CN111618418A - Robot friction stir welding device for realizing flexible transformation of welding thickness - Google Patents
Robot friction stir welding device for realizing flexible transformation of welding thickness Download PDFInfo
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- CN111618418A CN111618418A CN202010504797.4A CN202010504797A CN111618418A CN 111618418 A CN111618418 A CN 111618418A CN 202010504797 A CN202010504797 A CN 202010504797A CN 111618418 A CN111618418 A CN 111618418A
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- 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
-
- 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
- B23K20/26—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a robot friction stir welding device for realizing flexible change of welding thickness, which comprises an industrial six-axis robot, a friction stir welding actuator, a plane welding tool and a human-computer interaction interface system, wherein the industrial six-axis robot, the plane welding tool and the human-computer interaction interface system are connected through a system bus, and a welding part is placed on the plane welding tool. The invention has the beneficial effects that: the welding of the full-system aluminum alloy and the welding of one-dimensional and two-dimensional welding seams of the welding plane of the aluminum alloy with the thickness of 0.3-30mm can be completed under the condition that the robot body is not changed, and a torque sensor, a pressure sensor and the like are arranged on a tool shank on a main shaft of a friction stir welding actuator, so that the real-time measurement and feedback of the acting force in the welding process can be realized.
Description
Technical Field
The invention relates to the technical field of friction stir welding, in particular to a robot friction stir welding device for realizing flexible transformation of welding thickness.
Background
Friction stir welding is a solid state joining technique invented by the british institute of welding Technology (TWI) in 1991, which has moved from the invention to large-scale industrial application in a short time and is known as "welding technique revolutionary again after laser welding" in the industry.
At present, the technology is widely applied to the manufacturing fields of aerospace, rail trains, ships, automobiles and the like, plays an important role in the development of light weight and electrification of automobiles, and is certainly applied to more industrial fields in the future. As is known, a robot is an important carrier for intelligent manufacturing in modern manufacturing industry, and along with gradual disappearance of labor force dividends in China, under the promotion of industrial revolution with main characteristics of 5G, big data, artificial intelligence and the like, intelligent manufacturing becomes an important means for converting new and old kinetic energy in new and normal states of economic development in China and promoting high-quality development of economy. The robot friction stir welding has good flexibility, can realize complex track motion, and enables the welding of complex structural parts to be possible, and the robot friction stir welding technology and equipment become an important direction for the development of friction stir welding in recent years. The robot friction stir welding can improve the welding automation degree and the production efficiency, and has remarkable technical advantages and social and economic benefits. According to measurement and calculation, the cost of the robot friction stir welding is only half of that of a gantry structure with the same capacity, the intelligence degree of the robot friction stir welding is higher, the robot friction stir welding can be better integrated with an automatic production line, and the advantage of collaborative manufacturing is exerted.
At present, most industrial robots are six-degree-of-freedom series robots, and due to the characteristic of solid-phase welding of friction stir welding, upsetting force (large Z-direction force) in the welding process is determined, and the rigidity requirement of the friction stir welding for the series robots is very high. Therefore, a robot with 500 kg of grabbing force in the market can generally weld 8mm of aluminum alloy, can weld 10mm of six-series aluminum alloy, and needs a robot with heavier load if a thicker aluminum alloy material needs to be welded or high-strength aluminum alloy with the same thickness is welded, such as two-series or seven-series aluminum alloy; and although the parallel robot has better rigidity, the space flexibility in the welding process is poorer, and the requirement of welding complex components is difficult to meet.
Disclosure of Invention
The invention aims to provide a robot friction stir welding device for realizing flexible change of welding thickness, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a realize robot friction stir welding device of flexible transform of welding thickness, includes industrial six robots, plane welding frock and human-computer interaction interface system, industrial six robots, plane welding frock are connected through the system bus with human-computer interaction interface system, the welding piece has been placed on the plane welding frock, the port flange and the friction stir welding executor of the sixth axle of industrial six robots rotate to be connected, the fixed cover in the friction stir welding executor outside is equipped with the magnetism anchor ring, friction stir welding executor internally mounted has the handle of a knife, the handle of a knife lower extreme is equipped with pressure sensor, the pressure sensor lower extreme is equipped with torque sensor, the torque sensor lower extreme is equipped with friction stir welding instrument.
Preferably, the friction stir welding tool is disposed within the shank.
Preferably, the friction stir welding actuator drives the tool shank and the friction stir welding tool arranged in the tool shank to rotate.
Preferably, the industrial six-axis robot drives the friction stir welding actuator, the tool shank and the friction stir welding tool to move along a set route.
Preferably, the industrial six-axis robot drives the friction stir welding actuator, the tool shank and the friction stir welding tool to rotate at a speed of 0-12000 rpm.
Preferably, the pressure sensor and the torque sensor are integrated on the tool shank and used for recording and storing data applied to the tool shank by the stirring tool in a welding process in real time.
Preferably, the magnetic ring surface is provided with a magnetic device, the magnetic device is attracted or repelled by an external magnetic field, so as to drive the friction stir welding actuator to move towards the direction of applying the magnetic field or move in the opposite direction, the moving direction is related to the force of the magnetic field as attraction force or repulsion force, and the magnitude of the attraction force or the repulsion force is adjusted by the strength of the applied magnetic field.
Preferably, an electromagnetic generating device is installed in the plane welding tool, and the magnitude and the direction of the acting force of the plane welding tool on the magnetic ring surface of the circular end surface of the spindle are changed by adjusting the magnitude and the direction of the current of the plane welding tool.
Preferably, a welding expert database is arranged in the human-computer interaction interface system, the type, the thickness and the welding form data of the welded material are input, and the process expert database automatically gives process parameters of recommended electromagnetic acting force, appearance of the stirring head, and rotating speed, advancing speed and inclination angle during welding.
Preferably, the friction stir welding actuator is mainly used for welding aluminum alloy, copper alloy and magnesium alloy, and the welding thickness of the aluminum alloy is 0.3-30 mm.
Advantageous effects
The robot friction stir welding device for realizing flexible change of welding thickness can complete welding of full-system aluminum alloy and welding of one-dimensional and two-dimensional welding seams of welding planes of 0.3-30mm aluminum alloy under the condition that the robot body is not changed, and a torque sensor, a pressure sensor and the like are arranged on a tool shank on a main shaft of a friction stir welding actuator, so that real-time measurement and feedback of acting force in the welding process can be realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the friction stir welding actuator of the present invention;
FIG. 3 is a schematic side view of a friction stir welding actuator according to the present invention;
FIG. 4 is a schematic view of the overall structure of the tool shank and friction stir welding tool of the present invention;
FIG. 5 is a side view schematic of the shank of the present invention and a friction stir welding tool.
Reference numerals
1-industrial six-axis robot, 2-friction stir welding actuator, 3-magnetic ring surface, 4-tool handle, 5-pressure sensor guide rod, 6-friction stir welding tool, 7-torque sensor, 8-plane welding tool, 9-system bus, 10-human-computer interaction interface system and 11-welding part.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the present invention is not limited to these examples.
Examples
As shown in fig. 1 to 5, a friction stir welding actuator is mounted on a flange of the sixth degree of freedom of the industrial six-degree-of-freedom robot, and a torque sensor, a pressure sensor and the like are mounted on a tool shank on a main shaft of the friction stir welding actuator, so that real-time measurement and feedback of an acting force in a welding process can be realized.
The volume of the lower end surface magnetic ring surface of the friction stir welding actuator can be calculated, and the device can have attraction or repulsion effect on a magnetic generating device on a welding tool.
The electromagnetic coil is arranged on the welding tool bottom plate for adjusting the electromagnetic strength, the electrified electromagnetic coil can attract or repel the magnetic ring device on the lower end face of the actuator through the principle that opposite poles attract and same poles repel, the actuator of the friction stir welding is attracted or pushed away towards the bottom plate of the welding tool, the acting force of the friction stir welding actuator loaded on the stirring head is increased or reduced, the counter-acting force of the welded material to the stirring head in the thick plate welding process is resisted, and therefore welding of a sample with larger thickness is achieved.
When the corresponding electromagnetic attraction strength is set, the gravity of the friction stir welding actuator and the attraction applied by the welding tool electromagnetism and the reaction force of the welded material to the stirring head are counteracted mutually, the robot only needs to drive the friction stir welding actuator to move according to the set track, namely, the robot only needs to overcome the advancing resistance and the lateral force in the welding process, the force is about 20% or less of the welding upsetting force, the robot with light load is used for realizing the welding with larger thickness, and meanwhile, according to the thickness of the welded material and the upsetting force needed by the brand, the electromagnetic induction strength of the welding tool is dynamically adjusted, and the dynamic flexibility adjustment of the welding thickness is realized.
The industrial bus connects the robot, the friction stir welding actuator, the welding tool and the like, and monitors and controls the processing production through a production line master control system and a human-computer interaction interface.
The production flow comprises the following steps:
(1) the first step is as follows: after the welded test plate is placed on a welding tool, the welding tool is automatically clamped;
(2) the second step is that: the robot friction stir welding unit retrieves an expert process database carried by the robot friction stir welding unit according to the input welding thickness and welding materials, and automatically selects optimal welding process parameters including parameters such as the electromagnetic intensity of a stirring tool and a welding tool, the magnitude of current for generating the electromagnetic intensity, the rotation speed of a main shaft, the advancing speed and the like;
(3) after selecting a recommended stirring tool in a tool magazine, the friction stir welding robot moves to the welding starting position and pricks into the welded material from the welding starting position according to a set program;
(4) the pricking process comprises the following steps: a pressure sensor arranged on the knife handle detects the force in the pricking process and feeds a force signal back to a human-computer interaction interface, and an expert database of the human-computer interaction interface calculates F according to the welded material and the welding thicknessNeed to make sure thatAnd the gravity F of the friction stir welding actuatorActuator gravityMaximum force F provided by the sixth axis of the six-degree-of-freedom robotRobotThrough FNeed to make sure that=FActuator gravity+FRobot+FTool equipmentCalculating the force required to be provided by the welding tool, and converting the acting force into the magnitude of the current required to pass through the tool;
(5) the pricking process comprises the following steps: when the above forces are balanced, FTool equipmentContinues to increase in force, compensating for FRobotI.e. when welding is started, FNeed to make sure that= FActuator gravity+ FTool equipmentAt this time FTool equipmentAnd the gravity of the friction stir welding actuator provides the upsetting force required by the welding of the stirring headThe sixth axis of the robot does not need to provide additional down force;
(6) and (3) welding: the friction stir welding robot executes welding operation according to the set program and parameters, and in the whole welding process, the current on the welding tool is changed according to the feedback signal of a pressure sensor arranged on a tool handleTool equipmentAdjusting and storing the process data;
(9) and (3) extraction process: when the welding is finished, when the stirring head is gradually pulled away from the welded material, FTool equipmentGradually decrease when FRobot＞FNeed to make sure thatDuring the time, the effort that welding frock provided becomes zero, and the sixth axle of robot drives friction stir welding executor and leaves by welding material, and the welding is accomplished.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the content of the present invention within the scope of the protection of the present invention.
Claims (10)
1. The utility model provides a realize robot friction stir welding device of flexible transform of welding thickness, includes industrial six axis robot (1), plane welding frock (8) and human-computer interaction interface system (10), its characterized in that: industrial six robots (1), plane welding frock (8) are connected through system bus (9) with human-computer interaction interface system (10), welding spare (11) have been placed on plane welding frock (8), the port flange of industrial six robots (1) sixth axle rotates with friction stir welding executor (2) to be connected, the fixed cover in friction stir welding executor (2) outside is equipped with magnetism anchor ring (3), friction stir welding executor (2) internally mounted has handle of a knife (4), handle of a knife (4) lower extreme is equipped with pressure sensor (5), pressure sensor (5) lower extreme is equipped with torque sensor (7), torque sensor (7) lower extreme is equipped with friction stir welding instrument (6).
2. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: the friction stir welding tool (6) is arranged inside the tool handle (4).
3. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: the friction stir welding actuator (2) drives the tool handle (4) and the friction stir welding tool (6) arranged in the tool handle (4) to rotate.
4. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: the industrial six-axis robot (1) drives the friction stir welding actuator (2), the tool handle (4) and the friction stir welding tool (6) to move along a set route.
5. The robotic friction stir welding device of achieving flexible transformation of weld thickness according to claim 4, wherein: the industrial six-axis robot (1) drives the rotating motion of the friction stir welding actuator (2), the tool shank (4) and the friction stir welding tool (6) to rotate at a speed of 0-12000 rpm.
6. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: and the pressure sensor (5) and the torque sensor (7) are integrated on the tool handle (4) and are used for recording and storing data applied to the tool handle (4) by a stirring tool in a welding process in real time.
7. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: the magnetic ring surface (3) is provided with a magnetic device which is attracted or repelled by an external magnetic field so as to drive the friction stir welding actuator (2) to move towards the direction of the applied magnetic field or move in the opposite direction, the moving direction is related to the force of the magnetic field as attraction force or repulsion force, and the magnitude of the attraction force or the repulsion force is adjusted by the strength of the applied magnetic field.
8. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: an electromagnetic generating device is installed in the plane welding tool (8), and the magnitude and direction of the current of the plane welding tool (8) are adjusted to change the magnitude and direction of the acting force of the plane welding tool (8) on the magnetic ring surface (3) of the circular end surface of the main shaft.
9. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: a welding expert database is arranged in the human-computer interaction interface system (10), the types, the thicknesses and the welding form data of the materials to be welded are input, and the process expert database automatically gives process parameters of recommended electromagnetic acting force, the appearance of the stirring head, the rotating speed during welding, the advancing speed and the inclination angle.
10. The robotic friction stir welding device of claim 1 for effecting flexible transitions in weld thickness, wherein: the friction stir welding actuator (2) is mainly used for welding aluminum alloy, copper alloy and magnesium alloy, and the welding thickness of the aluminum alloy is 0.3-30 mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010504797.4A CN111618418A (en) | 2020-06-05 | 2020-06-05 | Robot friction stir welding device for realizing flexible transformation of welding thickness |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010504797.4A CN111618418A (en) | 2020-06-05 | 2020-06-05 | Robot friction stir welding device for realizing flexible transformation of welding thickness |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134676A (en) * | 2021-03-16 | 2021-07-20 | 哈尔滨工业大学 | Automatic tool changing system for friction stir welding |
| CN113953645A (en) * | 2021-11-18 | 2022-01-21 | 江苏科技大学 | Magnetization degree adjustable spring nest type embedded magnetic stirring friction welding device |
| CN113953651A (en) * | 2021-11-18 | 2022-01-21 | 江苏科技大学 | Center embedded magnetic type friction stir welding device with adjustable magnetization degree |
| CN115890053A (en) * | 2023-03-02 | 2023-04-04 | 成都熊谷加世电器有限公司 | Internal welding machine aligning method and device, internal welding machine and storage medium |
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| CN105562954A (en) * | 2016-03-06 | 2016-05-11 | 南京理工大学 | Compound robot heat source welding system by double methods of friction stud and friction stir |
| CN109202264A (en) * | 2017-09-15 | 2019-01-15 | 中国航空制造技术研究院 | A kind of stirring friction spot welding device and friction stir spot welding method |
| CN209953993U (en) * | 2019-05-29 | 2020-01-17 | 广东省焊接技术研究所（广东省中乌研究院） | A main shaft system and friction stir welding system for friction stir welding |
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2020
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Patent Citations (5)
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| CN101537529A (en) * | 2009-04-24 | 2009-09-23 | 重庆大学 | Pin tool for friction stir welding and ultrafine grain preparation method thereof |
| US20160059344A1 (en) * | 2014-08-28 | 2016-03-03 | Kabushiki Kaisha Toshiba | Friction stir welding device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134676A (en) * | 2021-03-16 | 2021-07-20 | 哈尔滨工业大学 | Automatic tool changing system for friction stir welding |
| CN113953645A (en) * | 2021-11-18 | 2022-01-21 | 江苏科技大学 | Magnetization degree adjustable spring nest type embedded magnetic stirring friction welding device |
| CN113953651A (en) * | 2021-11-18 | 2022-01-21 | 江苏科技大学 | Center embedded magnetic type friction stir welding device with adjustable magnetization degree |
| CN115890053A (en) * | 2023-03-02 | 2023-04-04 | 成都熊谷加世电器有限公司 | Internal welding machine aligning method and device, internal welding machine and storage medium |
| CN115890053B (en) * | 2023-03-02 | 2023-08-18 | 成都熊谷加世电器有限公司 | Internal welding machine alignment method and device, internal welding machine and storage medium |
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Application publication date: 20200904 |