AZ31镁合金搅拌摩擦焊接头力学性能

成功实现了2．5mn厚AZ31镁合金的搅拌摩擦焊接。焊接参数的选择决定接头的力学性能，通过拉伸和弯曲试验，分析了焊接参数的选择对接头性能的影响。试验结果表明，当焊接速度为75～150mm／min，旋转速度为900～l500r／min之间时，可以得到性能好的接头。为简化焊接参数的选择，同时考虑焊接速度和旋转速度的相互影响。提出一个新的评定参数R/ε，即单位长度上的旋转次数，并分析R/v与接头性能之间的关系。结果表明，iv R/r=8～15时，接头性能良好，可知，当焊接速度和旋转速度的选择在一个比较合理的范围时，R／v可以作为搅拌摩擦焊接参数选择的依据。     

Kalman filter of the force signal of identifying weld seam in remote teaching

For reasons of the vibration of robot, the rough surface of weld seam and electromagnetic disturbance of welding machine, the force signals of identifying weld seam become unstable. The position error of remote teaching point is too big to meet teaching requirements in remote welding. The force signals of identifying weld seam can be filtered by Kalman. The force signals of identifying weld seam of next teaching point is accurately predicted according to predicting algorithms, such as the equation of the state, the equation of the observation, the gain matrix of the filter and the covariance matrix of predicting state. The experimental results show that the precision of identifying weld seam is improved by Kalman filter.     

Microstructure of stainless steel weld in double-sided arc welding

Double-sided arc welding with a single power source can effectively increase the weld penetration, diminish distortion, improve welding speed and save energy. Compared to conventional arc welding processes, double-sided arc welding can generate a penetrating electromagnetic field to help to form fine dendritic microstructure in the weld due to the symmetry of heating. Type 1Cr18Ni9Ti austenitic stainless steel was bead-on-plate welded with double-sided arc welding and conventional plasma arc welding processes, respectively, and microstructure in the weld, heat-affected zone and base metal were examined. After analyzing the black carbon-enriched band in the weld during plasma arc welding with electron probe microanalyzer (EPMA) and X-ray diffraction (XRD) technology, it was found that the black band was shaped from the aggregation of ferrite in the fusion boundary. Hardness measurement showed that this black band does not apparently affect the microhardness distribution in the weld.     

基于共享控制策略的遥控弧焊机器人焊缝跟踪

对应用于遥控弧焊机器人的共享控制技术进行了研究,建立了遥控机器人共享控制试验系统.激光视觉传感器基于三角测量原理,根据提取焊缝的特征点,实现焊缝的自主跟踪和焊接.根据解析速率控制算法,把手控器的控制命令与激光视觉传感器的自主控制命令在人控制器中进行融合,控制焊枪的六个自由度.弧焊机器人的控制权可以在局部自主控制和直接手动控制之间进行共享和交互,实现对远端非结构环境下的焊缝跟踪.结果表明,人机共享控制焊枪,实现未知环境的避障;提高了焊缝跟踪精度;把操作者从焊缝跟踪的底层操作中解放出来,减轻操作者的工作强度.     

Modelling of the plasma-MIG welding temperature field

A three-dimensional simulation model for the plasma-MIG welding process, which takes the interaction between the plasma arc and MIG arc into account, is presented and the quasi-steady temperature fields on the workpiece are calculated with the model. The 10 mm-5A06 aluminum alloy is welded and the temperature fields are measured with the thermoelectric couple. The simulation results and measured results show that the biggest deviation of peak temperature between them is below 20 ℃, which indicates good coincidence between the simulation and measurement.     

焊接柔性加工单元中熔池的实时控制

机器人焊接过程中熔池实时控制系统是焊接柔性加工单元 (WFMC)中保证良好焊接质量的一个重要子系统。文中建立了WFMC中焊接质量实时控制子系统并实现了该子系统与WFMC中央监控计算机的实时可靠通讯。在获得了焊接熔池特征参数的基础上 ,建立了焊接过程熔池正面参数和焊缝背面参数的神经网络模型。模型根据熔池正面参数可实时预测焊缝背面宽度。并设计了神经元自学习比例求和微分(PSD)控制器 ,通过调整脉冲峰值电流 ,实现了机器人脉冲钨极气体保护焊 (GTAW )过程中通过正面熔池传感对焊接焊缝背面宽度的实时控制。控制试验证明控制器可有效地对焊接过程进行控制     

脉冲TIG焊熔池宽度变化过程的实验检测

建立了一套以计算机视觉焊缝正面检测为基础的脉冲ＴＩＧ焊熔池宽度变化过程的实验检测系统。提出了脉冲基值期间动态熔池图象的采集和存贮方法，设计了熔池图象处理及熔池宽度检测的计算机软件。通过２ｍｍ低碳钢板表面堆焊的工艺实验，检测了脉冲电流及焊接速度对熔池宽度变化过程的影响     

基于FPGA的双路4K视频编码传输系统

为满足4K分辨率视频的实时编码传输要求,采用基于Xilinx?Zynq?UltraScale+MPSoC?EV系列芯片进行设计,制作了一种双路4K视频实时编码传输系统,该系统在FPGA的PL端实现视频的采集与编码,在PS端实现编码后数据的封装和发送.该系统充分利用FPGA和ARM各自的优势实现了高效的视频编码和传输,具...     

一种基于Zernike矩的直线提取算法

提出了一种新颖的基于Zernike矩(ZMs)的直线提取算法。该算法首先是利用ZMs在局部坐标系中计算边缘点所在直线方程，然后通过坐标变换将直线方程变换到图像坐标系中，从而建立了边缘点和所在直线参数之间的一一映射关系，最后对于所求出的直线参数在参数空间对参数单元投票取阈值提取直线。实验表明，该算法速度快、精度高和抗干扰性强。     

钛合金表面激光重熔镍包石墨涂层的研究

为了提高钛合金的表面耐磨性能,以镍包石墨粉末作为预涂材料,先热喷涂到Ti-6A l-4V基底表面,再采用激光技术进行重熔处理,获得了质量良好的增强涂层。通过XRD、SEM和EDS对涂层组织进行分析,结果表明:涂层的微观组织为固熔了少量Ti元素的镍基,含有大量的TiC增强相。这些TiC增强相呈现发达的枝晶状形态,是在激光重熔过程中原位反应生成的。显微维氏硬度测试表明:激光重熔涂层的硬度达到HV1200,是钛合金基底硬度的3倍。