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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年第7卷第1期页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam two robots coordinated welding motion planning

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ARC welding method for bonding steel with aluminum

Zhenyang LU, Pengfei HUANG, Wenning GAO, Yan LI, Hanpeng ZHANG, Shuyan YIN

《机械工程前沿（英文）》 2009年第4卷第2期页码 134-146 doi: 10.1007/s11465-009-0033-x

摘要： When welding steel with aluminum, the appearance of intermetallic compounds of Fe and Al will decrease tenacity and increase rigidity, which leads to bad joint performance. A new type of low energy input (LEI) welding technology is introduced which can be used to weld steel with aluminum. Using the technology, brazing was located on the steel side and arc fusion welding on the aluminum side. The less heat input reduces the thickness of intermetallic compounds to 3-4 μm. Tensile strength tests prove that the joint breaks at the heat-affected zone and the strength is higher than 70% of the aluminum’s. Thus, the method can lead to a good performance joint.

关键词： joining of steel and aluminum low energy input welding arc welding fusion welding – brazing

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The Routine and Emergency Coordinated Management of Public Security

Ning Liu

《工程管理前沿（英文）》 2015年第2卷第4期页码 331-338 doi: 10.15302/J-FEM-2015063

摘要： The paper presents a study based on the observation of public security programme situations. Nowadays, public security management is faced with challenges such as the increase in non-traditional safety threats, high occurrence probability, obvious complex chain reactions, high security demand, vulnerable bearing systems and world-wide influences. For the new adapted requirements of public security management, this paper puts forward the concept of the coordinated routine and emergency management, which combines the routine management at normal status and the emergency management at the abnormal status based on the whole process of public security management. This paper analyzes the coordinated management system and establishes the decision-making objectives, decision-making model and constraints. In addition, this paper proposes the basic strategy of achieving the coordinated management of public security.

关键词： public security routine management emergency management coordinated management

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Hongshiyan Landslide Dam Danger Removal and Coordinated Management

Ning Liu

《工程管理前沿（英文）》 2014年第1卷第3期页码 308-317 doi: 10.15302/J-FEM-2014041

摘要： This paper takes an overview of the Hongshiyan landslide dam triggered by an earthquake near Ludian County in Zhaotong City, Yunnan Province, introduces how the danger removal plan is drafted and implemented, and analyzes the outcome of its implementation. The paper then explains the significance and effect of coordinated management in the event of natural disasters and other public safety emergencies, and discusses ways to improve coordinated management.

关键词： the Zhaotong Ludian earthquake danger removal of the landslide dam coordinated management

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Study of mechanism of activating flux increasing weld penetration of AC A-TIG welding for aluminum alloy

HUANG Yong, FAN Ding, FAN Qinghua

《机械工程前沿（英文）》 2007年第2卷第4期页码 442-447 doi: 10.1007/s11465-007-0076-9

摘要： When multi-component flux AF305 is used as surface activating flux for an aluminum alloy, the weld pene tration of activating flux-tungsten inert-gas (A-TIG) welding is over two times more than that of conventional TIG welding. Using A-TIG welding with the modes of alternating current (AC), direct current electrode negative (DCEN) and direct current electrode positive (DCEP), respectively, the flux differently affects weld penetration when the polarity is different. After studied the effect of compelled arc con striction on weld penetration of AC welding, it is believed that the constriction of the whole arc root is not the main mechanism that flux AF305 dramatically improves weld penetration. The penetration has a relationship with the separate distribution of slag on the weld surface. Then, an observation of scanning electron microscopy (SEM) and an electronic data systems (EDS) analysis of slag were performed respectively. The separate distribution of slag on the weld pool during welding and the great constriction of arc spots were confirmed by TIG welding with helium shielding gas. The relationship between slag distribution and weld penetration was studied by adding aluminum powder into flux AF305 to change the distribution of slag. During welding, the separate distribution of slag on the weld pool results in the great constriction of arc spots, an increase in arc spot force, and an increase in Lorentz force within the arc and weld pool. Finally, the weld penetration is increased.

关键词： A-TIG welding surface DCEN electrode negative increase

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基于DBN模型的激光焊接状态在线监控研究 Article

张艳喜, 游德勇, 高向东, Seiji Katayama

《工程（英文）》 2019年第5卷第4期页码 671-678 doi: 10.1016/j.eng.2019.01.016

摘要：

本文开发了集辅助激光成像系统、紫外/可见波段视觉成像系统（波长小于780 nm）、光谱测量仪、光电传感器的多传感器系统，用以观察和分析激光焊接过程中的焊接状态信息。本文采用小波包分解方法对通过光电传感器获得的可见光波段传感信号和激光反射传感信号进行分解并提取相关特征。光谱仪采集到的信号的主要波长为400~900 nm，将其分为25个子带并采用统计方法来提取光谱信号特征。利用紫外/可见波段视觉成像系统采集的图像获取金属蒸气和飞溅的特征，而辅助照明视觉传感器系统主要是用来采集匙孔特征。本文基于上述焊接过程的实时量化特征建立了焊接状态监测的深度信念网络（DBN），并采用遗传算法对所提出的DBN模型参数进行优化。与传统的反向传播神经网络（BPNN）模型相比，本文建立的DBN模型在焊接状态监测方面具有更高的精度和鲁棒性。最后，本文通过三个附加焊接试验验证了该方法在激光焊接状态监控中的有效性和泛化能力。

关键词：在线监控多传感小波包分解深信度网络

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Review on electromagnetic welding of dissimilar materials

K. SHANTHALA,T. N. SREENIVASA

《机械工程前沿（英文）》 2016年第11卷第4期页码 363-373 doi: 10.1007/s11465-016-0375-0

摘要：

Electromagnetic welding (EMW) is a high-speed joining technique that is used to join similar or dissimilar metals, as well as metals to non-metals. This technique uses electromagnetic force to mainly join conductive materials. Unlike conventional joining processes, the weld interface does not melt, thus keeping the material properties intact. Extremely high velocity and strain rate involved in the process facilitate extending the EMW technique for joining several materials. In this paper, the research and progress in electromagnetic welding are reviewed from various perspectives to provide a basis for further research.

关键词： electromagnetic welding impact dissimilar materials

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Structure and performance of welding joint of Q235 steel welded by SHS welding

Junzhi HU, Sumei WANG, Xiaoli ZHAO, Shilin ZHU, Botao YU,

《机械工程前沿（英文）》 2010年第5卷第2期页码 189-193 doi: 10.1007/s11465-010-0003-3

摘要： A self-propagating high-temperature synthesis (SHS) welding-pen that can weld steel workpiece from 6 to 10 mm is developed and welds the Q235 steel. The structure and properties of the welding joint are studied. The result indicates that this type of welding is melting and the fusion zone is clear. The tensile-strength of the welding joint is 283 MPa, flexural strength is 628 MPa, impact toughness is 46.43 J·cm, and the microhardness of the welding joint and fusion zone are 230 HV and 255.6€HV, respectively. The mircohardness of the fusion zone and the welding line are higher than that of the matrix.

关键词： self-propagating high-temperature synthesis (SHS) welding welding line structure and performance melting

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Processing parameter optimization of fiber laser beam welding using an ensemble of metamodels and MOABC

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0703-5

摘要： In fiber laser beam welding (LBW), the selection of optimal processing parameters is challenging and plays a key role in improving the bead geometry and welding quality. This study proposes a multi-objective optimization framework by combining an ensemble of metamodels (EMs) with the multi-objective artificial bee colony algorithm (MOABC) to identify the optimal welding parameters. An inverse proportional weighting method that considers the leave-one-out prediction error is presented to construct EM, which incorporates the competitive strengths of three metamodels. EM constructs the correlation between processing parameters (laser power, welding speed, and distance defocus) and bead geometries (bead width, depth of penetration, neck width, and neck depth) with average errors of 10.95%, 7.04%, 7.63%, and 8.62%, respectively. On the basis of EM, MOABC is employed to approximate the Pareto front, and verification experiments show that the relative errors are less than 14.67%. Furthermore, the main effect and the interaction effect of processing parameters on bead geometries are studied. Results demonstrate that the proposed EM-MOABC is effective in guiding actual fiber LBW applications.

关键词： laser beam welding parameter optimization metamodel multi-objective

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轻量化材料焊接车间智能化要素分析

周安亮,王德成

《中国工程科学》 2017年第19卷第5期页码 103-108 doi: 10.15302/J-SSCAE-2017.05.018

摘要：

本文从轻量化材料焊接最终目标和需求、数字化和智能化技术发展趋势、焊接车间柔性构建三个维度出发，结合先进制造车间智能化和焊接工艺数字化技术发展趋势，分析得出了轻量化材料焊接车间智能化需满足的焊接控制管理实时化、焊接过程质量控制闭环化、焊接性分析数据化、焊接工艺分析智能化、快速互换装夹（柔性化）、焊缝质量检测工具化、焊接生产管理数字化、焊接基础数据库无纸化八大基本要素，并对这些要素分别进行了阐述，相关结论可以作为焊接车间智能化改造或新建的参考。

关键词：焊接工艺焊接车间智能化轻量化材料战略研究

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Research on overlaying welding rod of high hardness maraging steel

PAN Yong-ming, CHEN Shao-wei

《机械工程前沿（英文）》 2006年第1卷第4期页码 465-467 doi: 10.1007/s11465-006-0060-9

摘要： The development of new maraging steel overlaying welding rod, which contains Co, Mo, W and V alloy, solved the problems of poor homogeneity of hardness and mechanical process, prolonged the service life of wear-resistant components and increased the productive efficiency of repairing, greatly benefiting the national economy.

关键词： development productive efficiency national homogeneity mechanical

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Dynamic Coordinated Management Model of Programme in Large-Scale Construction Company

Feng Guo,Yi-qi Chen,Yi-qing Cai

《工程管理前沿（英文）》 2015年第2卷第3期页码 287-292 doi: 10.15302/J-FEM-2015041

摘要： Large-scale construction companies develop rapidly when facing more and more opportunities and challenges of programme contracting. However, project management technology, not meeting the requirements of firm growth, still stands proud, while relevant programme management methods have not been well studied. Therefore, this paper commences innovative application of coordinated management theory to programme management according to the need of changing the existing management mode in large-scale construction companies, then puts forward the dynamic coordinated management model composed of the dynamic coordination of function module, interface module, support module and evaluation module. Besides, coordination degree was introduced to make auxiliary analysis, so that companies can utilize internal and external resources more effectively to realize the goals of programme management as well as enterprise strategy.

关键词： large-scale construction company programme dynamic coordinated management model

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长距离输油输气管道建设——焊接工艺制订及焊接设备选型

郭海云,李桓,李国华,胡连海

《中国工程科学》 2001年第3卷第12期页码 76-79

摘要：

举世瞩目的西气东输工程开工在即，大投资、长距离、大管径、短工期、高质量、地质条件多样、施工单位众多等是其主要特点。其中焊接工艺的制订及焊接设备的选型涉及许多技术问题，将对施工进度、施工质量、施工单位的经济效益产生重大影响，应引起足够重视。

关键词：输油输气管道建设焊接设备选型

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Non-electric welding and its application on equipment under emergency conditions

HU Junzhi, HU Chunhua, MA Shining, XIN Wentong

《机械工程前沿（英文）》 2007年第2卷第2期页码 239-242 doi: 10.1007/s11465-007-0042-6

摘要： This paper introduces the working principle, characteristics, development, welding techniques, and applications of non-electric welding. We analyzed the microstructure of the welding bead and the tensile strength of the non-electric welded joints. The results indicate that the welding technique is simple, the performance of the welding line is excellent, and that the application is broad. Therefore, non-electric welding shows favorable application value and potential prospect.

关键词： development strength technique application favorable application

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An Evaluation Model for the Coordinated Development of a Circular Economy in China and Its Application

Ji-liang Zheng,Chen Zheng,Pan Chen,Ching Yuan Luk

《工程管理前沿（英文）》 2014年第1卷第4期页码 364-371 doi: 10.15302/J-FEM-2014053

摘要： Energy-intensive industries (EIIs) are fundamental to the industrial development of China and are also the key industries of a circular economic infrastructure. It is worth paying attention to the coordinated development of a circular economy using EIIs due to the present interrelationship among EIIs. It is related to the optimization and comprehensive performance improvement of a circular economy. Based on the perspective of order parameter, this study uses economic and environmental subsystems to establish an evaluation model that examines the coordinated development of a circular economy within six main EIIs and an EII cluster from 2006 to 2011 in China. The result shows that the level of coordinated development in a circular economy among six EIIs differs and the level of coordinated development of circular economy among the EII cluster lags behind that of each EII examined. It also shows that the outside coordinated degree of EIIs is lower than the inside coordinated degree of each EII.

关键词： order parameter coordinated degree evaluation energy-intensive industry circular economy