CN105562954A - Compound robot heat source welding system by double methods of friction stud and friction stir - Google Patents

Compound robot heat source welding system by double methods of friction stud and friction stir Download PDF

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Publication number
CN105562954A
CN105562954A CN201610124747.7A CN201610124747A CN105562954A CN 105562954 A CN105562954 A CN 105562954A CN 201610124747 A CN201610124747 A CN 201610124747A CN 105562954 A CN105562954 A CN 105562954A
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China
Prior art keywords
friction
welding
stud
spindle motor
stir
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CN201610124747.7A
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Chinese (zh)
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CN105562954B (en
Inventor
周琦
姚峰
王克鸿
彭勇
冯曰海
余进
刘玲丹
周传昆
周春东
徐振振
段梦伟
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Priority to CN201610124747.7A priority Critical patent/CN105562954B/en
Publication of CN105562954A publication Critical patent/CN105562954A/en
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Classifications

    • 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
    • B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
    • B23K28/02—Combined welding or cutting procedures or apparatus
    • 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
    • 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
    • B23K20/127—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 friction stir welding involving a mechanical connection

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)
  • General Induction Heating (AREA)

Abstract

The invention provides a compound robot heat source welding system by double methods of friction stud and friction stir. The system comprises an actuation mechanism and a control system, wherein the actuation mechanism includes robot arms and a welding machine head; and the welding machine head includes a bearing frame, a main shaft motor, an automatic fixture device, an electromagnetic pressing device and an inductive heating device. The system integrates friction stir with friction stud welding, facilitates to promote welding efficiency and welding quality, saves the equipment cost, and can realize welding of a stud with a larger diameter through selecting the inductive heating device to heat and the electromagnetic pressing device to apply pressure. A control system is used for controlling actions of all procedures of the welding system to realize the welding process and the function switching automation; and a hydraulic revolving oil cylinder is used for controlling a spring chuck to automatically clamp and loosen the stud and a stirring needle so as to completely realize automatic welding.

Description

Friction stub and friction-stir both sides method robot hybrid laser-arc welding system
Technical field
The present invention relates to intelligent welding field, be specifically related to friction stub and friction-stir both sides method robot hybrid laser-arc welding system.
Background technology
Underloading robot mostly is in existing industrial robot application, general load can not more than 500KG, and for friction stub solder technology, require higher to the load capacity of robot, require that robot can provide the power of more than 15KN, and present stage maximum robot can only carry the load of 1.3 tons, cannot meet friction stub welding demand.
Agitating friction and friction stub welding are all advanced friction welding technologies, they are all utilize frictional heat and plastic deformation heat as welding heat source, difference is that stir friction welding process is the seam crossing being stretched into workpiece by the mixing needle of a cylinder or other shapes, by the High Rotation Speed of soldering tip, make itself and welding work pieces material friction, thus make the material temperature of connecting portion raise softening and then stir, complete the object of material welding.And friction stub welding is that mixing needle has been changed into stud, rotated by stud and rub with steel plate, thus stud and steel plate are heated to hot plastic state by generation heat, then stud stops operating immediately, carries out upset be firmly welded on steel plate by stud stud.
Application number be CN102728947A patent discloses a kind of existing agitating friction and friction stub welding mainly by planer-type agitating friction welding equipment, application number be CN101952077A disclose a kind of horizontal friction welding equipment.But the said equipment range of application is relatively little, the requirement of intellectuality, flexibility manufacture cannot be met, such as planer-type agitating friction welding equipment can only complete plate and plate butt weld welding, horizontal friction stud welding apparatus can only complete the welding to platelet of stud and stud or stud, and cannot complete for requiring to weld the friction stir welding of space curve track or stud to the space all-position welding of the large pieces such as car body.
Summary of the invention
The object of the invention, in order to overcome the deficiency of the said equipment system, provides a kind of friction-stir and friction stub both sides method robot hybrid laser-arc welding system.
The present invention is the technical scheme of a kind of friction-stir and friction stub both sides method robot hybrid laser-arc welding system: comprise executing agency and control system; Wherein, executing agency comprises robot arm, welding head;
Welding head comprises carrier, spindle motor, automatic fixture device, electromagnetic force device, induction heating apparatus;
The upper end of carrier is connected with robotic arm end; The lower end of carrier is connected with spindle motor, and spindle motor is coaxial with carrier; Automatic fixture device, through spindle motor, be connected, and automatic fixture device is coaxial with spindle motor by adpting flange with support guide pin bushing with spindle motor; Electromagnetic force device comprises two blocks of electromagnet, and the axle center being symmetrical in spindle motor is arranged, and is connected with both sides, carrier lower end; Induction heating apparatus is connected with coil fixed block through carrier by the guide rod of hydraulic jack on it, induction heating apparatus is fixed on the lower end of carrier;
Control system is by controlling the intercommunication of industrial computer switch board and robot control cabinet with coordinating robot's arm and the action of friction stub welding head, send instruction to spindle motor, Hydraulic Station, induction power supply switch board, electromagnetic force switch board, realizing spindle motor drives stud to rotate, Hydraulic Station provides oil pressure for angling cylinder and hydraulic jack, induction power supply switch board Perceived control is answered coil current break-make and is regulated size of current, and electromagnetic force switch board controls magnet switching and regulates magnetic force size.
Further, above-mentioned automatic fixture device specifically comprises: the angling cylinder set gradually, adpting flange, upper connecting rod, lower link, cushion block, back-up block, centring ring, support guide pin bushing collet; Wherein, angling cylinder all adopts with upper connecting rod, upper connecting rod and lower link, between lower link with collet and is threaded; Cushion block, back-up block, centring ring, between support guide pin bushing and lower link, all adopt matched in clearance.
Above-mentioned induction heating apparatus comprises protection feed channel, hydraulic jack, coil fixed block, induction coil; Wherein, protection feed channel, induction coil are fixedly connected with coil fixed block.Induction heating apparatus is also provided with inert gas shielding pipeline, and pipeline is coiled pipe, and pipeline Front-end Design becomes flat port.
Preferably, electromagnetic force device provides the scope of friction pressure and upsetting force to be 0-20KN when friction stub welds.Automatic clamping device realizes Automatic-clamping and unclamps the stud of stud or mixing needle institute clamping or the diameter range 8-20mm of mixing needle.The spindle motor velocity interval of this device is at 400-3000r/min.
Preferably, the induction coil in induction heating apparatus, shape is coiling pie, and induction coil overall diameter be 50-150mm, center-hole diameter is 15-45mm
The present invention's its remarkable advantage compared with existing welding equipment is: 1, friction-stir and friction stub weld integrated by system provided by the invention, realize agitating friction and friction stub integration, with the combination of robot can carry out space curve agitating friction weld and space all positon friction stub weld, be conducive to promoting welding efficiency and welding quality, and save equipment cost.2, this system can be exerted pressure by selecting induction heating apparatus heating and electromagnetic force device, realizes the larger-diameter stud of welding.3, this device by the control system that arranges by the action of each operation controlling welding system, thus realize the automation of welding process and function switching, and utilize hydraulic gyration oil cylinder control spring chuck, the function of stud and mixing needle can be unclamped by automated exchanged cutter, can full automation welding.
Accompanying drawing explanation
The schematic diagram of Tu1Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
The structural representation of the welding head of Tu2Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
The structural representation of the automatic fixture device of Tu3Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
The action diagram of the friction stub welding mechanism of Tu4Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system and induction coil position view.
The friction stub welding process schematic diagram of Tu5Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
The agitating friction welding warm schematic diagram of Tu6Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
The agitating friction welding press-in workpiece abutment joint schematic diagram of Tu7Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
The agitating friction welding of Tu8Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system is along workpiece abutment joint walking schematic diagram.
The agitating friction welding soldered afterbody schematic diagram of Tu9Shi robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system
Figure 10 is the control planning schematic diagram of robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system.
Wherein, 1-robot arm; 2-friction stub welding head; 3-carrier; 4-spindle motor; 5-automatic fixture device; 6-electromagnetic force device; 7-induction heating apparatus; 8-angling cylinder; 9-adpting flange; 10-upper connecting rod; 11-lower link; 12-cushion block; 13-back-up block; 14-centring ring; 15-support guide pin bushing; 16-collet; 17-protection tracheae; 18-hydraulic jack; 19-coil fixed block; 20-induction coil; 21-Hydraulic Station; 22-induction power supply switch board; 23-electromagnetic force switch board; 24-industrial computer switch board; 25-robot control cabinet.
Detailed description of the invention
Below in conjunction with example and accompanying drawing, the present invention will be further described:
Robot of the present invention composite heat power supply agitating friction and friction stub welding multifunction system adopt as lower device:
As shown in Figure 1, 2, executing agency and control system is comprised; Wherein, executing agency comprises robot arm 1, welding head 2;
Welding head 2 comprises carrier 3, spindle motor 4, automatic fixture device 5, electromagnetic force device 6, induction heating apparatus 7;
The upper end of carrier 3 is connected with robotic arm 1 end; The lower end of carrier 3 is connected with spindle motor 4, and spindle motor 4 is coaxial with carrier 3; Automatic fixture device 5, through spindle motor 4, be connected, and automatic fixture device 5 is coaxial with spindle motor 4 by adpting flange 9 with support guide pin bushing 15 with spindle motor 4; Electromagnetic force device 6 comprises two blocks of electromagnet, and the axle center being symmetrical in spindle motor is arranged, and is connected with both sides, carrier 3 lower end; Induction heating apparatus 7 is connected with coil fixed block 19 through carrier 3 by the guide rod of hydraulic jack 18 on it, induction heating apparatus 7 is fixed on the lower end of carrier 3;
Automatic fixture device 5 comprises: the angling cylinder 8 set gradually, adpting flange 9, upper connecting rod 10, lower link 11, cushion block 12, back-up block 13, centring ring 14, support guide pin bushing 15 collet 16; Wherein, angling cylinder 8 and upper connecting rod 10, upper connecting rod 10 and lower link 11, all adopt between lower link 11 with collet 16 and be threaded; Cushion block 12, back-up block 13, centring ring 14, support between guide pin bushing 15 and lower link 11 and all adopt matched in clearance.
Induction heating apparatus 7 comprises protection feed channel 17, hydraulic jack 18, coil fixed block 19, induction coil 20; Described protection feed channel 17, induction coil 20 are fixedly connected with coil fixed block 19.
Induction heating apparatus 7 is also provided with inert gas shielding pipeline 17, and pipeline is coiled pipe, and pipeline Front-end Design becomes flat port.
The structure that carrier in the present invention can adopt upper flange, lower flange to be connected by support column.
As shown in Figure 10, control system control mode of the present invention is: the intercommunication of industrial computer switch board 24 1 aspect and robot control cabinet 25, with coordinating robot's arm 1 and friction stub welding head 2 action, sends on the other hand instruction to spindle motor 4, Hydraulic Station 21, induction power supply switch board 22), electromagnetic force switch board 23.Wherein industrial computer switch board 24 comprises industrial computer, PLC, frequency converter, resistive braking device for realizing this invention system master control; Robot control cabinet 25 primary responsibility robot arm 1 performs oil cylinder 18 and improves the motor function that hydraulic pressure realizes automated exchanged cutter stud and induction heating apparatus respectively; Induction power supply switch board 22 controls induction coil 20 current switching and regulates size of current; Electromagnetic force switch board 23 is for controlling magnet switching and regulating magnetic force size.
When carrying out friction stub welding, stud is put in collet, angling cylinder is by hydraulic pressure upwards pull collet clamping stud, and then motor rotates, and welding head is transported to the energising of pad controlled electromagnet and attracts pressurization by robotic arm, stud and plate frictional heating, stud and plate are heated to stream mecystasis, and then robotic arm pressurization upset stud, is firmly welded on stud on steel plate, collet unclamps, and stud is stayed on plate;
When carrying out friction stir welding, mixing needle is put in collet, equally automatic above mixing needle to be clamped, then motor rotates, and mixing needle is pressed onto in aluminium sheet by robotic arm, carries out friction-stir, robotic arm is walked welded together for two buttcover plates according to pilot teaching track, when being soldered, program sets collet and can not unclamp mixing needle, and mixing needle leaves plate together with welding head, and welding completes.
In welding process induction power supply preheating is carried out to steel plate and and stud friction steel plate time the heat that produces carry out compound, thus make steel plate and stud reach hot plastic state simultaneously, contribute to like this reducing robotic arm burden in welding process.
Embodiment 1
The first step, as shown in Figure 3, collet 16 is transported on stud by robotic arm, the program of establishing in advance by industrial computer switch board 24 distribute signals to Hydraulic Station 21, Hydraulic Station 21 thus control angling cylinder 8 to pull-up collet 16, thus Automatic-clamping stud, completes the first step.
Second step, robotic arm 1 drives stud to move to pad, now induction coil 20 position as shown in Figure 3, industrial computer switch board 24 sends a signal to the hydraulic jack 18 that Hydraulic Station 21 controls induction coil 20 motion, thus drives induction coil 20 to move to the front end of stud as Fig. 4 position.
3rd step, induction coil 20 is energized to workpiece and stud preheating certain hour, spindle motor 4 obtains the electric speed according to setting and rotates, electromagnetic force device 6 obtains electric attraction steel plate and applies friction pressure simultaneously, and stud rotates and friction of workpiece heats and eddy-current heating compound, through after a while, spindle motor 4 is anxious to stop, electromagnetic force device 6 applies upsetting force, pressurize a period of time, specifically as shown in Figure 5.
4th step, collet 16 unclamps stud, and stud welding is on steel plate, and robotic arm 1 transports welding head and takes next stud, thus completes stud and steel plate friction stud welding.
Embodiment 2
First step welding head clamping mixing needle, and drive mixing needle and induction coil 20 to move to pad, now induction coil 20 position as shown in Figure 6, carries out preheating certain hour to workpiece, by the logical protection gas of protection tracheae 17 in warm.
Second step, spindle motor 4 drives mixing needle to rotate according to the speed that sets, to enter in workpiece abutment joint as shown in Figure 7, carry out agitating friction welding along abutment joint at the pressure of mechanical arm 1, induction coil 20 carries out preheating to non-butt welding seam simultaneously, specifically as shown in Figure 8.
3rd step, agitating friction has welded as shown in Figure 9, and mixing needle leaves weld seam, and induction coil 20 and protection tracheae 17 protect air to close to close, and welding completes.

Claims (8)

1. friction stub and a friction-stir both sides method robot hybrid laser-arc welding system, is characterized in that, comprise executing agency and control system; Wherein, executing agency comprises robot arm (1), welding head (2);
Described welding head (2) comprises carrier (3), spindle motor (4), automatic fixture device (5), electromagnetic force device (6), induction heating apparatus (7);
The upper end of carrier (3) is connected with robotic arm (1) end; The lower end of carrier (3) is connected with spindle motor (4), and spindle motor (4) is coaxial with carrier (3); Automatic fixture device (5) is through spindle motor (4), be connected with spindle motor (4) with support guide pin bushing (15) by adpting flange (9), and automatic fixture device (5) is coaxial with spindle motor (4); Electromagnetic force device (6) comprises two blocks of electromagnet, and the axle center being symmetrical in spindle motor is arranged, and is connected with carrier (3) both sides, lower end; Induction heating apparatus (7) is connected with coil fixed block (19) through carrier (3) by the guide rod of hydraulic jack on it (18), induction heating apparatus (7) is fixed on the lower end of carrier (3);
Described control system is by controlling the intercommunication of industrial computer switch board (24) and robot control cabinet (25) with coordinating robot's arm (1) and friction stub welding head (2) action, send instruction to spindle motor (4), Hydraulic Station (21), induction power supply switch board (22), electromagnetic force switch board (23), realizing spindle motor (4) drives stud to rotate, Hydraulic Station (21) provides oil pressure for angling cylinder (8) and hydraulic jack (18), induction power supply switch board (22) controls induction coil (20) current switching and regulates size of current, electromagnetic force switch board (23) controls magnet switching and regulates magnetic force size.
2. friction stub as claimed in claim 1 and friction-stir both sides method robot hybrid laser-arc welding system, it is characterized in that, described automatic fixture device (5) comprising: the angling cylinder (8) set gradually, adpting flange (9), upper connecting rod (10), lower link (11), cushion block (12), back-up block (13), centring ring (14), support guide pin bushing (15) collet (16); Wherein, angling cylinder (8) and upper connecting rod (10), upper connecting rod (10) and lower link (11), all adopt between lower link (11) with collet (16) and be threaded; Cushion block (12), back-up block (13), centring ring (14), support guide pin bushing (15) and lower link (11) between all adopt matched in clearance.
3. friction stub as claimed in claim 1 and friction-stir both sides method robot hybrid laser-arc welding system, it is characterized in that, described induction heating apparatus (7) comprises protection feed channel (17), hydraulic jack (18), coil fixed block (19), induction coil (20); Described protection feed channel (17), induction coil (20) are fixedly connected with coil fixed block (19).
4. friction stub as claimed in claim 1 and friction-stir both sides method robot hybrid laser-arc welding system, it is characterized in that, described electromagnetic force device (6) provides the scope of friction pressure and upsetting force to be 0-20KN when friction stub welds.
5. friction stub as claimed in claim 1 and friction-stir both sides method robot hybrid laser-arc welding system, it is characterized in that, described automatic clamping device (5) realizes Automatic-clamping and unclamps the stud of stud or mixing needle institute clamping or the diameter range 8-20mm of mixing needle.
6. friction stub as claimed in claim 1 and friction-stir both sides method robot hybrid laser-arc welding system; it is characterized in that; induction heating apparatus (7) is also provided with inert gas shielding pipeline (17), and pipeline is coiled pipe, and pipeline Front-end Design becomes flat port.
7. friction stub according to claim 1 and friction-stir both sides method robot hybrid laser-arc welding system, it is characterized in that, described this spindle motor (4) velocity interval is at 400-3000r/min.
8. friction stub as claimed in claim 3 and friction-stir both sides method robot hybrid laser-arc welding system, it is characterized in that, described induction coil (20), shape is coiling pie, and induction coil overall diameter be 50-150mm, center-hole diameter is 15-45mm.
CN201610124747.7A 2016-03-06 2016-03-06 Friction stub and friction-stir both sides' method robot hybrid laser-arc welding system Active CN105562954B (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN107052601A (en) * 2017-03-15 2017-08-18 兰州理工大学 A kind of compound stud friction welding method of metal arc friction
CN107344262A (en) * 2017-08-30 2017-11-14 河北创联机械制造有限公司 A kind of airframe agitating friction weldering welding jig
CN107511578A (en) * 2017-08-31 2017-12-26 江苏先特能源装备有限公司 A kind of offset pole induced electricity heat welded device that can be general
CN110814510A (en) * 2019-11-20 2020-02-21 安徽必达新能源汽车产业研究院有限公司 Friction stir welding equipment and welding method thereof
CN111069763A (en) * 2020-01-08 2020-04-28 中国航空制造技术研究院 Add hot type and backfill friction stir welding instrument
CN111069762A (en) * 2020-01-08 2020-04-28 中国航空制造技术研究院 Long-life backfill friction stir welding instrument
CN111618418A (en) * 2020-06-05 2020-09-04 苏州市永创金属科技有限公司 Robot friction stir welding device for realizing flexible transformation of welding thickness

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107052601A (en) * 2017-03-15 2017-08-18 兰州理工大学 A kind of compound stud friction welding method of metal arc friction
CN107344262A (en) * 2017-08-30 2017-11-14 河北创联机械制造有限公司 A kind of airframe agitating friction weldering welding jig
CN107344262B (en) * 2017-08-30 2019-10-18 河北创联机械制造有限公司 Welding jig is used in a kind of weldering of airframe agitating friction
CN107511578A (en) * 2017-08-31 2017-12-26 江苏先特能源装备有限公司 A kind of offset pole induced electricity heat welded device that can be general
CN107511578B (en) * 2017-08-31 2023-12-26 江苏先特智能装备有限公司 General-purpose electrode-bias post induction electric heating welding device
CN110814510A (en) * 2019-11-20 2020-02-21 安徽必达新能源汽车产业研究院有限公司 Friction stir welding equipment and welding method thereof
CN111069763A (en) * 2020-01-08 2020-04-28 中国航空制造技术研究院 Add hot type and backfill friction stir welding instrument
CN111069762A (en) * 2020-01-08 2020-04-28 中国航空制造技术研究院 Long-life backfill friction stir welding instrument
CN111618418A (en) * 2020-06-05 2020-09-04 苏州市永创金属科技有限公司 Robot friction stir welding device for realizing flexible transformation of welding thickness

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