Automatic sensing and control method of friction stir welding trajectory for fillet joints

Abstract

The invention provides an automatic sensing and control method of friction stir welding trajectory suitable for fillet joints. The method firstly measures the welding seam data in real time by a data measurement module, and calculates the adjustment data of the stirring head according to the measured data by a data processing module. The mechanical control module implements the adjustment command of the stirring head, so that the process of welding fillet joints does not need manual adjustment. For straight right angle welds or arc right angle welds, the position of the stirring head can be automatically adjusted to complete the welding. The invention realizes the automatic welding of the friction stir welding fillet joint and the automatic adjustment of the welding track, and improves the welding production efficiency.

Description

technical field [0001] The invention relates to the field of automatic welding of friction stir welding and the field of design of a static shoulder stirring head, in particular to an automatic sensing and control method of a friction stir welding trajectory suitable for fillet joints. Background technique [0002] Production automation has always been the ultimate goal of continuous research and improvement of production equipment and production systems. As a new welding method, friction stir welding has attracted the attention of researchers at home and abroad. With the research on the structure of the stirring head and the welding process, it has been possible to weld Welds of various structures such as fillet joints, lap joints and spot welded joints. [0003] However, in the current welding equipment, the machine tool type friction stir welding machine is mainly used. Machine-tool friction stir welding machines are capable of welding longer welds, but there are still p...

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Problems solved by technology

Later, it was developed to sense the vertical height change of the butt weld by installing a roller in front of the stirring head, but this method cannot be used for the weld of the fillet joint

Robotic friction stir welding is to complete the welding of the weld seam by programming the motion trajectory of the robot, but it is difficult for the robot friction stir welding to complete a long weld seam, and the structural parts that can be welded are small, especially when welding thicker welding plates or hardness large welding plate

In addition, when welding fillet joints, the stirring head needs to make the inclined surface of the static shoulder fully fit on the surface of the welding plate, which requires a small contact area between the stirring head and the welding plate. The conventional static shoulder design is When the welding direction is slightly deviated, it will scratch the welding plate

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