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Optimal Posture Searching Algorithm on Mobile welding Robot

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Journal of Shanghai Jiaotong university(Science) 2014年第1期19卷 84-87页

作者：张涛陈善本 Intelligentized Robotic welding Technology laboratory Shanghai Jiaotong University

An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision.

关键词： mobile welding robot kinematics model posture searching algorithm

Rupture locations of friction stir welded joints of AA2017-T351 and AA6061-T6 aluminum alloys

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中国有色金属学会会刊：英文版 2005年第3期15卷 515-518页

作者：刘会杰冯吉才 H.Fujii M.Maeda K.Nogi State Key laboratory of Advanced welding Production Technology Harbin Institute of Technology Harbin 150001 China Joining and welding Research Institute Osaka University Osaka 567-0047 Japan

The tensile rupture locations of friction stir welded joints of AA2017-T351 and AA6061-T6 aluminum alloys were examined. The experiments show that the rupture locations of the joints are different for the two aluminum alloys, which are influenced by the welding parameters. When the joints are free of welding defects, the AA2017-T351 joints are ruptured in the weld nugget adjacent to the thermo-mechanically affected zone on the advancing side and the rupture surfaces appear as oval contours of the weld nugget, while the AA6061-T6 joints are ruptured in the heat affected zone on the retreating side and the rupture surfaces are inclined at a certain degree to the bottom surfaces of the joints. When welding defects are present in the joints, the AA2017-T351 joints are ruptured in the weld center, while the AA6061-T6 joints are ruptured on the retreating side near the weld center. The rupture locations of the joints are dependent on the internal structures of the joints and can be explained through them.

关键词：铝合金摩擦搅拌焊接韧性测试技术参数局部破裂

Bonding mechanism of ultrasonic wedge bonding of copper wire on Au/Ni/Cu substrate

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中国有色金属学会会刊：英文版 2008年第1期18卷 132-137页

作者：田艳红王春青 Y.Norman ZHOU State Key laboratory of Advanced welding Production Technology Harbin Institute of Technology Microjoining laboratory Center for Advanced Materials JoiningUniversity of Waterloo

The ultrasonic wedge bonding with d25 μm copper wire was achieved on Au/Ni plated Cu substrate at ambient *** wedge bonding mechanism was investigated by using SEM/EDX,pull test,shear test and microhardness *** results show that the thinning of the Au layer occurs directly below the center of the bonding tool with the bonding power *** interdiffusion between copper wire and Au metallization during the wedge bonding is assumed negligible,and the wedge bonding is achieved by wear action induced by ultrasonic *** ultrasonic power contributes to enhance the deformation of copper wire due to ultrasonic softening effect which is then followed by the strain hardening of the copper wedge bonding.

关键词：铜导线超声波焊接金属学磨损性能

Ultrasonic-assisted soldering W90 Tungsten heavy alloy to AZ31B Mg alloy using Sn-x Al alloy

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Journal of Materials Science & Technology 2024年第8期175卷 132-140页

作者： Xudong Zhang Wei Fu Xiaoguo Song Liangbo Chen Zhuolin Li Shengpeng Hu Hong Bian State Key laboratory of Advanced welding and Joining Harbin Institute of TechnologyHarbin150001China Shandong Provincial Key laboratory of Special welding Technology Harbin Institute of TechnologyWeihai264209China Shandong Institute of Shipbuilding Technology Weihai264209China

A double-layered W/Mg structure is expected to be a new generation of nuclear radiation shielding *** tungsten heavy alloy(W90)and AZ31B Mg alloy were firstly bonded by ultrasonic-assisted soldering using pure Sn and Sn-Al filler metal in an atmospheric *** influence of ultrasonication time on the microstructure and mechanical properties of the joint was *** typical microstructure of the W90/Sn/Mg joint was W90/Mg_(2)Sn+Sn/Mg_(2)Sn layer/*** the ultrasonication time increased from 2 s to 10 s,the joint width reduced and the thickness of the Mg_(2)Sn layer *** shear strength of the joint firstly increased,then flattened,and finally *** joint strength reached the maximum value of 10.5 *** fracture position of the joint changed from the W90/filler metal interface to the Mg_(2)Sn *** addition of Al in Sn resulted in the formation of the Al4 W phase at the W/Sn-1Al *** W/filler metal interface changed from the semi-coherent interface to the coherent interface and the joint strength *** the ultrasonication time was 6 s,the shear strength W90/Sn-1Al/Mg joint reached the maximum value of 24.6 MPa and the joint fractured at two positions:W90/filler metal interface and filler *** the further increase of ultrasonication time,the joint strength decreased and the joint fractured in the Mg_(2)Sn layer.

关键词： Tungsten heavy alloy Mg alloy Ultrasonic-assisted soldering Mg_(2)Sn Cavitation effect

Effect of Reaction Layers on the Residual Stress of the Brazed TiC Cermets/Steel Joints

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Journal of Materials Science & Technology 2009年第2期25卷 203-207页

作者： Lixia Zhang Jicai Feng National Key laboratory of Advanced welding Production Technology Harbin Institute of Technology Harbin 150001 China

For the first time, considering the effect of reaction layers, numerical simulation calculation of residual stress on brazed TiC cermets/steel joint was studied by finite element method （FEIVl）. The calculation results show that, when the joint is brazed at 1123 K for 300 s （low brazing parameters）, the maximum shear stress value occurs on （Cu, Ni） layer near TiC cermets, which is 92.16 MPa as the temperature is 300 K. When the joint is brazed at 1273 K for g00 s （high brazing parameters）, the maximum shear stress value occurs on （Cu, Ni）＋（Fe, Ni） layer, which is 39.18 MPa as the temperature is 300 K. The fracture sites of the joints obtained from numerical simulation calculation accord with experimental results.

关键词： Numerical simulation Residual stress Reaction layer Brazing

Tensile properties and mechanical heterogeneity of friction stir welded joints of 2014 aluminum alloy

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中国有色金属学会会刊：英文版 2005年第6期15卷 1248-1252页

作者：赵衍华林三宝吴林曲福兴 State Key laboratory of Advanced welding Production Technology Harbin Institute of Technology Harbin 150001 China

2014 Al alloy of 8mm in thickness was successfully welded by friction stir welding method. The experimental results show that the tensile properties of the joints are significantly affected by the welding parameters. When the weld pitch is 0.25mm/r corresponding to the rotation speed of 400r/min and the welding speed of 100mm/min, the maximum ultimate strength of the joints is 78% that of the base material. For a certain weld joint, different parts possess different mechanical properties. In the three parts of the joint, the upper part is strongest and the middle part is poorest in mechanical properties. The mechanical properties and fracture locations of the joints are dependent on the microstructure variation and micro-hardness distributions of the joints, which attributes to the different thermo-mechanical actions on the different parts of the joints.

关键词：机械差异拉伸性能搅拌摩擦焊铝合金焊接接头

Microstructure and strength of TiAl/40Cr joint diffusion bonded with vanadium-copper filler metal

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中国有色金属学会会刊：英文版 2002年第5期12卷 811-813页

作者：何鹏冯吉才钱乙余张炳刚 State Key laboratory of Advanced welding Production Technology Harbin Institute of Technology Harbin 150001 China

Intermetallics TiAl was diffusion-bonded to steel 40Cr in vacuum furnace with interlayer V/Cu. The results show that infinite sosoloid that made for bond performance is formed at the interface of V/Cu and Cu/40Cr, and three acting layers are formed at the interface of TiAl/V including Ti 3Al layer at TiAl side, intermittent V 5Al 8 layer in the middle and Ti-V sosoloid at V side. Fragile reactors V 5Al 8 arising at the interface lead to bad performance of joints, and the strength of the joint is 200 MPa, while it was still higher than the strength of the joint intermetallics TiAl to 40Cr steel diffusion-bonded directly. Intermetallic TiAl and 40Cr steel are diffusion-bonded successfully by using a composite isolation layer V/Cu.

关键词：扩散结构显微结构钛铝合金金属间化合物钒铝焊料 TiAl/40Cr

Influence of arc pressure on the forming of molten pool in tungsten inert gas arc butt welding with micro gap for tantalum sheet

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China welding 2006年第3期15卷 64-67页

作者：周方明钱乙余 State Key laboratory of Advanced welding Production Technology Harbin Institute of Technology Provincial Key laboratory of Advanced welding Technology Jiangsu University of Science and Technology Zhenjiang 212003

Arc pressure is the key influencing factor to forming of molten pool. Countering the characteristic of tungsten inert gas arc welding with micro gap for tantalum sheet, according to the fundament of arc physics, a distribution model of arc pressure and forming mechanism of molten pool with micro butt gap are proposed, and the influences of arc pressure on forming of molten pool are discussed. Experimental researches for the dynamic formation process of weld molten pool by using high-speed vidicon camera show that when butt gap is appropriate, that is from 0. 1 to 0. 15 mm, molten metals formed on two workpiece uplift and grow up first, then are fused and form uniform molten pool finally.

关键词： arc pressure tantalum sheet micro butt gap tungsten inert gas welding mechanism of forming

Effect of Brazing Conditions on Microstructure and Mechanical Properties of Al_2O_3/Ti—6Al—4V Alloy Joints Reinforced by TiB Whiskers

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Journal of Materials Science & Technology 2013年第10期29卷 961-970页

作者： Minxuan Yang Peng He Tiesong Lin State Key laboratory of Advanced welding and Joining Harbin Institute of Technology Beijing Power Machinery Research Institute

Al2O3 and Ti-6Al-4V alloy were brazed with Ag-Cu-Ti ＋B fillers in different brazing conditions. Effects of brazing temperature, holding time and additive Ti content on joints microstructure and shear strength were investigated by scanning electron microscopy, energy dispersive spectrometry, X-ray diffraction, transmission electron microscopy and shear testing. Results indicate that TiCu and Ti（Cu,Al） decrease, but Ti2Cu and -Ti2（Cu,Al） increase in brazing seam with increasing brazing temperature, holding time and additive Ti content. Area consisting of Ti3（Cu,Al）30 and TiO near Al2O3 becomes gradually discontinuous from continuity when brazing temperature rises or holding time extends. As Ti additive content increases, TiO is absent near Al2O3, area consisting of only Ti3（Cu,Al）30 thickens. TiB whiskers are in situ synthesized by Ti and B atoms during brazing process. The brazing temperature, holding time and additive Ti content on joints microstructure influence the joints shear strength directly. The shear strength of joints, obtained at 850 ℃ holding for 10 min, reaches the maximum of 78 MPa. According to the experimental results, phase diagram and thermodynamics calculation, the interface evolution mechanism of the Al2O3/Ti-6Al-4V alloy joint was analyzed.

关键词： Active brazing Addition of B and Ti Al2O3 Ti--6Al--4V alloy