CN212946012U - Controllable robot friction stir welding device of temperature - Google Patents
Controllable robot friction stir welding device of temperature Download PDFInfo
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- CN212946012U CN212946012U CN202021074141.5U CN202021074141U CN212946012U CN 212946012 U CN212946012 U CN 212946012U CN 202021074141 U CN202021074141 U CN 202021074141U CN 212946012 U CN212946012 U CN 212946012U
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Abstract
The utility model discloses a controllable robot friction stir welding device of temperature, including six degree of freedom industrial robot, electromagnetism adsorption workbench, six degree of freedom industrial robot is connected with human-computer interaction interface system, and all sets up in one side of electromagnetism adsorption workbench, and six degree of freedom industrial robot is connected with cooling device, installs the friction stir welding executor on six degree of freedom industrial robot's the sixth flange, and the lower extreme of friction stir welding executor is equipped with the special handle of a knife of friction stir welding, and the friction stir welding instrument is installed to the special handle of a knife of friction stir welding. The utility model has the advantages that: through increasing cooling device in friction stir welding device, can be to multiposition temperature measurement to according to the opening angle of real-time temperature parameter adjustment solenoid valve, spray the coolant of settlement to the relevant position, realize rapid cooling, to real-time welding temperature adjustment, ensure that the temperature control in the welding process is at the temperature of settlement, reduce the welding and scrap, improve the benefit.
Description
Technical Field
The utility model relates to a friction stir welding technical field specifically is a controllable robot friction stir welding device of temperature.
Background
The robot is an important carrier for intelligent manufacturing of modern manufacturing industry, along with gradual disappearance of labor force dividends in China, and 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 old and new kinetic energy in new and normal economic development in China and promoting high-quality economic development.
The robot has good flexibility in friction stir welding, can realize complex track motion, and enables the welding of complex structural parts to be possible. 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.
However, the rigidity of the friction stir welding robot is poor, and the solid state welding of the friction stir welding robot determines that a large upsetting force (Z-direction force) in the welding process can cause structural deformation and apply accurate welding operation differently, and the problem is generally solved by a mode of constant control of the upsetting force (Z-direction force), so that an ideal friction stir welding head can be obtained. When an annular welding seam, a variable cross-section sample and a copper alloy with better heat conductivity are welded, due to the preheating effect of a welded part on an unwelded part (the annular welding seam, particularly the annular welding seam of the copper alloy), the change of heat dissipation conditions (such as the cross section is reduced and the heat dissipation is reduced) and the extreme sensitivity of dissimilar material welding to temperature, the temperature of a welded area is increased to soften the material, and the Z-direction force on a stirring tool is reduced. Under the condition, the constant pressure mode can control the stirring tool to continuously press down the sample so as to obtain a set pressure value, on one hand, the temperature can be continuously increased along with the increase of the pressing amount, so that the sample is continuously pressed down to form a vicious circle until the sample is welded through and pricked into the backing plate, so that welding scrap is caused; on the other hand, the increase of the pressing amount also causes the generation and increase of the flash, and the subsequent process of flash treatment is needed, so that the cost is increased; when dissimilar metals such as aluminum/magnesium alloy, aluminum/steel alloy, aluminum/copper alloy, etc. are performed, since dissimilar materials are extremely sensitive to temperature at the time of welding, it is necessary to precisely control the temperature at the time of welding to obtain an ideal joint.
For the welding seam itself, when the welding temperature is higher, the connection quality of the welding seam will be deteriorated, and the heat generation amount of the shaft shoulder of the conventional friction stir welding tool is about 80% of the total heat generation amount at the maximum, while the heat generation amount of the top of the stirring pin is less, the uneven distribution of heat of the upper and lower welding seams will deteriorate the joint, and the deformation is easily aggravated, and if serious, the product will be scrapped.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a controllable robot friction stir welding device of temperature to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a temperature-controllable robot friction stir welding device comprises a six-degree-of-freedom industrial robot and an electromagnetic adsorption workbench, wherein the six-degree-of-freedom industrial robot is connected with a human-computer interaction interface system and is arranged on one side of the electromagnetic adsorption workbench, the six-degree-of-freedom industrial robot is connected with a cooling device, a friction stir welding actuator is arranged on a sixth shaft flange of the six-degree-of-freedom industrial robot, a special friction stir welding tool handle is arranged at the lower end of the friction stir welding actuator, and a friction stir welding tool is arranged on the special friction stir welding tool handle; the cooling device comprises a cooling box and a cooling pipeline which are connected with each other, the cooling box is connected with the human-computer interaction interface system, and the cooling pipeline is fixed on a sixth shaft flange of the six-degree-of-freedom industrial robot.
Further preferably, the cooling pipeline is connected with a cooling spray nozzle, and a temperature measuring probe is arranged on the cooling pipeline at a position close to the cooling spray nozzle and fixed on the cooling pipeline through a fixing block.
Further preferably, the number of the temperature measuring probes and the number of the cooling spray heads are not less than one.
Further preferably, an electromagnetic valve is arranged on the cooling spray head.
Preferably, the opening angle of the electromagnetic valve is 0-360 degrees, and the cooling speed of the cooling medium sprayed by the cooling nozzle is 0-10 ℃/S.
Further preferably, the output end of the cooling pipeline is fixed on the friction stir welding actuator through a hoop.
Preferably, the special tool handle for friction stir welding is integrated with a pressure sensor and a torque sensor.
Further preferably, a temperature control module and a pressure control module are arranged in the human-computer interaction interface system.
Advantageous effects
The utility model discloses a controllable robot friction stir welding device of temperature through increasing cooling device in the friction stir welding device, can be to multiposition temperature measurement to according to the angle of opening of real-time temperature parameter adjustment solenoid valve, spray the coolant who sets for to the relevant position, realize rapid cooling, to real-time welding temperature adjustment, ensure the temperature control in the welding process at the temperature of setting for, reduce the welding and scrap, the benefit improves.
Drawings
Fig. 1 is a schematic structural view of a temperature-controllable robot friction stir welding device disclosed in an embodiment of the present invention;
fig. 2 is a schematic structural view of a temperature control device according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a cooling spray head according to an embodiment of the present invention.
Reference numerals
1-six-degree-of-freedom industrial robot, 2-human-computer interaction interface system, 3-cooling device, 31-cooling box, 32-cooling pipeline, 33-clamp and 34-fixing block. 35-temperature measuring probe, 36-cooling spray head, 37-electromagnetic valve, 4-electromagnetic adsorption workbench, 5-welding part, 6-welding seam and 7-friction stir welding executor.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
Examples
As shown in fig. 1-3, a temperature-controllable robot friction stir welding device comprises a six-degree-of-freedom industrial robot 1 and an electromagnetic adsorption workbench 4, wherein the six-degree-of-freedom industrial robot 1 is connected with a human-computer interaction interface system 2 and is arranged on one side of the electromagnetic adsorption workbench 4, the six-degree-of-freedom industrial robot 1 is connected with a cooling device 3, a friction stir welding actuator 7 is arranged on a sixth shaft flange of the six-degree-of-freedom industrial robot 1, a special friction stir welding tool holder 71 is arranged at the lower end of the friction stir welding actuator 7, and a friction stir welding tool 72 is arranged on the special friction stir welding tool holder 71; the cooling device 3 comprises a cooling box 31 and a cooling pipeline 32 which are connected with each other, the cooling box 31 is connected with the human-computer interaction interface system 2, and the cooling pipeline 32 is fixed on a sixth shaft flange of the six-degree-of-freedom industrial robot 1.
Preferably, the cooling pipe 32 is connected with a cooling spray head 36, and a temperature measuring probe 35 is arranged on the cooling pipe 32 at a position close to the cooling spray head 36 and is fixed on the cooling pipe 32 through a fixing block 34. The temperature measuring probe 35 adopts a non-contact measuring mode, and realizes rapid temperature measurement through infrared rays, wherein the measuring range is 20-900 ℃, the rapid response time is 10-40 ms, the measuring resolution is 0.1 ℃, and the measuring precision is +/-1 ℃.
Preferably, the number of the temperature measuring probe 35 and the number of the cooling nozzles 36 are not less than one, temperature detection and temperature reduction can be performed on one position or a plurality of positions, and the sprayed cooling medium can be compressed air, nitrogen, helium, water mist and other media.
Preferably, the cooling nozzle 36 is provided with an electromagnetic valve 37, the electromagnetic valve 27 can control the amount of the cooling medium sprayed from the cooling nozzle 36, so as to control the cooling effect, and the electromagnetic valve 37 is connected with the human-computer interaction interface system 2 through a system bus and is controlled by the human-computer interaction interface system 2.
Preferably, the opening angle of the electromagnetic valve 37 is 0 to 360 °, the cooling rate of the cooling medium sprayed out of the cooling spray head 36 is 0 to 10 ℃/S, and the cooling medium in the cooling spray head 36 is sprayed to the corresponding position in required amount by controlling the opening angle of the electromagnetic valve 37.
Preferably, the output end of the cooling pipeline 32 is fixed on the friction stir welding actuator 7 through a clamp 33, and the clamp 33 has good clamping force and is convenient to use.
Preferably, a pressure sensor and a torque sensor are integrated on the special tool shank 71 for friction stir welding, so that X, Y and Z-direction acting force and torque received by the friction stir welding tool 72 in the welding process can be measured in real time, the measured data is sent to the human-computer interaction interface system 2 through a system bus, and real-time display and storage of welding process data are realized.
Preferably, a temperature control module is arranged in the human-computer interaction interface system 2, and the temperature control module can receive real-time data measured by the temperature measuring probe 35, and sends control confidence to the cooling spray head 36 and the electromagnetic valve 37 through a system bus through a decision result of a built-in welding temperature expert database system, so as to control the opening and closing of the cooling spray head 36 and the opening of the electromagnetic valve 37, and thus control the welding temperature within a certain range.
Meanwhile, a pressure control module is arranged in the human-computer interaction interface system 2 and can synchronously run with the temperature control module, so that the temperature control and the Z-direction acting force of the robot are synchronously adjusted in the welding process, and the control precision of the welding pressure can be improved.
In this embodiment, the friction stir welding actuator 7 can realize a rotation speed of 0 to 12000rpm, the operating speed of the six-degree-of-freedom industrial robot 1 is 0 to 3000mm/min, the Z-direction upsetting force during welding is 0 to 15KN, the welding material is light alloy such as aluminum and magnesium, high-temperature alloy such as copper alloy, titanium alloy or steel, and dissimilar alloy material such as aluminum/magnesium alloy, aluminum/copper alloy, aluminum/steel alloy, wherein welding of the same material including aluminum alloy and pure copper is preferable, the welding thickness of the aluminum alloy is 0.3 to 10mm, and the welding thickness of the pure copper is 0.3 to 6 mm.
In this embodiment, the welding method of the temperature-controllable robot friction stir welding device includes the following steps:
1) fixing a welding part 5 on an electromagnetic adsorption workbench 4;
2) inputting information such as material, thickness, CAD or CATIA part model and the like of a welding part 5 into the human-computer interaction interface system 2, and giving recommended welding process parameters including the rotating speed of a friction stir welding actuator 7 during welding, the traveling speed of welding, Z-direction upsetting force during welding, welding temperature and the like by an expert database system in the human-computer interaction interface system 2;
3) the human-computer interaction interface system 2 automatically analyzes and obtains the track of the welding seam 6 during welding according to the CAD or CATIA part model, and judges whether to start a temperature control module according to whether the welding seam 6 has a variable cross section or not, if the temperature control module is recommended to be used, the human-computer interaction interface system 2 prompts an operator to start the cooling device 3, and the temperature measuring probe 35 starts self-checking;
4) installing a corresponding friction stir welding tool 72, sending corresponding process parameter data to a corresponding execution unit by the human-computer interaction interface system 2, moving the friction stir welding tool 72 to a welding starting position by the six-degree-of-freedom industrial robot 1, pricking the friction stir welding tool 72 into a welding part 5 according to a set program, and starting welding according to the generated welding process parameters;
5) when the temperature detected by the temperature measuring probe 35 exceeds the preset temperature in the welding process, the temperature control module starts the cooling device 3, calculates the volume of the cooling medium to be sprayed according to the data such as the exceeding temperature value, the temperature rise rate of the temperature and the like, converts the volume into the opening angle of the electromagnetic valve 37, opens the electromagnetic valve 37 according to the calculated angle to spray the cooling medium, and cools the corresponding position;
6) when the temperature detected by the temperature measuring probe 35 falls back to the set temperature, the temperature control module sends a signal to the electromagnetic valve 37, the electromagnetic valve 37 is closed, and cooling is stopped;
7) and (3) continuously performing the operations of the steps 5) and 6) according to the temperature and the temperature rise rate measured by the temperature measuring probe 35, performing dynamic adjustment, ensuring that the temperature in the welding process is controlled at the set temperature until the welding operation is completed, storing information such as the temperature in the welding process in a specified file, and realizing the traceability of the temperature value in the welding process.
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 modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. 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 protection scope of the present invention.
Claims (8)
1. The utility model provides a controllable robot friction stir welding device of temperature, includes six degree of freedom industrial robot (1), electromagnetism adsorption workbench (4), six degree of freedom industrial robot (1) are connected with human-computer interaction interface system (2), and all set up in one side of electromagnetism adsorption workbench (4), its characterized in that: the six-degree-of-freedom industrial robot (1) is connected with a cooling device (3), a friction stir welding actuator (7) is mounted on a sixth shaft flange of the six-degree-of-freedom industrial robot (1), a special friction stir welding tool handle (71) is arranged at the lower end of the friction stir welding actuator (7), and a friction stir welding tool (72) is mounted on the special friction stir welding tool handle (71); the cooling device (3) comprises a cooling box (31) and a cooling pipeline (32) which are connected with each other, the cooling box (31) is connected with the human-computer interaction interface system (2), and the cooling pipeline (32) is fixed on a sixth-axis flange of the six-degree-of-freedom industrial robot (1).
2. A temperature-controllable robotic friction stir welding device as defined in claim 1 wherein: the cooling pipeline (32) is connected with a cooling spray nozzle (36), a temperature measuring probe (35) is arranged on the cooling pipeline (32) close to the cooling spray nozzle (36) and is fixed on the cooling pipeline (32) through a fixing block (34).
3. A temperature-controllable robotic friction stir welding device as defined in claim 2 wherein: the number of the temperature measuring probes (35) and the number of the cooling spray heads (36) are not less than one.
4. A temperature-controllable robotic friction stir welding device as defined in claim 2 wherein: and an electromagnetic valve (37) is arranged on the cooling spray head (36).
5. A temperature-controllable robotic friction stir welding device according to claim 4, wherein: the opening angle of the electromagnetic valve (37) is 0-360 degrees, and the cooling speed of the cooling medium sprayed out of the cooling spray head (36) is 0-10 ℃/S.
6. A temperature-controllable robotic friction stir welding device as defined in claim 1 wherein: the output end of the cooling pipeline (32) is fixed on the friction stir welding actuator (7) through a hoop (33).
7. A temperature-controllable robotic friction stir welding device as defined in claim 1 wherein: and a pressure sensor and a torque sensor are integrated on the special tool handle (71) for friction stir welding.
8. A temperature-controllable robotic friction stir welding device as defined in claim 1 wherein: and a temperature control module and a pressure control module are arranged in the human-computer interaction interface system (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021074141.5U CN212946012U (en) | 2020-06-11 | 2020-06-11 | Controllable robot friction stir welding device of temperature |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021074141.5U CN212946012U (en) | 2020-06-11 | 2020-06-11 | Controllable robot friction stir welding device of temperature |
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| CN212946012U true CN212946012U (en) | 2021-04-13 |
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| CN202021074141.5U Active CN212946012U (en) | 2020-06-11 | 2020-06-11 | Controllable robot friction stir welding device of temperature |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114054930A (en) * | 2021-11-17 | 2022-02-18 | 黄山学院 | Temperature-control coaxial rolling device for friction stir processing |
| CN115338578A (en) * | 2022-10-18 | 2022-11-15 | 江苏新恒基特种装备股份有限公司 | Accurate temperature measuring device and temperature control system of base member in automatic welding |
-
2020
- 2020-06-11 CN CN202021074141.5U patent/CN212946012U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114054930A (en) * | 2021-11-17 | 2022-02-18 | 黄山学院 | Temperature-control coaxial rolling device for friction stir processing |
| CN114054930B (en) * | 2021-11-17 | 2022-06-28 | 黄山学院 | Temperature-control coaxial rolling device for friction stir processing |
| CN115338578A (en) * | 2022-10-18 | 2022-11-15 | 江苏新恒基特种装备股份有限公司 | Accurate temperature measuring device and temperature control system of base member in automatic welding |
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