CN209424740U - A kind of fast run-up system tool suitable for the weldering of robot agitating friction - Google Patents
A kind of fast run-up system tool suitable for the weldering of robot agitating friction Download PDFInfo
- Publication number
- CN209424740U CN209424740U CN201920069093.1U CN201920069093U CN209424740U CN 209424740 U CN209424740 U CN 209424740U CN 201920069093 U CN201920069093 U CN 201920069093U CN 209424740 U CN209424740 U CN 209424740U
- Authority
- CN
- China
- Prior art keywords
- measuring head
- robot
- pressure sensor
- weldering
- pressure measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 238000003466 welding Methods 0.000 abstract description 21
- 238000003756 stirring Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 11
- 238000009434 installation Methods 0.000 description 3
- 208000033748 Device issues Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The utility model relates to robot Friction Stir Welding fields, more particularly to a kind of fast run-up system tool suitable for the weldering of robot agitating friction, it is described to be bolted between grip shank and micro pressure sensor including grip shank, micro pressure sensor, laser generator, adjustable pressure measuring head and pressure on the number display；It is bolted between the micro pressure sensor and laser generator；The micro pressure sensor connects pressure on the number display；The adjustable pressure measuring head is mounted on the lower end of laser generator, and adjustable pressure measuring head is electrically connected micro pressure sensor, and the measurement end of the adjustable pressure measuring head is contacted with laser generator.Building for needing to carry out when the utility model is welded for robot agitating friction is work, provides a kind of fast run-up system tool suitable for the weldering of robot agitating friction.
Description
Technical field
The utility model relates to robot Friction Stir Welding fields, are suitable for robot stirring more particularly to one kind and rub
Wipe the fast run-up system tool of weldering.
Background technique
Robot in use, can establish different basis coordinates workpiece coordinate systems for different product, therefore for
The adaptability that the location of workpiece is put greatly improves.Before robot Friction Stir Welding starts, generallys use line-of-sight course and be directed to
Different product establishes basis coordinates, to realize welding programming.Detailed process are as follows: 1. determine coordinate origin.Operator uses movement
Key is overlapped stirring center of pin with origin is set, and adjustment Z-direction is bonded stirring needle end part with workpiece surface；2. defining coordinate side
To.In this process, mobile stirring center of pin is needed to be overlapped with any of basis coordinates X-axis forward, while Z-direction makes mixing needle
End is bonded with workpiece surface；Mixing needle is moved on X/Y plane one later and has a positive Y value point, Z-direction make to stir needle end part with
Workpiece surface fitting.
It builds system, method as can be seen that current mainly and has disadvantage:
During 1 builds at present and is, naked eyes judgement is manually carried out, can not accurately determine the position of mixing needle, therefore foundation
Basis coordinates system precision not can guarantee；
During 2 build and are, three point Z-directions of acquisition are required to stirring needle end part and are close to workpiece surface, operator
Rational judgment can not be carried out, can only by virtue of experience be judged, the accuracy of later programmed is influenced；
3, when having tooling and this body structure of workpiece limits, build the point for being and are difficult to carry out rapid examination, operating burden is very
Greatly, while efficiency is lower；
On the one hand the inaccuracy of 4 establishment of coordinate system will increase the debugging work load in subsequent welding process, on the other hand meeting
Welding stability is had an impact, weldquality is influenced.
Since the weldering of robot agitating friction is at present using less, not specifically for being welded in robot agitating friction
Building is tool.But have be directed to gantry equipment to knife related patents.Entitled " agitating friction soldering equipment laser presetting cutter method ",
Patent No. CN105195889A；It mainly comprises the steps that one mixing needle of installation on the knife handle of main shaft；In weld seam
It is taken on heart line a little labeled as calibration point, mobile mechanism is then driven by handheld unit, make to stir needle end part abutting workpiece table
At the calibration in face；Preset distance is lifted using handheld unit driving Z axis, then drives the mobile future range of X-axis, so that laser
Then the laser beam that device issues drives Z axis landing preset distance by calibration point；Calibration point is shown by laser beam flying
In display device, coordinate central point on display is made and the calibration that is shown on the desplay apparatus by the mobile laser of adjustable plate
Point is overlapped；Mixing needle on knife handle is replaced with stirring-head, the length difference on stirring-head and mixing needle Z axis is adjusted by mobile mechanism
Value makes to stir cephalic par abutting face of weld, and stirring-head position is initial position at this time；Using initial position as reference point, pass through
Software program carries out automatic tool preset.But the patent has the disadvantage in that
1 in the prior art, and the crawl of calibration point uses mixing needle still to carry out, be only changed to head point and it is thin, although
It can be improved to knife precision, but observe still inconvenience；
Determination of the 2Z to position is still to carry out by the mode that stirring needle end part is close to workpiece surface, thin in point
In mixing needle design, precision can be lower；Simultaneously in the weldering of robot agitating friction, need to acquire at 3 points, error can double to put
Greatly；
It during 3 pairs of knives, needs to use Special agitating needle, laser system, stirring-head, and needs to replace back and forth, operate
Complexity, efficiency are lower；
4 this method are suitable for gantry equipment and determine a starting point, build the discomfort of the line-of-sight course during being for robot
With.
Utility model content
The purpose of the utility model is to provide a kind of fast run-up system tools suitable for the weldering of robot agitating friction, for machine
Building for needing to carry out when device people's agitating friction welds is work, provides a kind of fast run-up system suitable for the weldering of robot agitating friction
Tool.
The purpose of this utility model is achieved through the following technical solutions:
It is a kind of suitable for robot agitating friction weldering fast run-up system tool, including grip shank, micro pressure sensor, swash
Optical generator, adjustable pressure measuring head and pressure on the number display, it is described between grip shank and micro pressure sensor
It is bolted；It is bolted between the micro pressure sensor and laser generator；The micro pressure sensing
Device connects pressure on the number display；The adjustable pressure measuring head is mounted on the lower end of laser generator, and adjustable pressure is surveyed
It measures head and is electrically connected micro pressure sensor, the measurement end of the adjustable pressure measuring head is contacted with laser generator.
The micro pressure sensor uses NMB-CMM1 sensor.
The laser generator uses common laser locator.
The pressure on the number display uses LH-PTA force display instrument.
A kind of fast run-up system tool suitable for the weldering of robot agitating friction of the utility model carries out the side of fast run-up system
Method, comprising the following steps:
1 adjustment adjustable pressure measuring head length D1, makes grip shank end to adjustable pressure measuring head tip lengths D2
Stirring-head clamping end used is equal to mixing needle tip lengths D4 with welding；
2 install the entirety of the utility model on the knife handle of friction stir welding machine device people's main shaft by grip shank；
3 use shifting bond(s) mobile robots, make the utility model inner laser generator issue laser beam with it is required
The origin for establishing coordinate system is overlapped, then in Z-direction vertical shift robot, until adjustable pressure measuring head connects with welding workpiece
Touching, and pressure on the number display reaches rating number, measures the coordinate, the origin of as established basis coordinates system；
4 lift certain distance in Z-direction using shifting bond(s) mobile robot, then mobile robot is to established basis coordinates system X
Axis is positive, and the laser beam for issuing laser generator is overlapped with the calibration point of established basis coordinates system X-axis forward, then in Z
To vertical shift robot, until adjustable pressure measuring head is contacted with welding workpiece, and pressure on the number display reaches volume
Fixed number value；
5 lift certain distance in Z-direction using shifting bond(s) mobile robot, then mobile robot is to built basis coordinates system first
In quadrant space, in Z-direction vertical shift robot, until adjustable pressure measuring head is contacted with welding workpiece, and number pressure
Word display reaches rating number.
The utility model has the following beneficial effects: building for needing to carry out when the utility model is welded for robot agitating friction is
Work provides a kind of fast run-up system tool suitable for the weldering of robot agitating friction.
Utility model has the advantages that
1. the calibration of coordinate system reference point determines that position precision greatly improves by the light beam that laser generator issues,
And it is not limited by Workpiece structure；
2. coordinate system reference point Z-direction position is determined by micro pressure sensor, it can quantify, not be affected by human factors,
Accuracy improves；
3. building is that process visualization degree is high, process can be standardized, and efficiency improves；
4. adjustable pressure measuring head is adjustable pressure measuring tip, can adapt to building for different length stirring-head is to need
It asks.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the schematic cross-sectional view of the utility model.
In figure: grip shank 1；Micro pressure sensor 2；Laser generator 3；Adjustable pressure measuring head 4；Laser beam 5；
Pressure on the number display 6.
Specific embodiment
1-2 is described in further detail the utility model with reference to the accompanying drawing.
Specific embodiment 1:
As shown in Figs. 1-2, a kind of fast run-up system tool suitable for the weldering of robot agitating friction, including it is grip shank 1, miniature
Pressure sensor 2, laser generator 3, adjustable pressure measuring head 4 and pressure on the number display 6, the grip shank 1 with
It is bolted between micro pressure sensor 2；Pass through bolt between the micro pressure sensor 2 and laser generator 3
Connection；The micro pressure sensor 2 connects pressure on the number display 6；The adjustable pressure measuring head 4 is mounted on laser hair
The lower end of raw device 3, adjustable pressure measuring head 4 are electrically connected micro pressure sensor 2, the survey of the adjustable pressure measuring head 4
Amount end is contacted with laser generator 3.A kind of fast run-up system tool suitable for the weldering of robot agitating friction of the utility model,
In use, the laser beam 5 issued entirely through laser generator 3 of the utility model determines the position of coordinate system calibration point
It sets, the Z-direction position of coordinate system calibration point is determined by adjustable pressure measuring head 4 and micro pressure sensor 2；It can inside it
The length of mode pressure measuring tip 4 can be adjusted, and the adjustable pressure measuring head 4 and laser of micro pressure sensor 2 are sent out
Raw device 3 is in close contact, and when installation makes micro pressure sensor 2 have pretightning force, then pressure on the number display 6 is returned to zero；It is described to swash
5 focal length D3 of light light beam is greater than the maximum length of adjustable pressure measuring head 4.
Specific embodiment 2:
As shown in Figs. 1-2, the micro pressure sensor 2 uses NMB-CMM1 sensor.
Specific embodiment 3:
As shown in Figs. 1-2, the pressure on the number display 6 uses LH-PTA force display instrument.
Specific embodiment 4:
As shown in Figs. 1-2, a kind of fast run-up system tool suitable for the weldering of robot agitating friction of the utility model carries out
The method of fast run-up system, comprising the following steps:
1. adjusting 4 length D1 of adjustable pressure measuring head, keep 1 end of grip shank long to 4 end of adjustable pressure measuring head
It spends D2 and welding stirring-head clamping end used is equal to mixing needle tip lengths D4；
2. the entirety of the utility model is installed by grip shank 1 on the knife handle of friction stir welding machine device people's main shaft；
3. using shifting bond(s) mobile robot, the laser beam 5 for issuing the utility model inner laser generator 3 and institute
The origin that coordinate system need to be established is overlapped, then in Z-direction vertical shift robot, until adjustable pressure measuring head 4 and welding workpiece
Contact, and pressure on the number display 6 reaches rating number, measures the coordinate, the origin of as established basis coordinates system；
4. lift certain distance in Z-direction using shifting bond(s) mobile robot, then mobile robot is to established basis coordinates system X
Axis is positive, and the laser beam for issuing laser generator 3 is overlapped with the calibration point of established basis coordinates system X-axis forward, then in Z
To vertical shift robot, until adjustable pressure measuring head 4 is contacted with welding workpiece, and pressure on the number display 6 reaches
Rating number；
5. lift certain distance in Z-direction using shifting bond(s) mobile robot, then mobile robot is to built basis coordinates system
In one quadrant space, in Z-direction vertical shift robot, until adjustable pressure measuring head 4 is contacted with welding workpiece, and pressure
Digital display 6 reaches rating number.
A kind of working principle of the utility model are as follows: fast run-up suitable for the weldering of robot agitating friction of the utility model
It is tool, when in use, the laser beam 5 issued entirely through laser generator 3 of the utility model determines coordinate system mark
The position of fixed point determines the Z-direction position of coordinate system calibration point by adjustable pressure measuring head 4 and micro pressure sensor 2；
The length of its internal adjustable formula pressure measuring tip 4 can be adjusted, the adjustable pressure measuring head 4 of micro pressure sensor 2
It is in close contact with laser generator 3, when installation makes micro pressure sensor 2 have pretightning force, then pressure on the number display 6 is adjusted
Zero；The 5 focal length D3 of laser beam is greater than the maximum length of adjustable pressure measuring head 4；The utility model carries out quick
It builds when being, adjusts 4 length D1 of adjustable pressure measuring head, make 1 end of grip shank to 4 tip lengths D2 of adjustable pressure measuring head
Stirring-head clamping end used is equal to mixing needle tip lengths D4 with welding；On the knife handle of friction stir welding machine device people's main shaft
The entirety of the utility model is installed by grip shank 1；Using shifting bond(s) mobile robot, the utility model inner laser occurs
The laser beam 5 that device 3 issues is overlapped with the required origin for establishing coordinate system, then in Z-direction vertical shift robot, until adjustable
Pressure measuring tip 4 is contacted with welding workpiece, and pressure on the number display 6 reaches rating number, measures the coordinate, as institute
Establish the origin of basis coordinates system；Certain distance is lifted in Z-direction using shifting bond(s) mobile robot, then mobile robot is to being established
Basis coordinates system X-axis is positive, the laser beam and the calibration point of established basis coordinates system X-axis forward for issuing laser generator 3
It is overlapped, then in Z-direction vertical shift robot, until adjustable pressure measuring head 4 is contacted with welding workpiece, and pressure on the number is shown
Show that device 6 reaches rating number；Certain distance is lifted in Z-direction using shifting bond(s) mobile robot, then mobile robot is to built base
In coordinate system first quartile space, in Z-direction vertical shift robot, until adjustable pressure measuring head 4 is contacted with welding workpiece,
And pressure on the number display 6 reaches rating number.
Certainly, above description is not limitation of the utility model, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the those of ordinary skill in art field is made in the essential scope of the utility model, also belong to
In the protection scope of the utility model.
Claims (3)
1. a kind of fast run-up system tool suitable for the weldering of robot agitating friction, including grip shank (1), micro pressure sensor
(2), laser generator (3), adjustable pressure measuring head (4) and pressure on the number display (6), it is characterised in that: the clamping
It is bolted between handle (1) and micro pressure sensor (2)；The micro pressure sensor (2) and laser generator (3)
Between be bolted；The micro pressure sensor (2) is electrically connected pressure on the number display (6)；The adjustable pressure
Measuring head (4) is mounted on the lower end of laser generator (3), and adjustable pressure measuring head (4) is electrically connected micro pressure sensor
(2), the measurement end of the adjustable pressure measuring head (4) is contacted with laser generator (3).
2. a kind of fast run-up system tool suitable for the weldering of robot agitating friction according to claim 1, it is characterised in that:
The micro pressure sensor (2) uses NMB-CMM1 sensor.
3. a kind of fast run-up system tool suitable for the weldering of robot agitating friction according to claim 1, it is characterised in that:
The pressure on the number display (6) uses LH-PTA force display instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920069093.1U CN209424740U (en) | 2019-01-16 | 2019-01-16 | A kind of fast run-up system tool suitable for the weldering of robot agitating friction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920069093.1U CN209424740U (en) | 2019-01-16 | 2019-01-16 | A kind of fast run-up system tool suitable for the weldering of robot agitating friction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209424740U true CN209424740U (en) | 2019-09-24 |
Family
ID=67976486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920069093.1U Active CN209424740U (en) | 2019-01-16 | 2019-01-16 | A kind of fast run-up system tool suitable for the weldering of robot agitating friction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209424740U (en) |
-
2019
- 2019-01-16 CN CN201920069093.1U patent/CN209424740U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112060103B (en) | Movable ultrafast laser processing robot equipment and processing method | |
| CN207205619U (en) | Ripple seam tracking system based on 3 D laser scanning | |
| CN104833325B (en) | Intelligent workpiece metering and detecting unit and using method thereof | |
| CN108608104A (en) | Lifetime of resistance spot welding electrode spatiality device for fast detecting and method | |
| CN109530984A (en) | Vision positioning welding and assembling method | |
| CN112077487A (en) | Laser-assisted teaching programming device for robot welding | |
| CN209424740U (en) | A kind of fast run-up system tool suitable for the weldering of robot agitating friction | |
| CN113681146B (en) | BTO intelligent correction device and method of full-automatic lead bonding machine | |
| US20130205867A1 (en) | Automatic rectifying system for machine tools | |
| CN213239285U (en) | Drilling method-based rapid calibration residual stress test drilling device | |
| CN113894404A (en) | Friction stir welding method based on photogrammetry | |
| CN108593387A (en) | A kind of device and its processing method for manufacturing oil-gas pipeline internal flaw | |
| CN206343803U (en) | A kind of robot automatic soldering device | |
| CN107442846A (en) | A kind of high precision electro controls standard metal hose compression-resistant type cutter device | |
| CN210441852U (en) | Mechanical welding deformation automatic monitoring system | |
| CN112548420B (en) | Automatic cylinder welding equipment and method | |
| CN113236119B (en) | Automatic perforating positioning multifunctional drilling machine and accurate perforating method | |
| CN211661664U (en) | Laser calibration system for shaft parts | |
| TWM490934U (en) | Scraping device applying robot arm having multiple degrees of freedom | |
| CN212330878U (en) | Angle-adjustable pipeline assembling robot | |
| CN210255403U (en) | Device for completing automatic compensation of milling height of product | |
| CN107414275A (en) | A kind of precision resistance mash welder and its resistance spot-welding servo system | |
| CN210080886U (en) | Automatic control device of novel tapping machine | |
| CN215545121U (en) | Drilling device | |
| CN213672495U (en) | Laser-assisted teaching programming device for robot welding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240131 Address after: Floor 2, No. 11A, North 11th, West First Road, Taiyuan Road, Linzi District, Zibo City, Shandong Province, 255499 Patentee after: Zibo Jiamu Biotechnology Co.,Ltd. Country or region after: China Address before: 215300 No. 6, organ street, small and medium enterprises Park, Kunshan Development Zone, Suzhou, Jiangsu, China 6 Patentee before: SUZHOU HAGONG WANZHOU AUTOMATION Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |