Tandem gas metal arc welding （ T-GMAW） process shows a high deposition rate that up to three times o f the single electrode GMAW, so the welding speed could be significantly increased in this process. H...Tandem gas metal arc welding （ T-GMAW） process shows a high deposition rate that up to three times o f the single electrode GMAW, so the welding speed could be significantly increased in this process. However, the majority o f this process applications are based on the pre-programmed robotic welding, which does not allow them to track the seam real-time during welding. Rotating arc sensor, sensing the seam position by detecting the changing of welding currents, has been widely adopted in the automatic robot welding process. It is proposed in this paper to integrate the rotating arc sensor with a trailing torch to develop a new approach of rotating arc lead tandem gas metal arc welding （RLT-GMAW） process. The characteristics of the welding currents in the proposed new welding process were firstly studied, and then a self-turning fuzzy control seam tracking strategy was developed for the mobile robot automatic welding. The experimental results showed that the proposed RLT-GMAW process had an excellent seam tracking performance and high welding deposition rate. Even if there were some electromagnetic interactions between the two arcs, the deviation of the welding seam could also be reflected by the fluctuation of the welding currents on the leading arc once the correct welding parameters were selected. Based on the detected deviation, the welding tracking experiments showed that the proposed self-turning fuzzy controller had a good performance for the RLT-GMAW process seam tracking.展开更多
The influence of rotating speed on metal transfer and the wire metal speed was studied in the high rotating speed arc narrow gap welding.The results indicate that the high rotating speed arc has benefit on the metal t...The influence of rotating speed on metal transfer and the wire metal speed was studied in the high rotating speed arc narrow gap welding.The results indicate that the high rotating speed arc has benefit on the metal transfer,and that with the rotating speed increasing,the droplet volume decreases.It is shown that the rotating speed has little influence on the wire metal speed with DC electrode positive polarity(DCEP),but the melting speed decreases with increasing of rotating speed in DC electrode negative polarity(DCEN).展开更多
This paper described the effects of external excitatory parameters of current and frequency on the microstructure and mechanical properties of weld metal in MIG welding with longitudinal electromagnetic field. With a ...This paper described the effects of external excitatory parameters of current and frequency on the microstructure and mechanical properties of weld metal in MIG welding with longitudinal electromagnetic field. With a high speed video camera capturing the images of arc shape, the mechanism of arc rotation and how the periodic contraction and expansion of arc affected the movement of molten pool were investigated. The technique resulted in fine equiaxed grains in weld metal and optimum parameters of electromagnetic stirring were suggested based on the extent of refinement. Fine-grained weld metal exhibited better yield strength and significant improvement in elongation.展开更多
Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of...Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.51465043)
文摘Tandem gas metal arc welding （ T-GMAW） process shows a high deposition rate that up to three times o f the single electrode GMAW, so the welding speed could be significantly increased in this process. However, the majority o f this process applications are based on the pre-programmed robotic welding, which does not allow them to track the seam real-time during welding. Rotating arc sensor, sensing the seam position by detecting the changing of welding currents, has been widely adopted in the automatic robot welding process. It is proposed in this paper to integrate the rotating arc sensor with a trailing torch to develop a new approach of rotating arc lead tandem gas metal arc welding （RLT-GMAW） process. The characteristics of the welding currents in the proposed new welding process were firstly studied, and then a self-turning fuzzy control seam tracking strategy was developed for the mobile robot automatic welding. The experimental results showed that the proposed RLT-GMAW process had an excellent seam tracking performance and high welding deposition rate. Even if there were some electromagnetic interactions between the two arcs, the deviation of the welding seam could also be reflected by the fluctuation of the welding currents on the leading arc once the correct welding parameters were selected. Based on the detected deviation, the welding tracking experiments showed that the proposed self-turning fuzzy controller had a good performance for the RLT-GMAW process seam tracking.
文摘The influence of rotating speed on metal transfer and the wire metal speed was studied in the high rotating speed arc narrow gap welding.The results indicate that the high rotating speed arc has benefit on the metal transfer,and that with the rotating speed increasing,the droplet volume decreases.It is shown that the rotating speed has little influence on the wire metal speed with DC electrode positive polarity(DCEP),but the melting speed decreases with increasing of rotating speed in DC electrode negative polarity(DCEN).
基金Natural Science Fund of Liaoning Province (20051039)Key Fund of Shenyang (1071201-1-00)
文摘This paper described the effects of external excitatory parameters of current and frequency on the microstructure and mechanical properties of weld metal in MIG welding with longitudinal electromagnetic field. With a high speed video camera capturing the images of arc shape, the mechanism of arc rotation and how the periodic contraction and expansion of arc affected the movement of molten pool were investigated. The technique resulted in fine equiaxed grains in weld metal and optimum parameters of electromagnetic stirring were suggested based on the extent of refinement. Fine-grained weld metal exhibited better yield strength and significant improvement in elongation.
基金ThispaperissupportedbyNationalNatureScienceFoundation (No .5 96 35 16 0 )AdvancedUniversityDoctoralSubjectFoundation (No .980 2 1311)
文摘Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.
