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针对大型构件复杂轨迹焊缝自动焊中的移动机器人跟踪控制滞后和焊接轨迹频繁振荡等问题,提出一种基于轨迹动态规划的焊道跟踪方法. 利用结构光传感器检测区域超前于电弧的优势,实时获取焊接区前方焊缝位置特征信息实现对焊道轨迹宏观走向的超前感知,基于焊道等距逼近思想动态规划移动机器人运动轨迹,结合电弧传感技术实时检测焊接偏差信息,通过机器人本体与机载执行机构的协同控制对焊接轨迹进行动态补偿. 结果表明,该方法提高了复杂轨迹焊缝跟踪中焊接速度一致性及焊接轨迹平滑度,改善了焊道弯曲或折角处的焊缝成形质量. 相似文献
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A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking. By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch, the trend and direction of the weld line is roughly obtained. The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it. Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track, and hence the weld formation in curves and corners is improved. 相似文献
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The paper presents a 3D numerical simulation of turbulent heat transfer and flow characteristics in converging-diverging tubes(CDs) and converging-diverging tubes equipped with twin counter-swirling twisted tapes(CDTs).The effects of Reynolds number(Re 10000-20000),pitch length(P 11.25,22.5 mm),rib height(e 0.5,0.8,1.1 mm),pitch ratio(δ1:8,5:4,8︰1),gap distance between twin twisted tapes(b 0.5,4.5,8.5 mm) and tape number(n 2,3,4,5,6) on Nusselt number(Nu),friction factor(f) and thermal enhancement factor(η) are investigated under uniform heat flux conditions,using water as working fluid.In order to illustrate the heat transfer and fluid flow mechanisms,flow structures in CDs and CDTs are presented.The obtained results reveal that all geometric parameters have important effects on the thermal performance of CD and CDT,and both CD and CDT show better thermal performance than plain tube at the constant pumping power.It is also found that the increases in the Nusselt number and friction factor for CDT are,respectively,up to 6.3%-35.7% and 1.75-5.3 times of the corresponding bare CD.All CDTs have good thermal performance with η greater than 1 which indicates that the compound heat transfer technique of CDT is commendable for the maximum enhanced heat transfer rate. 相似文献
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通过数值模拟,以水为工质,研究了湍流时旋流片支撑缩放管管束管间的传热综合性能,并与无支撑光滑管管束、无支撑缩放管管束及旋流片支撑光滑管管束的传热性能进行了对比,分析了不同结构参数对其传热综合性能的影响;揭示了旋流片支撑缩放管管间流体速度场与温度场之间的协同性。结果表明:旋流片支撑急扩慢缩型缩放管管束相对急缩慢扩型具有更好的传热综合性能,且都比旋流片支撑光滑管管束的传热综合性能好,但二者都没有对应的无支撑缩放管管束综合性能好;具有小角度跟大扭率结构的旋流片更有利于旋流片支撑管束传热综合性能的提高;相对旋流片支撑光滑管管束与无支撑缩放管管束,旋流片支撑缩放管管束强化传热的原因在于传热场协同的增强作用更为明显。考虑管间支撑物支撑管束与抗振的必要性,旋流片支撑缩放管管束是一种高效的壳程强化传热措施,文中条件下通过优化,最大传热综合性能能达到1.057。 相似文献
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针对矩形区域内两种形式的强退化扩散系数,研究了二维单向强退化抛物型方程中扩散项的参数识别反问题。首先,利用H9lder不等式等证明了扩散项参数识别的唯一性和条件稳定性;然后,给出了数值计算强退化抛物型方程正问题的一种交替方向有限差分隐格式;最后,通过将退化扩散项的参数识别反问题归结为泛函优化问题,提出了基于遗传算法的退化项参数识别方法。计算模拟结果表明,退化项参数能被附加的测量数据有效识别出来,且提出的基于遗传算法的退化项参数识别方法具有很强的鲁棒性。 相似文献
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通过等体积浸渍法,实验制备Pt-Ru/γ-Al2O3催化剂,对该催化剂进行活性、稳定性测试,并进行TG与TEM表征,然后建立二维固定床数值模型分析反应器内的温度场、流场与组分场分布。实验结果表明:该催化剂具有良好的催化效率及优越的稳定性,CH4在800℃时的转化率为94.1%,CO/H2比为1.03,在800℃下能连续运行500 h。模拟结果表明,建立的数值模型与实验值吻合较好,不同温度下的最大偏差不超过14.81%,能较好地反应固定床反应器内的热质传递与组分分布特性。 相似文献