An approach to measure the pose of RHJD4-1 arc welding robot for calibration

A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using this setup. The setup has been applied to RHJD4 1 arc welding robot. The experimental results show the method of pose measuring using the measurement setup is simple and reliable to finish pose measuring for robot calibration. In addition, the setup can measure the position repeatability of robot.

Simultaneous observation of keyhole and weld pool in plasma arc welding with a single cost-effective sensor

The dynamic behaviors of the keyhole and weld pool are coupled together in plasma arc welding, and the geometric variations of both the keyhole and the weld pool determine the weld quality. It is of great significance to simultaneously sense and monitor the keyhole and the weld pool behaviors by using a single low-cost vision sensor in plasma arc welding process. In this study, the keyhole and weld pool were observed and measured under different levels of welding current by using the near infrared sensing technology and the charge coupled device （CCD） sensing system. The shapes and relative position of weld pool and keyhole under different conditions were compared and analyzed. The observation results lay solid foundation for controlling weld quality and understanding the underlying process mechanisms.

Welding of Ti-6Al-4V alloy using dynamically controlled plasma arc welding process

A novel dynamically controlled plasma arc welding process was introduced,which is able tominimize heat input into the workpiece materials while maintaining desired full penetration,and it was used to weld Ti-6Al-4V alloy sheets.The microstructures,facture surfaces and microhardness of the welded joints were characterized by using optical microscope,scanning electron microscope （SEM） and Vickers microhardness tester.Comparing with welds such as gas tungsten arc and conventional plasma arc processes,the experimental results revealed the improvements when using the present process including：1） reducing prior-beta （β） grain size and prohibiting formation of hard martensite phases in the fusion zone due to the decreased heat input;and 2） better toughness and higher hardness.

Sensitivity model for prediction of bead geometry in underwater wet flux cored arc welding

To investigate influence of welding parameters on weld bead geometry in underwater wet flux cored arc welding （FCAW）, orthogonal experiments of underwater wet FCAW were conducted in the hyperbaric chamber at water depth from 0.2 m to 60 m and mathematical models were developed by multiple curvilinear regression method from the experimental data. Sensitivity analysis was then performed to predict the bead geometry and evaluate the influence of welding parameters. The results reveal that water depth has a greater influence on bead geometry than other welding parameters when welding at a water depth less than 10 m. At a water depth deeper than 10 m, a change in travel speed affects the bead geometry more strongly than other welding parameters.

Optimizing the Pulsed Current Gas Tungsten Arc Welding Parameters

The selection of process parameter in the gas tungsten arc （GTA） welding of titanium alloy was presented for obtaining optimum grain size and hardness. Titanium alloy （Ti-6Al-4V） is one of the most important non-ferrous metals which offers great potential application in aerospace, biomedical and chemical industries, because of its low density （4.5 g/cm^3）, excellent corrosion resistance, high strength, attractive fracture behaviour and high melting point （1678℃）. The preferred welding process for titanium alloy is frequent GTA welding due to its comparatively easier applicability and better economy. In the case of single pass （GTA） welding of thinner section of this alloy, the pulsed current has been found beneficial due to its advantages over the conventional continuous current process. Many considerations come into the picture and one needs to carefully balance various pulse current parameters to reach an optimum combination. Four factors, five level, central composite, rotatable design matrix were used to optimize the required number of experimental conditions. Mathematical models were developed to predict the fusion zone grain size using analysis of variance （ANOVA） and regression analysis. The developed models were optimized using the traditional Hooke and Jeeve＇s algorithm. Experimental results were provided to illustrate the proposed approach.

Effects of welding wire composition and welding process on the weld metal toughness of submerged arc welded pipeline steel

The effects of alloying elements in welding wires and submerged arc welding process on the microstructures and low-temperature impact toughness of weld metals have been investigated. The results indicate that the optimal contents of alloying elements in welding wires can improve the low-temperature impact toughness of weld metals because the proeutectoid ferrite and bainite formations can be suppressed, and the fraction of acicular ferrite increases. However, the contents of alloying elements need to vary along with the welding heat input. With the increase in welding heat input, the contents of alloying elements in welding wires need to be increased accordingly. The microstructures mainly consisting of acicular ferrite can be obtained in weld metals after four-wire submerged arc welding using the wires with a low carbon content and appropriate contents of Mn, Mo, Ti-B, Cu, Ni, and RE, resulting in the high low-temperature impact toughness of weld metals.

COMPUTERIZED SIMULATION AND EXPERIMENTAL RESEARCH ON SOFT-SWITCHING ARC WELDING INVERTER POWER SOURCE

Based on the existing component models in the Pspice software package, a combined model for Insulat- ed the Bipolar Transistor (IGBT) is established, in which a non - linear is introduced to represent the parasitic capacitance. Using this model, computerized simulation is conducted for the FB - ZVZCS - PWM soft - ewitching converter,the switching and energy-transferring characteristics of the components are analyzed.The simulation results are testified by experiments.It is proved that by abopting appropriate models,computerized simulation becomes an effective tool for investigation of arc welding inverter power source.

The arc characteristic of ultrasonic assisted TIG welding

Many applications of ultrasonic-assisted methods were used during metal solidification, but they could not be introduced into weld pool. In this paper, a way of ultrasonic assisted TIG welding is introduced. By directly imposed ultrasonic vibration on welding arc, the vibration interacts with arc plasma and passes to the weld pool. Measurement results show that arc pressure is significantly increased with the ultrasonic vibration and the arc pressure distribution models are changed. Bead-on-plate welding tests on SUS304 confirm that this technology can influence the style of metal melting and increase weld penetration depth.

Assessment of gas tungsten arc welding thermal cycles on Inconel 718 alloy

Heat moving source models along with transient heat analysis by finite element method were used to determine weld thermal cycles and isothermal sections obtained from the application of a gas tungsten arc welding beads on Inconel 718 plates. Analytical (Rosenthal’s thick plate model) and finite element results show an acceptable approximation with the experimental weld thermal cycles. The isothermal sections determined by numerical simulation show a better approximation with the experimental welding profile for double-ellipse model heat distribution than Gauss model. To analyze the microstructural transformation produced by different cooling rates in the fusion and heat affected zones, Vickers microhardness measurements (profile and mapping representation) were conducted. A hardness decrement for the heat affected zone (~200 HV0.2) and fusion zone (~240 HV0.2) in comparison with base material (~350 HV0.2) was observed. This behavior has been attributed to the heterogeneous solubilization process of the γ″ phase (nickel matrix), which, according to the continuous-cooling-transformation curve, produced the Laves phase,δ and MC transition phases, generating a loss in hardness close to the fusion zone.

Optimization of pulsed current gas tungsten arc welding process parameters to attain maximum tensile strength in AZ31B magnesium alloy

An empirical relationship to predict tensile strength of pulsed current gas tungsten arc welded AZ31B magnesium alloy was developed. Incorporating process parameters such as peak current, base current, pulse frequency and pulse on time were studied. The experiments were conducted based on a four-factor, five-level, central composite design matrix. The developed empirical relationship can be effectively used to predict the tensile strength of pulsed current gas tungsten arc welded AZ31B magnesium alloy joints at 95% confidence level. The results indicate that pulse frequency has the greatest influence on tensile strength, followed by peak current, pulse on time and base current.

Electromagnetic Characteristic of Twin-wire Indirect Arc Welding

Traditional welding methods are limited in low heat input to workpiece and high welding wire melting rate. Twin-wire indirect arc（TWIA） welding is a new welding method characterized by high melting rate and low heat input. This method uses two wires one connected to the negative electrode and another to the positive electrode of a direct-current（DC） power source. The workpiece is an independent, non-connected unit. A three dimensional finite element model of TWIA is devised. Electric and magnetic fields are calculated and their influence upon TWIA behavior and the welding process is discussed. The results show that with a 100 A welding current, the maximum temperature reached is 17 758 K, arc voltage is 14.646 V while maximum current density was 61 A/mm2 with a maximum Lorene force of 84.5 ~tN. The above mentioned arc parameters near the cathode and anode regions are far higher than those in the arc column region. The Lorene force is the key reason for plasma velocity direction deviated and charged particles flowed in the channel formed by the cathode, anode and upper part of arc column regions. This led to most of the energy being supplied to the polar and upper part of arc column regions. The interaction between electric and magnetic fields is a major determinant in shaping TWIA as well as heat input on the workpiece. This is a first study of electromagnetic characteristics and their influences in the TWIA welding process, and it is significant in both a theoretical and practical sense.

Gas tungsten arc welding of CP-copper to 304 stainless steel using different filler materials

The dissimilar joining of CP-copper to 304 stainless steel was performed by gas tungsten arc welding process using different filler materials. The results indicated the formation of defect free joint by using copper filler material. But, the presence of some defects like solidification crack and lack of fusion caused decreasing tensile strength of other joints. In the optimum conditions, the tensile strength of the joint was 96% of the weaker material. Also, this joint was bent till to 180° without any macroscopic defects like separation, tearing or fracture. It was concluded that copper is a new and good candidate for gas tungsten arc welding of copper to 304 stainless steel.

FRACTAL RESEARCH ON CRACKS PROPAGATION OF GAS PIPELINE X52 STEEL WELDING LINE UNDER HYDROGEN ENVIRONMENT

Based on the theory of hydrogen enhanced localized plasticity of the hydrogen induced cracking and the consideration of the effect of the residual stress produced by eliminated stress heat-treatment, a fractal model of hydrogen induced cracking was presented, and the relationships among the effective surface energy (H), fractal dimension D and stress intensity factor of hydrogen induced cracking, KIH, for welding pipeline under hydrogen environment was set up, from which the relationship of D and KISCC was obtained. The model has been verified experimentally to be correct.

In situ synthesis and hardness of TiC/Ti_5Si_3 composites on Ti-5Al-2.5Sn substrates by gas tungsten arc welding

TiC/TisSi3 composites were fabricated on Ti-5A1-2.5Sn substrates by gas tungsten arc welding （GTAW）. Identification of the phases was performed using X-ray diffraction （XRD）. The microstructures were analyzed using scanning electron microscopy （SEM） combined with energy-dispersive X-ray spectrometry （EDS） and optical microscopy （OM）. The Vickers hardness was measured with a micro-hardness tester. The TiC/TisSi3 composites were obtained in a double-layer track, and the Vickers hardness of the track increased by two to three times compared with the Ti-5A1-2.5Sn substrate.

Effect of electromagnetic interaction on microstructure and corrosion resistance of 7075 aluminium alloy during modified indirect electric arc welding process

The effects of applying an electromagnetic interaction of low intensity (EMILI) on the microstructure and corrosion resistance of 7075-T651 Al alloy plates (13 mm in thickness) during modified indirect electric arc (MIEA) welding were investigated. The welding process was conducted in a single pass with a heat input of ~1.5 kJ/mm. The microstructural observations of the welds were correlated with the effect of EMILI on the local mechanical properties and the corrosion resistance in natural seawater by means of microhardness measurements and electrochemical impedance spectroscopy, respectively. Microstructural characterization of the welds revealed a grain refinement in the weld metal due to the electromagnetic stirring induced by EMILI of 3 mT during welding. In addition, observations in the scanning electron microscope showed that the precipitation of Cu-rich phases and segregation of eutectics were reduced in the heat affected zone (HAZ) also as an effect of EMILI. The high corrosion dissolution of the 7075-T651 welds in natural seawater and the extent of overaging in the HAZ were reduced when welding with EMILI of 3 mT. Thus, EMILI along with the MIEA technique may lead to welded joints with better microstructural characteristics, improved mechanical properties in the HAZ and reduced electrochemical activity.

Potential Oxidative Stress in the Bodies of Electric Arc Welding Operators: Effect of Photochemical Smog

Objective To investigate whether photochemical smog emitted during the process of electric arc welding might cause oxidative stress and potential oxidative damage in the bodies of welding operators. Methods Seventy electric arc welding operators (WOs) and 70 healthy volunteers (HVs) were enrolled in a randomized controlled study design, in which the levels of vitamin C (VC) and vitamin E (VE) in plasma as well as the activities of superoxide dismutase (SOD), catalase (CAT) and glutathione peroxidase (GPX), and the level of lipoperoxide (LPO) in erythrocytes were determined by spectrophotometry. Results Compared with the average values of the above experimental parameters in the HVs group, the average values of VC and VE in plasma as well as those of SOD, CAT and GPX in erythrocytes in the WOs group were significantly decreased (P<0.005-0.0001), while the average value of LPO in erythrocytes in the WOs group was significantly increased (P<0.0001). The findings from the partial correlation analysis on the controlling of age suggested that with a prolonged duration of exposure to photochemical smog the values of VC, VE, SOD, and GPX, except for CAT, in the WOs were decreased gradually (P<0.05-0.005), the value of LPO in the WOs was increased gradually (P<0.001), and that with the ozone dose increased in the air in each worksite VC, VE, SOD, CAT and GPX decreased (P<0.005-0.001), but LPO increased (P<0.001). The findings from the reliability analysis for the VC, VE, SOD, CAT, GPX, and LPO values which were used to reflect oxidative stress and potential oxidative damage in the WOs showed that the reliability coefficients?alpha (6 items) was 0.8021, P<0.0001, and that the standardized item alpha was 0.9577, P<0.0001. Conclusion Findings in the present study suggest that there exists an oxidative stress induced by long-term exposure to photochemical smog in the bodies of WOs, thereby causing potential oxidative and lipoperoxidative damages in their bodies.

Seam Tracking and Visual Control for Robotic Arc Welding Based on Structured Light Stereovision

A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.

Three-roller continuous setting round process for longitudinally submerged arc welding pipes

In order to solve the problems of excess ovality and cross-section distortion of longitudinally submerged arc welding pipes after forming,a new three-roller continuous setting round process was proposed.This process can be divided into three stages:loading stage,roll bending stage and unloading stage.Based on the discretization idea,the mechanical model of the primary statically indeterminate problem of the longitudinally submerged arc welding pipes at the roll bending stage was established,and the deformation response was obtained.The simulation and theoretical results show that there are three positive bending regions and three reverse bending regions along the circumference of the pipe.The loading force of each roller shows growth,stability and downward trend with time.The error between the theoretical fitting curve and the simulated data point is very small,and the simulation results verify the reliability of the theoretical calculation.The experimental results show that the residual ovality decreases with the increase of the reduction,and the reduction of the turning point is the optimum reduction.In addition,the residual ovality of the pipe is less than 0.7%without cross-section distortion,which verifies the feasibility of this process.

The comparison of multi-layer narrow-gap laser and arc welding of S32101 duplex stainless steel

Multi-layer narrow-gap welding of thick S32101 duplex stainless steel was conducted using laser welding with beam wobble process.The phase transition,grain size,phase proportion and crystal texture of welded joint were also studied and compared with gas metal arc welding process.The microhardness and tensile strength were measured and fracture surface was analyzed to evaluate the mechanical properties of welded joints.The results showed that beam wobble technology improved the misalignment of laser beam and filler wire in narrow groove and helped to avoid incomplete fusion defects.Compared to arc welding process,the groove size and heat input were reduced,while welding efficiency was increased.The faster cooling rate and lower temperature gradient of laser wobble welding favored grain refinement,while the austenite content in weld zone decreased.Both the beam wobble and swing arc were conducive to stir weld pool,optimizing the weld microstructure and joint formation.The microstructural variance in various weld passes was caused by the heat input and heat dissipation ability.The microhardness of laser welded joint was lower,while the tensile strength and elongation percentage were higher.The fracture surface of arc welded joint was featured with shallower dimples and cleavage steps.

Research and engineering application of the arc welding pulsed controller technology

The tenacity of heat-affected zone （HAZ） will decline and the size of grains will increase, because of the overheating on HAZ when submerged are welding （SAW） is ased to thick plate with high heat input. The shaping will worsen when SAW is used to thin plate with high current at high speed. A new SAW technology, the pulsed direct current （DC） automatic SAW, will be put forward in this paper in order to overcome the above shortcomings. And a pulsed controller with micro-controller unit （MCU） as the core, nixie tube （NT） and keyboard as the man-machine conversation interface is developed. The main functions of the pulsed controller include the output of pulsed welding current and the working with twinwire. The research has widely prospects in application with significant meanings in theory and practical engineering.