CN212043114U - Robot friction stir spot welding system for detecting and feeding back temperature change - Google Patents
Robot friction stir spot welding system for detecting and feeding back temperature change Download PDFInfo
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- CN212043114U CN212043114U CN201922397591.1U CN201922397591U CN212043114U CN 212043114 U CN212043114 U CN 212043114U CN 201922397591 U CN201922397591 U CN 201922397591U CN 212043114 U CN212043114 U CN 212043114U
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Abstract
The utility model discloses a robot friction stir spot welding system for detecting and feeding back temperature change, a control system is respectively electrically connected with a welding robot and a supporting robot and is used for controlling the actions of the welding robot and the supporting robot; the welding robot is provided with a spot welding machine head and is used for driving the spot welding machine head to move to one side of a part to be welded; the supporting robot is provided with a supporting machine head and is used for driving the supporting machine head to move to the other side of the part to be welded; the spot welding machine head and the supporting machine head are respectively and electrically connected with the control system, and when the spot welding machine head and the supporting machine head are shifted to two sides opposite to the welding point position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate; the spot welding machine head is provided with a temperature control device, and the temperature control device is electrically connected with a control system and used for monitoring the temperature change in the spot welding process in real time and feeding back the temperature change in time. The real-time acquisition of the temperature parameters in the welding process is realized, and the basis of the process parameters is provided for judging the quality of the welding spots.
Description
Technical Field
The utility model relates to a friction stir spot welding technical field, concretely relates to detect and feedback temperature variation's robot friction stir spot welding system.
Background
In the field of solid phase spot welding, friction stir spot welding is a new technology developed based on friction stir welding technology, and the friction stir spot welding technology developed by Mazda in 1993 in Japan adopts an integral stirring tool with a fixed geometric shape, and a keyhole is left in the center of a spot welding head after welding; the German GKSS research center researches and develops a backfill type friction stir spot welding technology in 1999, and the backfill of materials can be completed by accurately controlling the relative movement of a stirring pin and a pressing sleeve in the welding process, so that the connection of the friction stir spot welding without a keyhole is realized. In recent years, friction stir spot welding has been developed as a new technique that can replace techniques such as caulking and resistance spot welding. In the fields of aerospace, automobiles, shipbuilding and the like, the welding of common light metals such as aluminum alloy, magnesium alloy and the like has wide application prospect.
The friction stir spot welding equipment generally comprises a spot welding machine head, a fixing mechanism, a control system, a supporting mechanism and the like, wherein the general supporting mechanism is a fixed seat or a C-shaped supporting structure. Friction stir spot welding is in welding process, and spot welder head and back support frame are located the both sides of waiting to weld respectively, and when welding large-scale complicated curved surface structure, when aircraft ribbed wallboard structure and fuselage structure, owing to the restriction that has fixing base structure and space, C type bearing structure's the less scheduling problem of inner chamber size hardly adopts fixing base or C type bearing structure to carry out point-to-point normal direction welding and support, can't realize the accurate support of solder joint position.
The friction stir spot welding is to generate friction heat and plastic deformation on the surface of a part by utilizing high-speed rotation of a stirring tool, and the rotation of the stirring tool can generate larger torque, so that welding defects are easily generated if the selected rotation speed is inappropriate. At present, the judgment basis of the welding quality of the friction stir spot welding spot is mainly judged by the modes of macroscopic morphology, macroscopic cross section metallography, hardness, cross stripping and the like of the welding spot, and the welding spot quality is difficult to monitor in real time through the parameters of the spot welding process in the welding process.
Therefore, the utility model provides a detect and solve above-mentioned problem with the robot friction stir spot welding system of feedback temperature variation.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model discloses solve prior art and can not be in the real-time technical problem who detects the solder joint quality of welding process.
(II) technical scheme
The utility model provides a robot friction stir spot welding system for detecting and feeding back temperature changes, which comprises a welding robot, a supporting robot and a control system, wherein the control system is respectively electrically connected with the welding robot and the supporting robot and is used for controlling the welding robot and the supporting robot to act;
the welding robot is provided with a spot welding machine head and is used for driving the spot welding machine head to move to one side of a part to be welded;
the supporting robot is provided with a supporting machine head and is used for driving the supporting machine head to move to the other side of the part to be welded;
the spot welding machine head and the supporting machine head are respectively and electrically connected with the control system, and when the spot welding machine head and the supporting machine head are shifted to two opposite sides of the welding point position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate;
the spot welding machine comprises a spot welding machine head, a control system and a temperature control device, wherein the spot welding machine head is provided with the temperature control device, and the temperature control device is electrically connected with the control system and used for monitoring the temperature change in the spot welding process in real time and feeding back the temperature change in time.
Preferably, the control system comprises:
the welding servo driving system is electrically connected with the welding robot and the spot welding machine head, and is used for driving the welding robot to act and driving the spot welding operation of the spot welding machine head;
the supporting servo driving system is electrically connected with the supporting robot and the supporting machine head and is used for driving the supporting robot to act and driving the supporting operation of the supporting machine head; and
and the numerical control system is electrically connected with the welding servo driving system and the supporting servo driving system and is used for controlling the welding servo driving system and the supporting servo driving system to synchronously drive the spot welding machine head and the supporting machine head.
Preferably, the temperature control device comprises a thermocouple and a temperature sensor, and the thermocouple is electrically connected with the temperature sensor; the contact position of the spot welding machine head and a to-be-welded part is sequentially provided with a stirring pin, an inner shaft shoulder and a pressing sleeve from inside to outside, and the thermocouple is arranged on the pressing sleeve.
Preferably, the spot welding machine head comprises a spot welding mounting seat, a spot welding driving motor and a spot welding head, the spot welding mounting seat is connected with the welding robot, the spot welding driving motor and the spot welding head are both arranged on the spot welding mounting seat, the driving end of the spot welding driving motor is connected with the spot welding head, and the spot welding driving motor is electrically connected with the control system.
Preferably, the supporting machine head comprises a supporting installation seat, a supporting driving motor and a supporting head, the supporting installation seat is connected with the supporting robot, the supporting driving motor and the supporting head are both arranged on the supporting installation seat, the supporting driving motor is connected with the supporting head, and the supporting driving motor is electrically connected with the control system.
Preferably, the supporting machine head is conical, the bottom surface of the supporting machine head is a plane supporting point, and the size of the plane supporting point is larger than or equal to the outer diameter of the pressing sleeve.
Preferably, the shape of the planar support point is circular, square or rectangular.
Preferably, the supporting head is provided with a mounting hole for being connected with the supporting robot in a matched mode through a bolt.
(III) advantageous effects
The above technical scheme of the utility model has following advantage:
in the robot friction stir spot welding system for detecting and feeding back temperature changes, the control system is respectively electrically connected with the welding robot and the supporting robot and is used for controlling the actions of the welding robot and the supporting robot so as to accurately control the actions of the robot; the welding robot is provided with a spot welding machine head, the welding robot is used for driving the spot welding machine head to move to one side of a part to be welded, the supporting robot is provided with a supporting machine head, and the supporting robot is used for driving the supporting machine head to move to the other side of the part to be welded; the spot welding machine head and the supporting machine head are respectively electrically connected with the control system, when the spot welding machine head and the supporting machine head are shifted to two sides opposite to the welding point position of a part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate, when a complex curved surface structural part is welded, the spot welding machine head and the supporting machine head move symmetrically along a curved surface of the part to be welded in a mirror image mode, point-to-point normal welding and supporting are always carried out, and accurate control of welding force and the welding point position is achieved; the spot welding machine head is provided with a temperature control device, the temperature control device is electrically connected with a control system to monitor the temperature change in the spot welding process in real time and feed back in time, so that the real-time collection of the temperature parameters in the welding process is realized, and the change of the temperature parameters in the spot welding process is used as one of judgment bases of the quality of welding spots.
The system uses a 'one weld one top' approach, unlike mirror milling, the friction stir spot welding system does not require both sides to move against the spot welds at all times. For a complex curved surface structural member, the advantage of replacing riveting with welding is obvious, the welding quality is ensured, meanwhile, intelligent manufacturing is realized, the operation is simple, the popularization is suitable, and the system has stronger expansion function and portability; the application research of the robot friction stir spot welding engineering is developed, and a technical foundation is laid for advanced manufacturing and assembly of large aluminum alloy parts.
Drawings
FIG. 1 is a schematic view of a mirror image welding structure in a robot friction stir spot welding system for detecting and feeding back temperature changes according to the present invention;
FIG. 2 is a schematic diagram of a frame structure in the robot friction stir spot welding system for detecting and feeding back temperature changes according to the present invention;
FIG. 3 is a schematic view of a supporting head structure in the robot friction stir spot welding system for detecting and feeding back temperature variation according to the present invention;
FIG. 4 is a bottom view of a support head in the robot friction stir spot welding system for detecting and feeding back temperature changes according to the present invention;
FIG. 5 is another schematic view of a mirror image of the robot friction stir spot welding system for detecting and feeding back temperature changes according to the present invention;
fig. 6 is the utility model discloses detect and feedback temperature variation's robot friction stir spot welding system spot welder head schematic structure.
In the figure: 1. a control system; 2. a numerical control system; 3. a welding servo drive system; 4. supporting the servo drive system; 5. a welding robot; 6. spot welding a head; 7. supporting the robot; 8. supporting the machine head; 9. a part to be welded; 10. a temperature control device; 11. a compression sleeve; 12. an inner shoulder; 13. A stirring pin; 14. a thermocouple; 15. spot welding a driving motor; 16. spot welding the mounting base; 17. a spot welding head; 18. and (7) installing holes.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-6, the robot friction stir spot welding system for detecting and feeding back temperature variation provided by the present invention comprises a welding robot 5, a supporting robot 7 and a control system 1, wherein the control system 1 is electrically connected to the welding robot 5 and the supporting robot 7 respectively, and is used for controlling the actions of the welding robot 5 and the supporting robot 7; the welding robot 5 is provided with a spot welding machine head 6, and the welding robot 5 is used for driving the spot welding machine head 6 to move to one side of a piece to be welded 9; the supporting robot 7 is provided with a supporting machine head 8, and the supporting robot 7 is used for driving the supporting machine head 8 to move to the other side of the to-be-welded part 9; the spot welding machine head 6 and the supporting machine head 8 are respectively electrically connected with the control system 1, and when the spot welding machine head 6 and the supporting machine head 8 are shifted to two sides opposite to the welding point position of the to-be-welded part 9, the spot welding machine head 6 and the supporting machine head 8 are driven to synchronously operate; wherein, the spot welding machine head 6 is provided with a temperature control device which is electrically connected with the control system 1 and used for monitoring the temperature change in the spot welding process in real time and feeding back in time.
In the above-mentioned embodiment, be provided with welding robot 5 and support robot 7, install spot welder head 6 on welding robot 5, support aircraft nose 8 is installed on support robot 7, under welding robot 5 and support robot 7's action, spot welder head 6 can be located respectively with support aircraft nose 8 and treats the relative both sides of a 9 face of weld of welding, welding quality does not receive the structural complexity influence of treating weldment 9, can adapt to the welding demand of complex curved surface.
In the course of the work, control system 1 gives out the instruction, drive spot welder head 6 and support aircraft nose 8 contact simultaneously in treating the relative both sides of weldment 9 welding face, and exert pressure simultaneously, spot welder head 6 is point-to-point with support aircraft nose 8, one welds one, realize the accurate support of solder joint position, treat when welding the end, welding robot 5 keeps away from the motion with support robot 7 relatively, make spot welder head 6 and support aircraft nose 8 leave in step and treat weldment 9, improve welding quality.
Meanwhile, in the welding process, the temperature control device 10 can monitor the numerical value of the temperature of the welding spot in real time so as to timely acquire the temperature change in the spot welding process, thereby timely making feedback, providing a basis for process parameters for judging the quality of the welding spot and facilitating control of the welding quality.
It should be pointed out that, in this embodiment, welding robot 5 all adopts heavy-duty industrial robot with support robot 7, for two independent KUKA robots, the model is KR1000Titan, and maximum bearing capacity can be selected to use 2400kg, and concrete parameter can be selected according to the welding object and changed, and numerical control system adopts the doubly good at numerical control system.
Specifically, the control system 1 comprises a welding servo driving system 3, a supporting servo driving system 4 and a numerical control system 2, wherein the welding servo driving system 3 is electrically connected with a welding robot 5 and a spot welding machine head 6 and is used for driving the welding robot 5 to move and driving the spot welding operation of the spot welding machine head 6; the supporting servo driving system 4 is electrically connected with the supporting robot 7 and the supporting machine head 8 and is used for driving the supporting robot 7 to act and driving the supporting operation of the supporting machine head 8; the welding servo driving system 3 and the supporting servo driving system 4 are respectively electrically connected with the numerical control system 2 and are used for controlling the welding servo driving system 3 and the supporting servo driving system 4 to synchronously drive the spot welding machine head 6 and the supporting machine head 8. So, welding servo drive system 3 and support servo drive system 4 are based on numerical control system 2, and spot welder head 6 reaches the solder joint position both sides of waiting to weld 9 with the support aircraft nose 8 relative of spot welder head 6 synchronous arrival, and the normal direction is coaxial, and welding robot 5 carries out point-to-point normal direction welding and support with support robot 7 all the time when guaranteeing that spot welding goes on, realizes the accurate control of welding power and solder joint position.
Specifically, the temperature control device 10 includes a thermocouple 14 and a temperature sensor, the thermocouple 14 being electrically connected to the temperature sensor; the contact position of the spot welding machine head 6 and the part 9 to be welded is provided with a stirring pin 13, an inner shaft shoulder 12 and a pressing sleeve 11 from inside to outside in sequence, and a thermocouple 14 is arranged on the pressing sleeve 11. An inner shaft shoulder 12 is sleeved outside the stirring pin 13, and a pressing sleeve 11 is sleeved outside the inner shaft shoulder 12. Before welding, the normal change range of the spot welding temperature is preset, whether the position temperature of a welding spot is in the normal change range is judged according to the test result of the thermocouple 14, if the acquisition value is not in the normal range, the temperature sensor feeds back the temperature to the numerical control system 2, and the numerical control system 2 realizes alarming in a display screen so as to make timely response and facilitate a worker to timely control the welding quality of each welding process.
Specifically, spot welding machine head 6 includes spot welding mount pad 16, spot welding driving motor 15 and spot welding head 17, and spot welding mount pad 16 is connected with welding robot 5, and spot welding driving motor 15 all installs on spot welding mount pad 16 with spot welding head 17, and spot welding driving motor 15's drive end is connected with spot welding head 17, and spot welding driving motor 15 is connected with control system 1 electricity.
Specifically, the supporting machine head 8 comprises a supporting mounting seat, a supporting driving motor and a supporting head, the supporting mounting seat is connected with the supporting robot 7, the supporting driving motor and the supporting head are both arranged on the supporting mounting seat, the supporting driving motor is connected with the supporting head, and the supporting driving motor is electrically connected with the control system 1. Therefore, the spot welding driving motor 15 drives the spot welding head 17 to provide welding force, and the supporting driving motor drives the supporting machine head 8 to provide supporting force, so that the purpose of friction stir spot welding is achieved.
Specifically, the supporting machine head 8 is conical, the bottom surface of the supporting machine head is a plane supporting point, and the size of the plane supporting point is larger than or equal to the outer diameter of the backfilling spot welding head pressing sleeve. The design of the plane supporting point can better provide supporting force for the to-be-welded part 9 and guarantee the welding quality.
In particular, the shape of the planar support points is circular, square or rectangular. The shape of the planar support point may also be other shapes, and this embodiment is the preferred embodiment.
Specifically, the support head 8 has a mounting hole 18 for connecting with the support robot 7 by fitting with a bolt. The mounting holes 18 of the supporting head 8 can be easily removed and mounted on the supporting robot 7 so as to select an appropriate supporting head to meet the working requirements of friction stir spot welding, and the manner of removably mounting the supporting head on the supporting robot is not limited to that of this embodiment.
The specific implementation process is as follows:
before welding, a part 9 to be welded is suspended between the two robots, a program is set in the numerical control system 2, the two robots move synchronously, the end effectors of the robots have the same point position but different postures, and the movement paths of the end effectors are different in the movement process;
when welding starts, the spot welding machine head 6 and the back support machine head 8 are respectively positioned at two sides of the part to be welded 9, move symmetrically along the curved surface of the part to be welded 9 in a mirror image mode, and carry out point-to-point normal welding and support all the time, so that accurate control of welding force and welding spot positions is realized; the spot welding machine head 6 contacts with the part to be welded 9 in the descending process, meanwhile, the supporting machine head 8 also contacts with the part and generates supporting force, the spot welding machine head 6 continues to descend until the spot welding head is tightly pressed on the part to be welded 9 at a given pressure value, and at the moment, the supporting machine head 8 continues to ascend to generate the supporting force with the same size;
welding, wherein a stirring pin 13 and an inner shaft shoulder 12 in the spot welding head rotate and complete welding, the supporting machine head 8 keeps a tight-pushing state, welding force and back supporting force are simultaneously applied to the position of a welding spot, and the pressure provided by the two robots is balanced;
temperature monitoring, namely judging whether the temperature is within a normal variation range or not through a thermocouple 14 test result, if the acquired value is not within the normal range, feeding back a temperature sensor to the numerical control system, and enabling the numerical control system to alarm in a display screen so as to make a timely response;
and after welding is finished, the spot welding machine head 6 stops running and is lifted upwards, the pressure value of the supporting machine head 8 is reduced, the supporting machine head and the workpiece to be welded 9 are quickly separated, and the two robots with mirror image motion simultaneously leave the workpiece to be welded 9 to finish welding of one welding point.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A robot friction stir spot welding system for detecting and feeding back temperature changes is characterized by comprising a welding robot, a supporting robot and a control system, wherein the control system is electrically connected with the welding robot and the supporting robot respectively and used for controlling the actions of the welding robot and the supporting robot;
the welding robot is provided with a spot welding machine head and is used for driving the spot welding machine head to move to one side of a part to be welded;
the supporting robot is provided with a supporting machine head and is used for driving the supporting machine head to move to the other side of the part to be welded;
the spot welding machine head and the supporting machine head are respectively and electrically connected with the control system, and when the spot welding machine head and the supporting machine head are shifted to two opposite sides of the welding point position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate;
the spot welding machine comprises a spot welding machine head, a control system and a temperature control device, wherein the spot welding machine head is provided with the temperature control device, and the temperature control device is electrically connected with the control system and used for monitoring the temperature change in the spot welding process in real time and feeding back the temperature change in time.
2. A robotic friction stir spot welding system for detecting and feeding back temperature changes as defined in claim 1 wherein said control system comprises:
the welding servo driving system is electrically connected with the welding robot and the spot welding machine head, and is used for driving the welding robot to act and driving the spot welding operation of the spot welding machine head;
the supporting servo driving system is electrically connected with the supporting robot and the supporting machine head and is used for driving the supporting robot to act and driving the supporting operation of the supporting machine head; and
and the numerical control system is electrically connected with the welding servo driving system and the supporting servo driving system and is used for controlling the welding servo driving system and the supporting servo driving system to synchronously drive the spot welding machine head and the supporting machine head.
3. A robotic friction stir spot welding system for detecting and feeding back temperature changes as defined in claim 1 wherein said temperature control means includes a thermocouple and a temperature sensor, said thermocouple being electrically connected to said temperature sensor; the contact position of the spot welding machine head and a to-be-welded part is sequentially provided with a stirring pin, an inner shaft shoulder and a pressing sleeve from inside to outside, and the thermocouple is arranged on the pressing sleeve.
4. A robotic friction stir spot welding system for detecting and feeding back temperature changes as defined in claim 1 wherein said spot welder head comprises a spot welding mount, a spot welding drive motor and a spot welder head, said spot welding mount being connected to said welding robot, said spot welding drive motor and said spot welder head both being mounted to said spot welding mount, and said spot welding drive motor having a drive end connected to said spot welder head, said spot welding drive motor being electrically connected to said control system.
5. A robotic friction stir spot welding system for detecting and feeding back temperature variations as claimed in claim 1 wherein said support head comprises a support mounting base, a support drive motor and a support head, said support mounting base being connected to said support robot, said support drive motor and said support head being mounted on said support mounting base and being connected to said support head, said support drive motor being electrically connected to said control system.
6. A robotic friction stir spot welding system for detecting and feeding back temperature changes as defined in claim 1 wherein said support head is conical, said support head bottom surface being a planar support point, said planar support point having a dimension greater than or equal to the outer diameter dimension of the clamping sleeve.
7. A robotic friction stir spot welding system for detecting and feeding back temperature changes as defined in claim 6 wherein said planar support points are circular, square or rectangular in shape.
8. A robotic friction stir spot welding system for detecting and feeding back temperature changes as defined in claim 1 wherein said support head has mounting holes therein for engaging bolts to connect with said support robot.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571114A (en) * | 2022-04-14 | 2022-06-03 | 武汉逸飞激光股份有限公司 | Laser dynamic balance welding system and welding method |
| CN115041777A (en) * | 2022-07-13 | 2022-09-13 | 北京航空航天大学 | All-position welding temperature control system and method for aluminum alloy conduit |
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2019
- 2019-12-27 CN CN201922397591.1U patent/CN212043114U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571114A (en) * | 2022-04-14 | 2022-06-03 | 武汉逸飞激光股份有限公司 | Laser dynamic balance welding system and welding method |
| CN114571114B (en) * | 2022-04-14 | 2024-02-09 | 武汉逸飞激光股份有限公司 | Laser dynamic balance welding system and welding method |
| CN115041777A (en) * | 2022-07-13 | 2022-09-13 | 北京航空航天大学 | All-position welding temperature control system and method for aluminum alloy conduit |
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