CN104607795B - 机器人搅拌摩擦焊接系统及其力位并环混合控制方法 - Google Patents
机器人搅拌摩擦焊接系统及其力位并环混合控制方法 Download PDFInfo
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- CN104607795B CN104607795B CN201410777006.XA CN201410777006A CN104607795B CN 104607795 B CN104607795 B CN 104607795B CN 201410777006 A CN201410777006 A CN 201410777006A CN 104607795 B CN104607795 B CN 104607795B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/123—Controlling or monitoring the welding process
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
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CN201410777006.XA CN104607795B (zh) | 2014-12-17 | 2014-12-17 | 机器人搅拌摩擦焊接系统及其力位并环混合控制方法 |
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CN201410777006.XA CN104607795B (zh) | 2014-12-17 | 2014-12-17 | 机器人搅拌摩擦焊接系统及其力位并环混合控制方法 |
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CN104607795A CN104607795A (zh) | 2015-05-13 |
CN104607795B true CN104607795B (zh) | 2016-09-14 |
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Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104972193A (zh) * | 2015-07-23 | 2015-10-14 | 四川蓝讯宝迩电子科技有限公司 | 一种焊接辅助装置 |
CN107877001A (zh) * | 2016-06-12 | 2018-04-06 | 湖南湘讯企业管理有限公司 | 一种导光板切割机构 |
CN108526679A (zh) * | 2018-04-12 | 2018-09-14 | 江苏阿斯美特精工科技有限公司 | 一种搅拌摩擦焊接装置 |
CN109014559B (zh) * | 2018-08-09 | 2020-07-28 | 湖南文理学院 | 一种静止轴肩式机器人系数检测方法 |
CN109365992A (zh) * | 2018-12-04 | 2019-02-22 | 上海发那科机器人有限公司 | 一种机器人搅拌摩擦焊压力控制方法 |
CN109530906A (zh) * | 2018-12-28 | 2019-03-29 | 北京工业大学 | 一种搅拌摩擦焊机器人构型及运动算法 |
CN110315198A (zh) * | 2019-07-31 | 2019-10-11 | 广东省焊接技术研究所(广东省中乌研究院) | 焊接方法及系统 |
CN110834179B (zh) * | 2019-11-13 | 2020-09-01 | 西安交通大学 | 大型薄壁高筒环件轴向连续路径搅拌摩擦增材制造工艺 |
CN111375885B (zh) * | 2020-04-29 | 2021-11-05 | 桂林航天工业学院 | 一种2219铝合金板材用的摩擦搅拌焊接装置 |
CN112192018B (zh) * | 2020-09-16 | 2022-03-15 | 北京工业大学 | 一种机器人搅拌摩擦焊的主动抑振方法 |
CN112139654A (zh) * | 2020-09-24 | 2020-12-29 | 北京工业大学 | 机器人搅拌摩擦焊在线力位混合控制系统 |
CN112605521B (zh) * | 2020-12-11 | 2022-07-26 | 中车唐山机车车辆有限公司 | 一种搅拌摩擦焊的控制方法,装置及系统 |
CN113547196A (zh) * | 2021-07-27 | 2021-10-26 | 天津大学 | 一种双侧搅拌摩擦焊接装备的主从镜像同步运动控制方法 |
CN115213545B (zh) * | 2022-07-22 | 2023-07-28 | 南京航空航天大学 | 一种基于层间力学传感的固相增材成形控制装置 |
Citations (6)
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CN101664881A (zh) * | 2009-09-04 | 2010-03-10 | 浙江工业大学 | 开放式现场型六自由度串并联加工机器人 |
CN103052462A (zh) * | 2010-09-03 | 2013-04-17 | 三菱日立制铁机械株式会社 | 摩擦搅拌接合系统以及摩擦搅拌接合方法 |
CN103464888A (zh) * | 2012-06-05 | 2013-12-25 | 上海航天设备制造总厂 | 集成激光与力学双传感器的微型搅拌焊接系统及焊接方法 |
CN103909341A (zh) * | 2012-12-28 | 2014-07-09 | 株式会社F.泰克 | 摩擦搅拌接合装置 |
DE202014005571U1 (de) * | 2014-07-07 | 2014-07-31 | Grenzebach Maschinenbau Gmbh | Vorrichtung zum schnellen und sicheren Werkzeugwechsel bei dem Vorgang des Rührreibschweißens |
CN204308404U (zh) * | 2014-12-17 | 2015-05-06 | 昆山斯格威电子科技有限公司 | 机器人搅拌摩擦焊接装置 |
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2014
- 2014-12-17 CN CN201410777006.XA patent/CN104607795B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101664881A (zh) * | 2009-09-04 | 2010-03-10 | 浙江工业大学 | 开放式现场型六自由度串并联加工机器人 |
CN103052462A (zh) * | 2010-09-03 | 2013-04-17 | 三菱日立制铁机械株式会社 | 摩擦搅拌接合系统以及摩擦搅拌接合方法 |
CN103464888A (zh) * | 2012-06-05 | 2013-12-25 | 上海航天设备制造总厂 | 集成激光与力学双传感器的微型搅拌焊接系统及焊接方法 |
CN103909341A (zh) * | 2012-12-28 | 2014-07-09 | 株式会社F.泰克 | 摩擦搅拌接合装置 |
DE202014005571U1 (de) * | 2014-07-07 | 2014-07-31 | Grenzebach Maschinenbau Gmbh | Vorrichtung zum schnellen und sicheren Werkzeugwechsel bei dem Vorgang des Rührreibschweißens |
CN204308404U (zh) * | 2014-12-17 | 2015-05-06 | 昆山斯格威电子科技有限公司 | 机器人搅拌摩擦焊接装置 |
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Inventor after: Yang Honggang Inventor after: Zhao Xin Inventor after: Li Yanguo Inventor after: Gu Guoying Inventor after: Lin Yongyong Inventor after: Cai Zhiliang Inventor after: Shen Jinhua Inventor after: Yang Haijun Inventor before: Gu Guoying Inventor before: Zhao Xin Inventor before: Hao Cun Inventor before: Cai Zhiliang Inventor before: Xu Xiong Inventor before: Shen Jinhua Inventor before: Yang Honggang Inventor before: Li Yanguo |
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Effective date of registration: 20170405 Address after: Room 7, building 310-1, No. 315800, West Road, bonded West, Zhejiang, Ningbo, China, 4 Patentee after: Ningbo Zhong Chong Welding Technology Co., Ltd. Address before: 215301 Kunshan City, Jiangsu province high tech Zone, Fung Road, No. 232, No. Patentee before: KUNSHAN SIGEWEI ELECTRONIC TECHNOLOGY CO., LTD. |
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