A friction welding robot device with alignment detection structure

Abstract

The present invention discloses a friction welding robot device with a positioning detection structure, wherein a positioning push plate is driven by a horizontal driving mechanism and pushes the rectangular workpiece to slide in a horizontal plane, and the left and right rectangular workpieces are positioned in the horizontal direction by the positioning push plates on the sliding mechanism that are symmetrically arranged on the left and right. A force detector is arranged on the side of the positioning push plate close to the rectangular workpiece, and the force detector transmits a signal to an industrial computer in real time. The industrial computer can accurately calculate the working position of the friction welding manipulator through the changes in the signals of several adjacent force detectors; when the friction welding manipulator deviates from the weld area to work, the force applied by the manipulator to the rectangular workpiece in the horizontal direction is zero, and at this time the data of each force detector suddenly decreases instantaneously. At this time, the industrial computer can operate the friction welding robot device to stop immediately, reposition the weld and then process it, and no waste will be caused by the wrong welding position.

Description

Technical Field

[0001] The present application relates to the field of high-precision automatic processing of friction welding equipment, and in particular to a friction welding robot equipment with an alignment detection structure. Background Art

[0002] It's too early for friction welding robots to completely replace manual friction welding, but the goal of replacing 90% of welders in mass friction welding operations is achievable. Friction welding robots are increasingly favored by small and medium-sized enterprises for their high efficiency, high quality, and ease of management. However, for some products requiring high precision, friction welding robots alone cannot meet the requirements, so users need to promptly incorporate an automatic seam tracking and positioning system. Friction welding robots use a variety of seam tracking methods. Two common methods are peripheral auxiliary detection and self-detection; auxiliary detection includes laser tracking and photographic imaging tracking. This seam tracking and positioning control system uses optical measurement equipment to collect seam-related data. The friction welding robot then uses this data comparison to adjust the motion trajectory of its adaptive arm, enabling real-time tracking of the weld. Self-testing involves inductively testing the weld wire and measuring friction welding parameters in real time. However, inductive testing of the weld wire by the friction welding robot itself increases costs and has significant limitations in applicable friction welding production environments. In comparison, laser seam tracking is currently the market's preferred, mature, and reliable control method, unconstrained by friction welding processes, methods, or environments. However, a separate laser or imaging structure is required, which not only increases the cost of peripheral hardware, but also causes defects such as large temperature changes in the friction welding environment and friction welding smoke pollution, resulting in low working accuracy of the laser or imaging structure, easy damage requiring high-cost maintenance, and requiring background programs for analysis, making it difficult to track welds in real time.

[0003] Therefore, researching a method to solve the above problems and realize high-precision, real-time tracking of weld seam tracking and positioning of friction welding robots has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] The lifting mechanism is a bottom end of a lifting mechanism, and the lifting mechanism is a bottom end of a lifting mechanism, and the lifting mechanism is a bottom end of a lifting mechanism. The lifting mechanism is a plurality of lifting plates, each of which is connected with a lifting plate, and the lifting plate is a plurality of lifting plates, each of which is connected with a lifting plate to lift and lower the lifting plate.

[0006] Furthermore, two sliding mechanisms are symmetrically provided on the left and right sides, and the two sliding mechanisms can slide relative to the friction welding platform along a sliding rail parallel to the symmetry axis.

[0007] Furthermore, each of the sliding mechanisms also includes a movable rail perpendicular to the direction of the sliding rail, and the movable rail cooperates with a slider arranged at the bottom of the alignment detection structure. The pushing guide rail is arranged on one side of the alignment detection structure on the sliding platform and is fixed to the alignment detection structure through an upper positioning plate.

[0008] Furthermore, the positioning slide rod is arranged through a guide groove provided on the upper positioning plate, and the positioning slide rod slides relative to the upper positioning plate.

[0009] Furthermore, the positioning push plate is arranged through the positioning slot provided on the upper positioning plate, and the positioning push plate slides along the positioning slot in the horizontal direction and pushes the two workpieces to move toward each other.

[0010] Furthermore, the slide groove is opened at the center position of the upper positioning plate, the positioning groove and the guide groove are arranged around the slide groove, the positioning groove is arranged on the end face of the slide groove away from the weld, and the guide groove is arranged on the other three end faces of the slide groove.

[0011] Furthermore, the positioning groove and the guide groove are arranged around the slide groove, the positioning groove is arranged on the end face of the slide groove away from the weld and an end face adjacent to the end face away from the weld, and the guide groove is arranged on the end face of the slide groove close to the weld and an end face adjacent to the end face close to the weld.

[0012] Furthermore, the lifting drive mechanism is fixedly arranged on the side end surface of the upper positioning plate, and the horizontal drive mechanism is fixedly arranged on the clamping plate.

[0013] Furthermore, a horizontal adjustment structure is provided below the friction welding platform. The horizontal adjustment structure includes four legs, and the level of the friction welding platform is adjusted by raising and lowering the four legs.

[0014] Furthermore, each of the sliding mechanisms includes two alignment detection structures, and the two alignment detection structures are relatively fixed by the same clamping plate.

[0015] Beneficial effects:

[0016] (1) Compared with the tracking mechanism in the automatic welding process of the prior art, the friction welding robot device with the alignment detection structure of the present invention can detect the friction welding position of the friction welding manipulator in real time and with high precision, and accurately calculate the working position of the friction welding manipulator through the changes in the signals of several adjacent force detectors;

[0017] (2) The friction welding robot device with a positioning detection structure of the present invention has a force detector arranged on the side of the positioning push plate close to the rectangular workpiece. When the friction welding manipulator deviates from the weld area, the force applied by the manipulator to the rectangular workpiece in the horizontal direction is zero. At this time, the data of each force detector suddenly decreases instantly. At this time, the industrial computer can operate the friction welding robot device to stop immediately, reposition the weld and then process it, so that waste will not be caused by incorrect welding position. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the friction welding robot device with an alignment detection structure of the present invention;

[0020] Figure 2 Partial enlargement of the present invention Figure 1 ;

[0021] Figure 3 This is a partial enlargement of the present invention Figure 2 ;

[0022] Figure 4 This is a partial enlarged view of the alignment detection structure of the present invention;

[0023] Figure 5 This is a structural diagram of the slots on the upper positioning plate of the present invention;

[0024] Figure 6 Schematic diagram of the structure of the clamp of the present invention;

[0025] Figure 7 This is a schematic diagram of positioning workpieces A and B during processing according to the present invention. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0027] like Figure 1-7, this embodiment provides a friction welding robot device with a positioning detection structure, including a friction welding manipulator 1, a positioning detection structure 2, a friction welding platform 3, and an industrial computer 6. The friction welding platform 3 is provided with a rotatable friction welding manipulator 1 and a sliding mechanism 4. The sliding mechanism 4 is symmetrically provided with two, each of which includes a sliding platform 401 and a pushing guide rail 402 provided on the sliding platform 401. The positioning detection structure 2 is provided on the sliding platform 401 and can be driven by the pushing guide rail 402 to move relative to the sliding platform 401. The two sliding mechanisms 4 are The alignment detection structure 2 is driven by the pushing guide rail 402 to move closer to or away from each other; the alignment detection structure 2 includes an upper positioning plate 201, a lower positioning plate 202, and a clamp 5 and a positioning rod 203 arranged between the upper positioning plate 201 and the lower positioning plate 202. The upper positioning plate 201 is fixed to the lower positioning plate 202 by the positioning rod 203. The upper positioning plate 201 is provided with a slide groove 204, a positioning groove 205 and a guide groove 206. The clamp 5 includes a clamping plate 501, a slide plate 502 and a lifting drive mechanism 503 that drives the clamping plate 501 to lift and clamp the rectangular workpiece. 1 is fixedly connected to the slide plate 502, and the slide plate 502 is lifted and lowered in a direction perpendicular to the sliding platform 401 under the drive of the lifting drive mechanism 503, and the rectangular workpiece is pressed against the lower positioning plate 202 through the clamping plate 501 (that is, the rectangular workpiece is limited between the clamping plate 501 and the lower positioning plate 202). A positioning slide bar 505 and a positioning push plate 504 are provided around the slide plate 502. The slide plate 502 is lifted and lowered through the slide groove 204 opened on the upper positioning plate 201 and its vertical sliding direction is limited by the positioning slide bar 505. The positioning push plate 504 is driven and pushed by the horizontal driving mechanism 506 The rectangular workpiece slides in the horizontal plane, and the left and right rectangular workpieces A and B are positioned horizontally by the positioning push plates 504 on the sliding mechanism 4, which are symmetrically arranged on the left and right. A force detector is provided on the side of the positioning push plate 504 close to the rectangular workpiece, and the force detector transmits the signal to the industrial computer 6 in real time. When the friction welding robot 1 performs friction welding on the rectangular workpiece at the corresponding position, the force detector signal at the corresponding position will suddenly change, and the adjacent force detector signals will also change. The industrial computer 6 can accurately calculate the working position of the friction welding robot 1 based on the changes in the signals of several adjacent force detectors.During the welding process, the force detector signals symmetrically positioned at the ends of the two workpieces undergo regular changes. Before welding, the force detector signals on the left and right sides are unequal due to the presence of the weld seam. During welding, the stirring head is inserted into the weld seam, squeezing and stirring the plastic material, causing the force detector signals on both ends of the welded workpieces to experience varying degrees of sudden changes. Force detectors on the left and right sides, located far from the actual welding position, have nearly identical force detector signals due to being welded together. The real-time welding position can be calculated based on the changes in these force detector signals. The industrial computer can accurately calculate the working position of the friction welding robot based on the changes in the signals from several adjacent force detectors. Simultaneously, these force detectors can track the welding movements of the welding robot in real time.

[0028] Since the automatic processing positioning equipment of friction welding equipment such as laser tracking, photographic imaging tracking and self-detection in the existing technology does not have the defect of real-time and high-precision tracking of friction welding manipulators, and the image tracking requires image processing during calculation, the image processing is difficult and has low precision, while there are many parameters and a long time, making it difficult to track and respond to the friction welding position in real time, resulting in a low degree of automation of the friction welding manipulator and poor friction welding effect; the present application proposes a friction welding robot device with a positioning detection structure, which can detect the friction welding position of the friction welding manipulator in real time and with high precision, and accurately calculate the working position of the friction welding manipulator through the changes in the signals of several adjacent force detectors. At the same time, since the force detector of the present application is arranged on the side of the positioning push plate close to the rectangular workpiece, when the friction welding manipulator deviates from the weld area to work, the horizontal force applied by the manipulator to the rectangular workpiece is zero. At this time, the data of each force detector suddenly decreases instantly. At this time, the industrial computer can operate the friction welding robot device to stop immediately, reposition the weld and then process it, so that waste will not be caused by incorrect welding position.

[0029] Furthermore, two sliding mechanisms 4 are provided symmetrically on the left and right, and the two sliding mechanisms 4 can slide relative to the friction welding platform 3 along the sliding rails 301 parallel to the symmetry axis.

[0030] Furthermore, each of the sliding mechanisms 4 also includes a movable rail 403 perpendicular to the direction of the sliding rail 301, and the movable rail 403 cooperates with the slider 210 arranged at the bottom of the alignment detection structure 2, and the pushing guide rail 402 is arranged on one side of the alignment detection structure 2 on the sliding platform 401 and is fixed to the alignment detection structure 2 through the upper positioning plate 201.

[0031] Specifically, the positioning slide bar 505 is disposed through the guide groove 206 provided on the upper positioning plate 201 , and the positioning slide bar 505 can slide relative to the upper positioning plate 201 .

[0032] Specifically, the positioning push plate 504 is disposed through the positioning slot 205 provided on the upper positioning plate 201 , and the positioning push plate 504 slides along the positioning slot 205 in the horizontal direction and pushes the two workpieces to move toward each other.

[0033] In this embodiment, the chute 204 is opened at the center position of the upper positioning plate 201, and the positioning groove 205 and the guide groove 206 are arranged around the chute 204. The positioning groove 205 is arranged on the end face of the chute 204 away from the weld, and the guide groove 206 is arranged on the other three end faces of the chute 204. Preferably, the positioning groove 205 and the guide groove 206 are arranged around the chute 204. The positioning groove 205 is arranged on the end face of the chute 204 away from the weld and an end face adjacent to the end face away from the weld, and the guide groove 206 is arranged on the end face of the chute 204 close to the weld and an end face adjacent to the end face close to the weld. The above arrangement ensures that the positioning push plate 504 can be arranged on the periphery of the workpiece to push the workpiece into position.

[0034] Preferably, the lifting drive mechanism 503 is fixedly arranged on the side end surface of the upper positioning plate 201 , and the horizontal drive mechanism 506 is fixedly arranged on the clamping plate 501 .

[0035] Furthermore, a horizontal adjustment structure 7 is provided below the friction welding platform 3 . The horizontal adjustment structure 7 includes four legs 701 . The level of the friction welding platform 3 is adjusted by raising and lowering the four legs 701 .

[0036] In the friction welding robot device of the present application with an alignment detection structure, preferably each of the sliding mechanisms 4 includes two alignment detection structures 2 , and the two alignment detection structures 2 are relatively fixed via the same clamping plate 501 .

[0037] Furthermore, the friction welding robot equipment with alignment detection structure is also equipped with a central lubrication system to achieve automatic lubrication of various components;

[0038] The friction welding robot device has a fault alarm. When the friction welding manipulator 1 deviates from the weld area, the data of the force detector suddenly changes. At this time, the industrial computer 6 transmits a signal to the fault alarm to remind the staff to manually confirm whether the friction welding manipulator 1 deviates.

[0039] The friction welding robot has an integrated light-touch one-button tool setting function to ensure the welding pressure and facilitate the setting of the welding program; the friction welding robot has a welding data recording function; the friction welding robot has a stirring head life management function; the friction welding robot has a dedicated cooling system for cooling the stirring head and workpiece; the friction welding robot system is equipped with safety protection components to ensure the reliability of the equipment and the safety of the operator.

[0040] The present invention discloses a friction welding robot device with a positioning detection structure. Through the setting of the positioning detection structure, a force detector is set on the side of the positioning push plate close to the rectangular workpiece. During operation, when the friction welding manipulator deviates from the weld area, the force applied by the manipulator to the rectangular workpiece in the horizontal direction is zero. At this time, the data of each force detector suddenly decreases instantly. At this time, the industrial computer can operate the friction welding robot device to stop immediately, reposition the weld and then process it, so that waste will not be caused by incorrect welding position. At the same time, since the friction welding manipulator needs to insert a high-speed rotating stirring tool between the metals to be welded when performing stir friction welding, and make the stirring tool move forward at a certain speed (usually, the stirring head deviates 3° to 5° to the rotation side relative to the vertical line of the weld), the metal to be welded is heated to a plastic state (welding) through the rotation of the shaft shoulder and the stirring needle. When the temperature is lower than the melting point, about 80% of the melting point), the stirring tool moves forward, extruding and stirring the plastic material, so that the plastic material forms a stable flow field. At the position where the stirring head moves, as the stirring tool moves, the temperature gradually cools and solidifies to form a weld. That is, during the welding process, the force detector signals symmetrically arranged at both ends of the two welded workpieces will change regularly. Before welding, due to the existence of the weld, the force detector signals on the left and right sides are not equal. During welding, since the stirring head is inserted into the weld and extrudes and stirs the plastic material, the force detector signals at both ends of the two welded workpieces will produce different degrees of mutation. At this time, the real-time welding position can be calculated based on the changes in different force detector signals. The industrial computer can accurately calculate the working position of the friction welding robot through the changes in several adjacent force detector signals.

[0041] The foregoing description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be encompassed within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A friction welding robot with an alignment detection structure, comprising a friction welding manipulator, an alignment detection structure, a friction welding platform, and an industrial computer. The friction welding platform is provided with a rotatable friction welding manipulator and a sliding mechanism, wherein two sliding mechanisms are provided symmetrically on the left and right. The invention is characterized in that: Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The cam is driven by a mechanism to lift and lower it in a direction perpendicular to the sliding platform, and the rectangular workpiece is pressed against the lower positioning plate by the clamping plate, and a positioning slide bar and a positioning push plate are arranged around the slide, and the slide is lifted and lowered through the slide slot opened on the upper positioning plate and its vertical sliding direction is limited by the positioning slide bar, and the positioning push plate is driven by the horizontal driving mechanism and pushes the rectangular workpiece to slide in the horizontal plane, and the left and right rectangular workpieces are positioned in the horizontal direction by the positioning push plates on the sliding mechanism arranged symmetrically on the left and right, and a force detector is provided on the side of the positioning push plate close to the rectangular workpiece, and the force detector transmits the signal to the industrial computer in real time, and the industrial computer can accurately calculate the working position of the friction welding robot through the changes in the signals of several adjacent force detectors.

2. The friction welding robot device with an alignment detection structure according to claim 1 is characterized in that: The two sliding mechanisms are symmetrically arranged on the left and right, and the two sliding mechanisms can slide relative to the friction welding platform along a sliding rail parallel to the symmetry axis.

3. The friction welding robot device with an alignment detection structure according to claim 2, characterized in that: Each of the sliding mechanisms also includes a movable rail perpendicular to the direction of the sliding rail, and the movable rail cooperates with a slider arranged at the bottom of the alignment detection structure. The pushing guide rail is arranged on one side of the alignment detection structure on the sliding platform and is fixed to the alignment detection structure through an upper positioning plate.

4. The friction welding robot device with an alignment detection structure according to claim 1 is characterized in that: The positioning slide bar is arranged through a guide slot provided on the upper positioning plate, and the positioning slide bar slides relative to the upper positioning plate.

5. The friction welding robot device with an alignment detection structure according to claim 4, characterized in that: The positioning push plate is arranged through the positioning slot provided on the upper positioning plate, and the positioning push plate slides along the positioning slot in the horizontal direction and pushes the two workpieces to move in a direction close to each other.

6. The friction welding robot device with an alignment detection structure according to claim 5, characterized in that: The slide groove is opened at the center position of the upper positioning plate, the positioning groove and the guide groove are arranged around the slide groove, the positioning groove is arranged on an end face of the slide groove away from the weld, and the guide groove is arranged on the other three end faces of the slide groove.

7. The friction welding robot device with an alignment detection structure according to claim 5, characterized in that: The positioning groove and the guide groove are arranged around the slide groove. The positioning groove is arranged on an end face of the slide groove away from the weld and an end face adjacent to the end face away from the weld. The guide groove is arranged on an end face of the slide groove close to the weld and an end face adjacent to the end face close to the weld.

8. The friction welding robot device with an alignment detection structure according to claim 1, characterized in that: The lifting drive mechanism is fixedly arranged on the side end surface of the upper positioning plate, and the horizontal drive mechanism is fixedly arranged on the clamping plate.

9. The friction welding robot device with an alignment detection structure according to claim 1, characterized in that: A horizontal adjustment structure is further provided below the friction welding platform. The horizontal adjustment structure includes four legs, and the level of the friction welding platform is adjusted by lifting and lowering the four legs.

10. The friction welding robot device with an alignment detection structure according to claim 2, characterized in that: There are two alignment detection structures on each sliding mechanism, and the two alignment detection structures are relatively fixed by the same clamping plate.

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