CN109202264A - A kind of stirring friction spot welding device and friction stir spot welding method - Google Patents
A kind of stirring friction spot welding device and friction stir spot welding method Download PDFInfo
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- CN109202264A CN109202264A CN201710832173.3A CN201710832173A CN109202264A CN 109202264 A CN109202264 A CN 109202264A CN 201710832173 A CN201710832173 A CN 201710832173A CN 109202264 A CN109202264 A CN 109202264A
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- spot welding
- head
- electromagnetic induction
- robot
- friction
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Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a kind of stirring friction spot welding device and friction stir spot welding methods.The stirring friction spot welding device includes: electromagnetic induction heating friction stir spot welding head, head control system, six-DOF robot, robot control system, man-machine interactive operation system；The service life of stirring-head can be improved 20% or more in welding method in technical solution of the present invention；Throat thickness can be improved 20% or more；The active force that the 6th axis of robot is born in welding process can be effectively reduced, to improve the service life of robot；For 2 line aluminium alloy of aviation, the effect for being equivalent to post weld heat treatment is heated at high-strength 7 line aluminium alloy, back, can significantly improve bonding strength and the fatigue life of connector.
Description
Technical field
The present invention relates to welding technology field, specifically a kind of stirring friction spot welding device, the invention further relates to benefits
The method for being stirred friction spot welding with the stirring friction spot welding device.
Background technique
With becoming increasingly conspicuous for global environmental protection and energy problem, lightweight, low energy consumption, environmentally protective manufacturing technology become
The important development direction of the industries such as automobile, track train, Aeronautics and Astronautics, electron electric power.In recent years, " the light weight of the vehicles
Change " implementation, the paces that the light metals such as magnesium, aluminium alloy substitute traditional ferrous metal are dramatically speeded up, and in aircraft, vapour
In the manufacturing fields such as vehicle, high-speed rail using more and more extensive.And the point interconnection technique of aluminium alloy is adopted extensively in these areas
With traditional interconnection technique such as rivets, resistance spot welding, is spirally connected, and has been unable to meet product in efficiency, cost, quality of connection etc.
The requirement of aspect.
Stirring friction spot welding technology has many advantages, such as that green, environmental protection, low power consuming, quality of connection are high, is aluminium conjunction so far
The research hotspot of gold point interconnection technique.And with the strength of science and technology advanced by leaps and bounds with China " intelligence manufacture " Implementation Strategy
It pushes, industrial robot is in the field of manufacturing using increasingly extensive.And stirring friction spot welding technology and industrial robot collection
At friction stir spot welding robot technology come into being, and obtained giving more sustained attention for industry.
The flexibility of friction stir spot welding robot is excellent, but in the welding process, what spot-welding tool will be subjected to moving in circles
The influence of active force, especially solder joint back are welded since heat transfer is less, and the relatively fast material temperature caused at this that radiates
Spend it is lower, it is big to the resistance of stirring-head in welding process, increase the abrasion of spot-welding tool, shorten stirring tool use the longevity
Life, can not meet the efficient production requirement of modern industry.
Summary of the invention
The object of the invention is to solve the problems, such as the above technology, and a kind of friction stir spot is provided thus and is welded
It sets and friction stir spot welding method.It is quick that this method may be implemented solder joint back, effective to heat, to reduce in welding process
On the one hand materials to be welded enhances the material flowing of bond pad locations, optimizes welding quality, on the one hand may be used to the resistance of spot welding stirring-head
To extend the service life of stirring-head.
To realize the above technical purpose, a kind of stirring friction spot welding device of the present invention includes:
Electromagnetic induction heating friction stir spot welding head, head control system, six-DOF robot, robot control system,
Man-machine interactive operation system；
The electromagnetic induction heating friction stir spot welding head is installed on the mounting flange of the 6th axis of six-DOF robot；
The head control system is connect by power cable, signal cable and sensor cable with head, and control head is dynamic
Make the heating and welding function at realization solder joint back；
The robot control system is connect by power cable and data cable with six-DOF robot, and six degree of freedom is controlled
Robot motion reaches specified spatial position；
The man-machine interactive system issues control to electromagnetic induction heating friction stir spot welding control system, robot control system
Signal processed provides a kind of operation interface of human-computer interaction, realizes to electromagnetic induction heating friction stir spot welding head and six freely
Degree robot jointly controls.
Preferably, electromagnetic induction heating friction stir spot welding head include three servo motors, an electromagnetic induction coil,
A set of mutual movement mechanism, a temperature sensor heat the back to solder joint by electromagnetic induction coil, pass through temperature sensing
Device measures the temperature at solder joint back, the feedback and closed-loop control of trip temperature of going forward side by side, by Serve Motor Control ball-screw to row
Into movement and main shaft rotary motion, the weldering of backfill formula agitating friction solder joint is realized.
Preferably, the electromagnetic induction heating friction stir spot welding head and head control system using motion controller into
Row control by the multiple servo-drivers of system drive bus marco, and then controls servo motor movement, the movement control
Device processed selects PLC to carry out logic control, realizes that the data of the multiple sensors such as heating temperature, system pressure, displacement, corner are adopted
Collection.
Preferably, the robot movement-control system is connected by motor cable and data cable and six-DOF robot
It connects, six reference axis linkage controls of A1, A2, A3, A4, A5, A6 is realized, to control electromagnetic induction friction stir spot welding head
Spatial attitude realizes the accurate positioning of head any position and the quick variation of spatial attitude.
Preferably, the man-machine interactive operation system realization head and six-DOF robot jointly control.
A kind of method of friction stir spot welding, comprising the following steps:
(1) reference frame of pre-set six-DOF robot movement, by six-DOF robot by electromagnetic induction
Heating stirring friction spot welding head is moved to corresponding coordinate points；
(2) electromagnetic induction heater is close and is closely affixed on the back that welding workpiece waits for solder joint, and electromagnetic induction coil is powered, right
Back to solder joint is heated, and can measure the temperature of heating in real time by temperature sensor, by changing electromagnetic coil
Size of current adjusts heating temperature；In welding process, there is certain rigid electromagnetic induction heater, can play and weld
The supporting role of solder joint in journey, so as to the successful implementation of welding process；
(3) welding parameters such as stroke, rotation speed, the weld interval of soldering appliance are determined according to operating conditions such as material to be welded, thickness；
(4) " starting to weld " button is pressed, the spot welding head on head pushes, and keeps stablizing to pressure value；
(5) system indices normally then " start to weld " indicator light flashing, press " starting to weld " button again, in head
Serve Motor Control movement mechanism drives soldering appliance to act according to the welding parameter of setting, completes backfill by movement mechanism
The welding of formula friction stir spot welding.
Preferably, the temperature of electromagnetic induction heating is adjustable, pass through the temperature being coupled on electromagnetic induction heater
Sensor shows the temperature at sample back, adjusts electric current to realize the adjusting of heating temperature；
The heat conduction efficiency of electromagnetic induction heating is high, and the thermal conductivity of aluminium alloy is big, thus heating rate is fast, and heat utilization efficiency is high；
Preferably, the welding workpiece with a thickness of 0.3~6mm.
Preferably, the stroke of the soldering appliance is 0~10mm.
Preferably, the rotation speed of the soldering appliance is 0~3000rpm.
After adopting the above technical scheme, in welding method in the technical program the service life of stirring-head can be improved 20% with
On；Throat thickness can be improved 20% or more；The effect that the 6th axis of robot is born in welding process can be effectively reduced
Power, to improve the service life of robot；For 2 line aluminium alloy of aviation, high-strength 7 line aluminium alloy, back heating is equivalent to weldering
The effect being heat-treated afterwards can significantly improve bonding strength and the fatigue life of connector.
Detailed description of the invention
Fig. 1 shows a kind of structural schematic diagram of stirring friction spot welding device one embodiment of the present invention.
Fig. 2 shows the operation principle schematic diagrams of friction stir spot welding method in the present invention.
Specific embodiment
In order to make the present invention be easier to be understood, technical solution of the present invention is made below in conjunction with drawings and examples
To be described in detail.
As shown in Figure 1, electromagnetic induction heating solder joint back friction stir spot welding robot device of the invention includes: head
1, head control system 2, six-DOF robot 3, robot control system 4, man-machine interactive operation system 5；The head 1 is pacified
On mounting flange loaded on the 6th axis of six-DOF robot 3, head control system 2 passes through system dynamic cable, signal cable
And sensor cable is connect with head 1, is controlled the movement of head 1, is realized the heating function and welding function of solder joint；The machine
Device people control system 4 is connect by power cable and data cable with six-DOF robot 3, and six-DOF robot 3 is controlled
Movement, realize space orientation；Man-machine interactive operation system 5 passes through Ethernet and head control system 2 and control system of robot
4 connection of system, provides a kind of operation interface of human-computer interaction, realizes jointly controlling to head 1 and six-DOF robot 3.
As shown in Fig. 2, the backing plate 6 equipped with electromagnetic induction coil is carried on the back close to 7 back of solder joint close to solder joint in welding process
The position in portion is mounted with temperature sensor 9, and temperature information can be fed back to human-computer interaction circle system 5, by adjusting electromagnetic induction
The size of current of coil, controls heating temperature, to be heated to after preset temperature, spot-welding tool 8 move to the upper surface of solder joint 7 into
Row welding.
Preferably, the host header 1 include three servo motors, a set of mutual motion structure, an electromagnetic induction coil,
One temperature sensor, by control electromagnetic induction coil electric current whether there is or not and size, realize the unlatching and heating of heating function
The accurate control of temperature realizes that backfill formula is stirred by Serve Motor Control ball-screw to movement and main shaft rotary motion is carried out
Mix friction spot welding.
Preferably, the host header 1 and its head control system 2 are controlled using motion controller, by described
The multiple servo-drivers of system drive bus marco, and then control servo-driver movement；The motion controller select PLC into
Row logic control, realizes the data acquisition of the multiple sensors such as heating temperature, system pressure, displacement, corner, while realizing system
Input, the output of various switching values.
Preferably, the robot movement-control system 4 passes through power cable and data cable and six degree of freedom machine
People 3 connects, and realizes six reference axis linkage controls of A1, A2, A3, A4, A5 and A6, and then control the spatial attitude of head 1, realizes
The accurate positioning of head any position and the quick variation of spatial attitude.
Preferably, jointly controlling for the realization head 1 of man-machine interactive operation system 5 and six-DOF robot 3, keeps away
Exempt from head 1, interfering between six-DOF robot 3, welding workpiece 7, and make head 1 reach Working position after in time into
Row heating and welding operation, it is ensured that welding efficiency.
The method for being stirred friction spot welding using stirring friction spot welding device described above, step include:
(1) reference frame for pre-setting the movement of six-DOF robot 3, is moved head 1 by six-DOF robot 3
It moves to corresponding coordinate points, the backing plate 6 with electromagnetic induction coil is fitted tightly over the lower surface to solder joint 7, head 1 repeats
Positioning accuracy is less than 0.1mm；
(2) corresponding plus heating parameters, such as size of current, heating time are selected according to the material of workpiece to be welded, thickness
Deng, and determine corresponding welding parameter, the i.e. stroke of soldering appliance, rotation speed, weld interval；Preferably, selected welding
Workpiece with a thickness of 0.4~10mm；Preferably, the stroke of the soldering appliance be 0~10mm, rotation speed be 0~
3000rpm, weld interval are arbitrarily adjustable.
(3) heating start button is pressed, electromagnetic induction heating backing plate 6 is powered, and heating starts, surveys by temperature sensor 9
The temperature for measuring 7 back of solder joint is adjusted heating temperature by changing the size of current in electromagnetic induction coil.
(4) it presses and starts to weld button, the spot-welding tool 8 on head 1 pushes, and keeps stablizing to pressure value, scope control
In 100~300bar；
(5) system indices normally then start to weld indicator light flashing, press start to weld button, watching in head 1 again
Motor control motion structure is taken, drives spot-welding tool 8 to act according to the technological parameter of setting by the movement mechanism, completes back
Fill out the welding of formula friction stir spot welding.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of stirring friction spot welding device, characterized by comprising:
Electromagnetic induction heating friction stir spot welding head, head control system, six-DOF robot, robot control system,
Man-machine interactive operation system；
The electromagnetic induction heating friction stir spot welding head is installed on the mounting flange of the 6th axis of six-DOF robot；
The head control system is connect by power cable, signal cable and sensor cable with head, and control head is dynamic
Make the heating and welding function at realization solder joint back；
The robot control system is connect by power cable and data cable with six-DOF robot, and six degree of freedom is controlled
Robot motion reaches specified spatial position；
The man-machine interactive system issues control to electromagnetic induction heating friction stir spot welding control system, robot control system
Signal processed provides a kind of operation interface of human-computer interaction, realizes to electromagnetic induction heating friction stir spot welding head and six freely
Degree robot jointly controls.
2. stirring friction spot welding device according to claim 1, it is characterised in that: the electromagnetic induction heating agitating friction
Spot welding head includes three servo motors, an electromagnetic induction coil, a set of mutual movement mechanism, and a temperature sensor leads to
Cross back of the electromagnetic induction coil heating to solder joint, by the temperature at temperature sensor measurement solder joint back, trip temperature of going forward side by side
Feedback and closed-loop control realize that backfill formula is stirred by Serve Motor Control ball-screw to movement and the main shaft rotary motion of advancing
Mix friction welding (FW) spot welding.
3. stirring friction spot welding device according to claim 1, it is characterised in that: the electromagnetic induction heating agitating friction
Spot welding head and head control system are controlled using motion controller, pass through the multiple servos of system drive bus marco
Driver, and then servo motor movement is controlled, the motion controller selects PLC to carry out logic control, realizes heating temperature, is
The data acquisition for the multiple sensors such as pressure, displacement, corner of uniting.
4. stirring friction spot welding device according to claim 1, it is characterised in that: the robot movement-control system is logical
It crosses motor cable and data cable is connect with six-DOF robot, realize six reference axis linkages of A1, A2, A3, A4, A5, A6
Control, to control the spatial attitude of electromagnetic induction friction stir spot welding head, realize the accurate positioning of head any position with
And the quick variation of spatial attitude.
5. a kind of method of friction stir spot welding, it is characterized in that the following steps are included:
(1) reference frame of pre-set six-DOF robot movement, by six-DOF robot by electromagnetic induction
Heating stirring friction spot welding head is moved to corresponding coordinate points；
(2) electromagnetic induction heater is close and is closely affixed on the back that welding workpiece waits for solder joint, and electromagnetic induction coil is powered, right
Back to solder joint is heated, and can measure the temperature of heating in real time by temperature sensor, by changing electromagnetic coil
Size of current adjusts heating temperature；
(3) welding parameters such as stroke, rotation speed, the weld interval of soldering appliance are determined according to operating conditions such as material to be welded, thickness；
(4) " starting to weld " button is pressed, the spot welding head on head pushes, and keeps stablizing to pressure value；
(5) system indices normally then " start to weld " indicator light flashing, press " starting to weld " button again, in head
Serve Motor Control movement mechanism drives soldering appliance to act according to the welding parameter of setting, completes backfill by movement mechanism
The welding of formula friction stir spot welding.
6. the method for friction stir spot welding according to claim 5, it is characterised in that: the temperature of electromagnetic induction heating can be with
Adjust, the temperature at sample back shown by the temperature sensor that is coupled on electromagnetic induction heater, adjust electric current to
Realize the adjusting of heating temperature.
7. the method for friction stir spot welding according to claim 5, it is characterised in that: the welding workpiece with a thickness of
0.3~6mm.
8. the method for friction stir spot welding according to claim 5, it is characterised in that: the stroke of the soldering appliance is 0
~10mm.
9. the method for friction stir spot welding according to claim 5, it is characterised in that: the rotation speed of the soldering appliance
For 0~3000rpm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710832173.3A CN109202264A (en) | 2017-09-15 | 2017-09-15 | A kind of stirring friction spot welding device and friction stir spot welding method |
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| CN201710832173.3A CN109202264A (en) | 2017-09-15 | 2017-09-15 | A kind of stirring friction spot welding device and friction stir spot welding method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111014940A (en) * | 2019-12-27 | 2020-04-17 | 中国航空制造技术研究院 | Robot friction stir spot welding mirror image welding system and method |
| CN111014939A (en) * | 2019-12-27 | 2020-04-17 | 中国航空制造技术研究院 | Robot friction stir spot welding mirror image welding system and method |
| 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 |
| 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 |
| 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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| CN1251549A (en) * | 1997-04-04 | 2000-04-26 | 依赛彼·阿克蒂博拉格公司 | Method and apparatus for friction stir welding |
| CN103801816A (en) * | 2012-11-07 | 2014-05-21 | 上海航天设备制造总厂 | Stirring friction spot welding robot device and method utilizing device for welding |
| CN103692075A (en) * | 2013-11-28 | 2014-04-02 | 南车青岛四方机车车辆股份有限公司 | Resistance spot welding process for aluminium alloy parts |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111014940A (en) * | 2019-12-27 | 2020-04-17 | 中国航空制造技术研究院 | Robot friction stir spot welding mirror image welding system and method |
| CN111014939A (en) * | 2019-12-27 | 2020-04-17 | 中国航空制造技术研究院 | Robot friction stir spot welding mirror image welding system and method |
| CN111014940B (en) * | 2019-12-27 | 2021-12-24 | 中国航空制造技术研究院 | Robot friction stir spot welding mirror image welding method |
| CN111014939B (en) * | 2019-12-27 | 2021-12-24 | 中国航空制造技术研究院 | Robot friction stir spot welding mirror image welding method |
| 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 |
| 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 |
| 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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Application publication date: 20190115 |