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Automatic Welding System Using Speed Controllable Autonomous Mobile Robot 基于速度可控自主移动机器人的自动焊接系统
Taewon Kim, T. Suto, Junya Kobayashi, Jongcheol Kim, Y. Suga
A prototype of autonomous mobile robot with two vision sensors for automatic welding of steel plates was constructed. The robot can move straight, steer and turn around the robot center by controlling the driving speed of the two wheels respectively. At the tip of the movable arm, two CCD cameras are fixed. A local camera observes the welding line near the welding torch and another wide camera observes relatively wide area in front of the welding part. The robot controls the traveling speed in accordance with the shape of the welding line. In the case of straight welding line, the speed of the robot is accelerated and the welding efficiency is improved. However, if the robot finds a corner of welding line, the speed is decelerated in order to realize the precise seam tracking and stable welding. Therefore, the robot can realize precise and high speed seam-tracking by controlling the travel speed. The effectiveness of the control system is confirmed by welding experiments.
构建了一种具有双视觉传感器的自主移动钢板自动焊接机器人样机。通过控制两个轮子的驱动速度,机器人可以沿机器人中心直线运动、转向运动和转弯运动。在活动臂的尖端,固定有两个CCD摄像机。一个局部摄像机观察靠近焊枪的焊缝,另一个宽摄像机观察焊接部位前方较宽的区域。机器人根据焊接线的形状控制移动速度。在焊接直线的情况下,加快了机器人的速度,提高了焊接效率。然而,如果机器人发现焊缝的一个角落,则减速,以实现精确的焊缝跟踪和稳定焊接。因此,机器人可以通过控制行走速度来实现精确、高速的缝迹跟踪。通过焊接实验验证了控制系统的有效性。
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引用次数: 7
The Influence of the Solid-State Bonding Process on the Mechanical Integrity of Longitudinal Weld Seams 固相结合工艺对纵向焊缝机械完整性的影响
S. Edwards, A. Bakker, J. Neijenhuis, W. Kool, L. Katgerman
For production of complex hollow 6xxx series aluminium extrusions, porthole dies are the predominant tooling set up. In porthole dies, the billet is divided into multiple metal streams, which are rejoined in the weld chamber to form ‘longitudinal weld seams’. Fundamental understanding of the solid state bonding process, as well as the ability to detect a well bonded (or a defective) weld seam are important for the production of high quality structural hollow extrusions. A study is being conducted to investigate the solid state bonding and weld seam formation processes during extrusion. The method chosen was to use a thermo-mechanical simulator (Gleeble 3500), thereby having the ability to vary process parameters such as strain, strain rate and temperature. The alloy investigated was primary and remelt AA6082. It was determined that the key parameter for bonding is surface stretching (creation of new surface at the interface) and bonding time.
对于复杂的中空6xxx系列铝型材的生产,舷窗模具是主要的工具设置。在舷窗模具中,坯料被分成多个金属流,这些金属流在焊接室中重新连接,形成“纵向焊缝”。对固态键合工艺的基本了解,以及检测良好键合(或缺陷)焊缝的能力,对于生产高质量的结构空心挤压件非常重要。研究了挤压过程中的固态结合和焊缝形成过程。所选择的方法是使用热机械模拟器(Gleeble 3500),从而能够改变工艺参数,如应变,应变率和温度。所研究的合金为初熔体和重熔体AA6082。确定了键合的关键参数是表面拉伸(在界面处产生新表面)和键合时间。
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引用次数: 14
Diffraction of P-Waves by Edge Crack in an Infinitely Long Elastic Strip 无限长弹性条边缘裂纹对p波的衍射
Nasima Munshi, S. Mandal
The in-plane problem relating to the elastodynamic response of edge crack in an infinitely long elastic strip is analyzed. Fourier transform is used to reduce the mixed boundary value problem to Fredholm integral equation of second kind which was solved numerically to calculate the stress intensity factor at the tip of the crack. Stress intensity factor for various geometry parameters and frequency has been plotted to show the effect of strip width on stress intensity factor. Also normal stress at distant points from the crack has been evaluated numerically and plotted for various parameters.
分析了无限长弹性条边缘裂纹弹动力响应的面内问题。利用傅里叶变换将混合边值问题转化为第二类Fredholm积分方程,对其进行数值求解,计算裂纹尖端的应力强度因子。绘制了不同几何参数和频率下的应力强度因子,显示了带钢宽度对应力强度因子的影响。此外,在距离裂缝较远的点上的法向应力也进行了数值计算,并绘制了各种参数的图。
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引用次数: 3
Synthesis and Characterization of Microwave and Conventional Combustion Synthesized Alumina-Titanium Carbide Powders 微波与常规燃烧合成碳化铝钛粉体的合成与表征
M. Kitiwan, D. Atong
Al2O3-TiC powders were produced from microwave and conventional-combustion synthesized mixtures of TiO2, C and Al. Different types of precursors such as rutile and anatase TiO2, as well as carbon black, graphite and activated carbon powders were used. The different types of precursors and heating methods affected the combustion behavior. Combustion using microwaves could be achieved in less than 3 min, which was 10 times faster than conventional combustion. The composition of rutile-carbon black-aluminum gave the shortest ignition time using microwave energy, whereas the mixture containing activated carbon ignited fastest using conventional heating. Nevertheless, in both cases samples with anatase required longer time to ignite and thus gave higher combustion temperatures than ones with rutile. An incomplete combustion product observed when activated carbon was the carbon source. The synthesized powder was fragmented and angular in shape with the largest agglomerate size limited to smaller than 25 microns.
采用金红石、锐钛矿TiO2等不同类型的前驱体以及炭黑、石墨和活性炭粉末,通过微波和常规燃烧合成TiO2、C和Al的混合物,制备了Al2O3-TiC粉末。不同类型的前驱体和加热方式对燃烧行为有影响。使用微波燃烧可以在不到3分钟内实现,比传统燃烧快10倍。金红石-炭黑-铝的混合物在微波加热下的点火时间最短,而含有活性炭的混合物在常规加热下的点火时间最快。然而,在这两种情况下,含有锐钛矿的样品需要更长的时间来点燃,因此比含有金红石的样品具有更高的燃烧温度。当活性炭为碳源时,观察到不完全燃烧产物。合成的粉末呈碎片状,形状呈棱角状,最大团聚体尺寸小于25微米。
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引用次数: 9
Precise Micro Pattern Replication by Hot Embossing 通过热压印精确的微图案复制
K. Idei, H. Mekaru, Hiroaki Takeda, T. Hattori
The LIGA (Lithografie, Galvanoformung, Abformung [German: lithography, electroplating, and molding]) process is one of the promising techniques for fabrication of microstructures having high aspect ratios. Microstructures as high as a few hundred µm or more are widely used for various devices, such as micro-actuators, micro-mechanisms, and micro-sensors. The key to reducing the microstructure fabrication cost of the LIGA process is by using micro replication technology. Hot embossing is attracting the attention of engineers as one such technology for economically mass-fabricating microstructures on thin plastic sheets. This technology is especially effective for precisely replicating micro patterns on relatively large sheets. This paper describes the results of research the authors recently carried out to find the optimal conditions for hot embossing in the atmosphere and in a vacuum. For a series of experiments, we prepared two types of Ni molds each containing an area of 33 × 33mm2 distributed with hole or column patterns 60µm in diameter and 1.0 in aspect ratio. The LIGA process using synchrotron radiation fabricated these patterns. From the experiments, we could determine the optimal conditions for replicating these patterns on PMMA sheets in a normal-atmosphere and vacuum environments.
LIGA (Lithografie, Galvanoformung, Abformung[德语:光刻,电镀和成型])工艺是制造具有高纵横比的微结构的有前途的技术之一。高达几百微米或更大的微结构被广泛用于各种器件,如微致动器、微机构和微传感器。采用微复制技术是降低LIGA工艺微结构制造成本的关键。热压印技术作为一种在塑料薄板上经济批量制造微结构的技术,正受到工程技术人员的关注。这种技术对于在相对较大的薄片上精确复制微图案特别有效。本文介绍了作者最近进行的研究结果,以找到在大气和真空中进行热压印的最佳条件。为了进行一系列的实验,我们制备了两种类型的Ni模具,每种模具的面积为33 × 33mm2,分布为直径60µm,宽高比1.0的孔或柱图案。LIGA过程使用同步辐射制造了这些图案。从实验中,我们可以确定在正常气氛和真空环境下在PMMA片上复制这些图案的最佳条件。
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引用次数: 10
Evaluation of Design Strength and Residual Stress in Ceramic/Metal Joint 陶瓷/金属接头设计强度和残余应力的评估
S. Huh, W. Park, Sung Ho Park
Since the ceramic has excellent qualities in light weight, abrasion resistance and heat resistance etc, compared with the metal, it has been actively examined in order to apply for the structures such as gas turbine and turbo charger etc, which require high strength and heat resistance. But it is not desirable to be used for the structural material since the ceramic is fragile, so the join with the metal with abundant toughnees has been studied. However, during the cooling process, the joint residual stress develops on the ceramic/metal joint by the difference in thermal expansion coefficient between two materials and it affects the bending strength significantly. Also, in order to use the joint material as the structural material, the study about the fatigue of thermal cycle of actual use statement is necessary. Therefore, to ensure security and improvement of the bending strength of joint material, the state of residual stress distribution to the high temperature-thermal cycle, and studied the effects of thermal cycle and state of residual stress distribution on the strength of joint material as well.
由于与金属相比,陶瓷具有重量轻、耐磨性好、耐热性好等优良品质,因此人们对其进行了积极的研究,以期将其应用于对强度和耐热性要求较高的燃气轮机、涡轮增压器等结构中。但由于陶瓷易碎,不适于用作结构材料,因此研究了与含丰富韧质的金属的连接。然而,在冷却过程中,陶瓷/金属接头由于两种材料的热膨胀系数差异而产生接头残余应力,对接头的抗弯强度影响较大。为了使接头材料作为结构材料使用,对实际使用工况的热循环疲劳进行研究是必要的。因此,为了保证接头材料抗弯强度的安全和提高,将残余应力分布状态引入高温-热循环,并研究热循环和残余应力分布状态对接头材料强度的影响。
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引用次数: 3
Bending of an Elastically Restrained Elliptical Plate under the Combined Action of Lateral Load and In-Plane Force 横向荷载和面内力共同作用下弹性约束椭圆板的弯曲
Kenzo Sato
The study on the bending of an elliptical plate clamped rigidly against deflection and restrained elastically against rotation along its periphery, subjected to the uniform lateral load and in-plane force simultaneously, is performed by introducing the elliptical coordinates. The analytical solution satisfying perfectly the differential equation of deflection and the boundary conditions is exactly derived in the form of Mathieu function series. The expressions for the bending moments are also derived rigorously. The deflection and bending moments obtained here coincide with those for a simply supported elliptical plate and the perfectly clamped elliptical plate when the rotational spring stiffness is zero and infinity, respectively. A limiting case of a circular plate is discussed in detail. The effects of the in-plane force and the rotational spring stiffness on the deflection and the bending moments are calculated numerically and are presented in tables and figures.
引入椭圆坐标,研究了椭圆板在均匀侧向载荷和面内力同时作用下,沿其外围刚性夹紧抗挠度和弹性约束抗旋转的弯曲问题。以Mathieu函数级数的形式精确地导出了完全满足挠度微分方程和边界条件的解析解。并对弯矩的表达式进行了严格推导。得到的挠度和弯矩分别与简支椭圆板和完全夹紧椭圆板在旋转弹簧刚度为零和无穷大时的挠度和弯矩一致。详细讨论了圆板的极限情况。用数值方法计算了面内力和旋转弹簧刚度对挠度和弯矩的影响,并给出了表格和图形。
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引用次数: 4
Simulation of Infiltration of Molten Alloy to Porous Preform Using Low Pressure 熔融合金向多孔预制体低压渗透的模拟
Yongbum Choi, G. Sasaki, K. Matsugi, N. Sorida, S. Kondoh, T. Fujii, O. Yanagisawa
Metal-fiber-preform-reinforced aluminum alloy composites were prepared by the infiltration of molten metal using a low-pressure casting process. The infiltration behavior of the filling pattern and the velocity profile obtained for alloys fabricated by the low-pressure casting process was investigated. A thermocouple was inserted into the preform to observe the infiltration behavior. The infiltrations at pressure acceleration times of 1sec, 2sec and 5sec under a constant pressure of 0.4MPa were respectively complete in 0.4sec, 0.8sec and 1.2sec. Under these conditions, molten aluminum alloy successfully infiltrated on FeCrSi metal fiber preform by the low-pressure casting process. The porosity of composites was observed to determine their reliability. An automobile piston was developed with an FeCrSi-reinforced aluminum alloy that has 0% porosity using the optimal applied pressure and pressure acceleration times.
采用低压铸造工艺,采用熔融金属渗透法制备了金属纤维预制增强铝合金复合材料。研究了低压铸造成形合金的充型和速度分布的渗渗行为。在预成型中插入热电偶,观察其渗透行为。在0.4MPa恒定压力下,压力加速时间为1sec、2sec和5sec的渗透分别在0.4sec、0.8sec和1.2sec完成。在此条件下,熔融铝合金通过低压铸造工艺成功地渗透到FeCrSi金属纤维预制件上。通过观察复合材料的孔隙率来确定其可靠性。在最佳施加压力和压力加速时间下,用fecrsi增强铝合金开发了一种具有0%孔隙率的汽车活塞。
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引用次数: 5
Fabrication of Spiral Micro-Coil Utilizing LIGA Process 利用LIGA工艺制备螺旋微线圈
O. Shimada, S. Kusumi, H. Mekaru, N. Sato, M. Shimizu, M. Yamashita, T. Hattori
We developed a method for fabricating a three-dimensional spiral micro-inductor with high inductance using the LIGA process. The spiral inductor created had a diameter of 0.5mm, and a length of 1mm. The width of the spiral line was 10µm, the pitch was 20µm, and the number of turns was 15. It was made of plated copper. The master was a brass round bar coated with PMMA resist. Deep X-ray lithography was employed to fabricate a master for a metallic mold at the NewSUBARU synchrotron radiation facility, University of Hyogo. The inductor core was made of resin by injection molding. It has a spiral micro flute on the surface. We chose the worm injection molding technique in order to avoid the parting line across the spiral line. The worm injection molding was the method─for demolding the work such as that used in loosening a screw.
提出了一种利用LIGA工艺制作三维高电感螺旋微电感器的方法。所制造的螺旋电感直径为0.5mm,长度为1mm。螺旋线宽度为10µm,螺距为20µm,转数为15圈。它是由镀铜制成的。主杆是一根涂有PMMA抗蚀剂的黄铜圆棒。在兵库大学的新subaru同步辐射设备上,采用深x射线光刻技术制造了金属模具的母模。电感芯采用树脂注塑成型。它的表面有一个螺旋微型凹槽。为了避免分型线跨越螺旋线,我们选择了蜗杆注射成型技术。螺杆注射成型是一种将工件脱模的方法,例如拧松螺钉的方法。
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引用次数: 9
Strength Improvement on an Imaginary SiC Fiber of Ideal Diameter and Reduced Internal Defects Estimated from the Weibull Scaling of Tyranno ZMI Fiber 从Tyranno ZMI纤维的Weibull标度估计理想直径假想SiC纤维强度的提高和内部缺陷的减少
T. Morimoto, Koji Yamamoto, S. Ogihara
The size effect of the diameter has been assessed for the tensile strength of Tyranno ZMI fiber. Uniform diameter section in sample fibers has been selected as tensile test sample. The single fibers of measured diameters have been tensile tested to provide two groups of data, i.e., “small diameter” group and “large diameter” group. The parameters of single-modal Weibull model showed inconsistency on the two groups, thus the Weibull parameters have shown the dependence on the sample diameter. Scanning electron microscope (SEM) analyses had revealed characteristic fracture patterns of “extremely weak” samples only in “large diameter” group. The key information for improving the reliability was then discussed through coupling the Weibull scaling and the fracture surface analyses. The potential in the strength improvement has been assessed for an imaginary fiber, which does not contain the sources of the characteristic fracture patterns.
对Tyranno ZMI纤维的抗拉强度进行了直径尺寸效应评价。选取纤维试样中的等径截面作为拉伸试样。对测量直径的单纤维进行拉伸试验,得到两组数据,即“小直径”组和“大直径”组。单模态威布尔模型的参数在两组上表现出不一致,因此威布尔参数对样本直径表现出依赖性。扫描电镜(SEM)分析显示,只有在“大直径”组中,“极弱”样品的断裂模式才具有特征性。通过威布尔尺度与断口分析的耦合,讨论了提高可靠性的关键信息。对一种假想纤维的强度改进潜力进行了评估,该纤维不包含特征断裂模式的来源。
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引用次数: 4
期刊
Jsme International Journal Series A-solid Mechanics and Material Engineering
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