基于人工神经网络的激光点焊焊点形态预测

建立适用于激光点焊焊点形态预测的人工神经网络模型,以点焊过程中的三个主要工艺参数(激光功率、点焊时间和离焦量)作为模型输入,输出为焊点表面、熔合面、背面直径以及熔深和横截面面积五个焊点形态参数.在此基础上,建立焊点形态模型,模型输入为神经网络的预测结果,输出为焊点形态.所建立的神经网络预测模型和焊点形态模型结合之后,可以实现激光点焊焊点的形态预测.网络测试结果显示实际值与网络预测值之间的RMS误差为O.1左右,模型输出的预测焊点形态与实际焊点形态之间较为吻合.根据模型的仿真结果,进一步研究点焊参数对焊点尺寸和形态的影响规律.结果表明未熔透焊点形态为Y形,而熔透焊点则存在多种形态,形态之间的转变主要受激光功率的影响.     

湿法研磨结合喷雾干燥制备苦荞麸皮超微粉工艺优化

研究苦荞麸皮超微粉的制备工艺,以总黄酮含量为考察指标,采用单因素-正交试验优化确定湿法研磨最佳工艺条件;以集粉率为考察指标,采用单因素-响应面试验对喷雾干燥工艺进行优化。结果表明,研磨转速2 600 r/min,研磨时间1.0 h,料液比1:7（g/mL）时,测得麸皮粉的总黄酮含量为8.55 g/100 g,高于对照组的4.93g/100g。采用响应面优化后的干燥工艺进行验证试验,即进口温度164℃、进风量0.43 m3/min、料液浓度5.85%和进样流量620 mL/h,苦荞麸皮粉的集粉率为68.72%。扫描电镜结果显示最佳制备工艺制备的超微粉粒径更小,组织结构受到严重破坏,淀粉、蛋白质等小颗粒得到释放。湿法研磨结合喷雾干燥制备苦荞麸皮超微粉,集粉率较高,总黄酮含量有显著增加,超微粉微观结构发生明显变化。     

遥控焊接工具装配力控制的重力补偿算法

在"宏观遥控,局部自主"控制思想的基础上,建立了机器人遥控焊接工具装配力控制试验系统.通过工具重力计算和线性最小二乘进行工具负载参数标定,并提出了基于工具负载参数的重力补偿算法,用于消除工具装配力控制过程的重力干扰.针对专用的装配工具,进行了负载参数标定试验和无接触条件下的重力补偿试验.结果表明,工具重力补偿算法达到了较高的精度,重力补偿的最大误差小于1 N,重力矩补偿的最大误差小于0.1 N.m,能够满足工具装配局部自主力控制的需要.     

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.     

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.     

综合自动化系统在耿村煤矿的应用

介绍了综合自动化系统的组成、工作性能,并以义煤集团耿村煤矿为例阐述了系统的应用情况。实践证明,通过采用监控监测技术、视频技术、网络技术、数字信号传输技术、计算机多媒体技术等技术,实现了对煤矿机电运输装备的实时监测、监视和远程集控,保证了设备的安全可靠运转,取得了一定的经济效益。     

空间圆姿态识别二义性的角度约束消除

为了消除视觉测量中单个圆姿态识别中存在二义性的问题,提出了一种基于空间角度约束消除二义性的方法,并且对姿态求解算法进行了误差分析,为准确进行姿态估算给出了指导性的实验结果。在摄像机已标定的前提下,根据圆特征在图像上的投影椭圆曲线确定了圆心位置和圆平面姿态参数,计算结果存在二义性;利用欧式空间中的角度不变量,识别出圆平面的真实姿态参数,同时确定圆心的真实位置;最后,根据误差传播理论对基于单圆特征的位姿估计算法进行了精度分析。实验结果表明,圆平面姿态角的测量绝对误差在0.2°以内,圆心的定位误差为0.5%,根据圆平面的位姿参数计算的共面直线的距离误差为0.8%。该方法能够准确地识别圆平面的位置和姿态,计算过程简单,结果稳定可靠且具有较高的精度。     

基于角度约束的圆姿态识别二义性消除方法

目的：对了消除视觉测量中单个圆姿态识别中存在二义性的问题,提出了一种基于空间角度约束的二义性消除方法,并且对姿态求解算法进行了误差分析,为准确的进行姿态估算给出了指导性的实验结果。方法：在摄像机已标定的前提下,首先,根据圆的投影确定其空间位置和姿态参数,存在二义性;接着,利用欧式空间中的角度不变量,可唯一确定空间圆平面的姿态;最后,根据误差传播理论对位姿计算的方法进行了精度分析。结果：实验结果表明：圆平面姿态角绝对误差在0.2°以内,圆心定位误差为0.5%,重构的空间直线距离误差为0.8%。结论：能够准确的识别圆平面的姿态,计算过程简单,结果稳定可靠且具有较高的精度。     

网条结构光三维视觉检测标定方法研究

本文在广义坐标系中采用投影透视变换理论建立了网条结构光三维视觉检测模型。