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A welding seam tracking and height measurement system for a friction stir welding robot

A welding robot and friction stirring technology, applied in welding equipment, non-electric welding equipment, metal processing equipment, etc., can solve the problems of low precision and achieve the effects of data redundancy, high reliability, and compact structure

Active Publication Date: 2022-04-01
上海电气自动化集团有限公司
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  • Abstract
  • Description
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Problems solved by technology

[0003] The existing welding seam tracking technology using laser sensors mostly uses light rays projected on the surface of the workpiece, and combined with the camera system to visually track the welding seam, the accuracy is low

Method used

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  • A welding seam tracking and height measurement system for a friction stir welding robot
  • A welding seam tracking and height measurement system for a friction stir welding robot
  • A welding seam tracking and height measurement system for a friction stir welding robot

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Embodiment Construction

[0019] In order to better understand the technical solution of the present invention, the following will be described in detail through specific examples:

[0020] see Figure 1 to Figure 3 , a welding seam tracking and height measuring system of a friction stir welding robot of the present invention includes a mechanical arm 1, and a stirring head 2 is arranged at the end of the mechanical arm for performing friction stir welding on the welding seam of the working surface. Due to the narrow weld seam of friction stir welding, the stirring head 2 needs to maintain a roughly vertical angle with the working surface during the whole welding operation. When the working surface is an uneven horizontal surface, it is necessary to provide accurate welding seam tracking and stirring head control technology.

[0021] In the friction stir welding robot seam tracking and height measuring system of the present invention, the stirring head 2 is connected with a dual laser measuring head m...

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Abstract

The invention discloses a welding seam tracking and height measuring system of a friction stir welding robot, comprising a mechanical arm, a stirring head is arranged at the end of the There is a dual laser measuring head module; the dual laser measuring head module includes a first laser measuring head, a second laser measuring head and a parallel device, and the first laser measuring head and the second laser measuring head emit The directions of the laser columns are parallel to each other, and the plane where the first laser measuring head and the second laser measuring head are located is perpendicular to the stirring head. The invention can realize the position tracking of the friction stir welding narrow seam, the high-speed and high-precision measurement of the height and perpendicularity between the stirring head and the surface of the weldment, and has strong anti-interference ability and simple and reliable structure.

Description

technical field [0001] The invention relates to a welding seam tracking and height measuring system of a friction stir welding robot used in the field of robot friction stir welding. Background technique [0002] With the development of seam tracking related technologies, a variety of sensor types and detection methods have emerged, among which contact sensors, arc sensors, ultrasonic sensors and optical sensors are more commonly used. Because the friction stir welding seam gap is very small, the detection accuracy that can detect the micro gap (0.1 mm) is required, so the magneto-optical imaging technology and laser vision technology are widely used, especially the point laser (or line laser) displacement sensor, The method of obtaining the cross-sectional profile of the weld seam by semiconductor laser + area array sensor is the most widely used. [0003] The existing welding seam tracking technology using laser sensors mostly uses light rays projected on the surface of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K20/12B23K20/26
CPCB23K20/122B23K20/123B23K20/1245B23K20/26
Inventor 徐志明陈金成陈忠程松
Owner 上海电气自动化集团有限公司
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