium-carbon steels after quenching–partitioning–tempering process were studied in this work.The ORs in the studied steels are identified by selected-area electron diffraction(SAED)as either K–S or N–W ORs.Meanwhile,the ORs were also studied based on numerical fitting of electron backscatter diffraction data method suggested by Miyamoto.The simulated K–S and N–W ORs in the low-index directions generally do not well coincide with the experimental pole figure,which may be attributed to both the orientation spread from the ideal variant orientations and high symmetry of the low-index directions.However,the simulated results coincide well with experimental pole figures in the high-index directions{123}_(bcc).A modified method with simplicity based on Miyamoto’s work was proposed.The results indicate that the ORs determined by modified method are similar to those determined by Miyamoto’method,that is,the OR is near K–S OR for the low-carbon Q–P–T steel,and with the increase of carbon content,the OR is closer to N–W OR in medium-carbon Q–P–T steel.     

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.     

Growth Kinetics of Single Inclusion Particle in Molten Melts

On the basis of the single-particle framework, a new theory on inclusion growth in metallurgical melts is developed to study the kinetics of inclusion growth on account of reaction and collision. The studies show that the early growth of inclusion depends on reaction growth and Brawnian motion collision, and where the former is decisive, the late growth depends on turbulence collision and Stokes＇ collision, and where the former is dominant; collision growth is very quick during the smelting process, lessened in the refining process, but nearly negligible in the continuous casting process.