Friction stir welding system based on double mechanical arms and control method thereof

Abstract

The invention relates to the technical field of welding equipment, in particular to a friction stir welding system based on double mechanical arms and a control method of the friction stir welding system. The system comprises a first mechanical arm, a supporting plate, a second mechanical arm, a friction stir welding head and a controller. The supporting plate is arranged at the movable end of the first mechanical arm; the friction stir welding head is arranged at the movable end of the second mechanical arm; the controller is electrically connected with the first mechanical arm, the second mechanical arm and the friction stir welding head and used for controlling the working states of the first mechanical arm, the second mechanical arm and the friction stir welding head. According to the stirring friction welding system based on the double mechanical arms and the control method of the stirring friction welding system, tools are abandoned, and the tool clamp cost is greatly saved; the clamping work efficiency is improved, the requirements of large-scale and high-efficiency production can be met, and the overall welding efficiency and quality are improved; the mechanical and automatic production requirements are met; for welding of a large workpiece, the supporting plate of the corresponding size can be machined so as to meet the welding requirement of the large workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a friction stir welding system based on dual robotic arms and a control method thereof. Background Art

[0002] Friction stir welding, an advanced solid-state joining technology, has been widely used in numerous fields, including aerospace and automotive manufacturing. It achieves this goal by using frictional heat between the stirrer and the workpiece to create a plastic state, thereby achieving a connection. However, the practical application of friction stir welding technology currently faces numerous challenges.

[0003] During the welding process, the stirring head exerts a considerable axial force on the workpiece, typically ranging from several thousand to several tens of kilonewtons, depending primarily on the workpiece material properties and thickness. To withstand such immense forces without deforming the tooling, the tooling must possess sufficient rigidity. Furthermore, any deviation of the workpiece during the welding process can cause the weld to deviate from its intended position, potentially leading to joint failure and severely impacting weld quality.

[0004] Therefore, the existing friction stir welding technology has high welding costs and low clamping efficiency due to high tooling requirements, complex large-scale tooling design for special-shaped parts and complex surfaces, and difficulty in controlling the clamping device, making it difficult to meet the high efficiency and low cost requirements of modern automated production. Summary of the Invention

[0005] The present invention provides a dual-manipulator-based friction stir welding system and a control method thereof, which are used to solve the defects of the prior art friction stir lap welding and friction stir spot welding technologies, such as high tooling requirements, complex clamping, and difficulty in adapting to complex and large workpieces.

[0006] The present invention provides a friction stir welding system based on a dual-manipulator arm, comprising: First robotic arm; a support plate, provided at the movable end of the first robotic arm, for supporting the workpiece to be welded; Second robotic arm; a friction stir welding head, provided at the movable end of the second robotic arm, for performing friction stir welding on the workpiece to be welded; A controller is electrically connected to the first robotic arm, the second robotic arm and the friction stir welding head, respectively, and is used to control the working states of the first robotic arm, the second robotic arm and the friction stir welding head.

[0007] According to the dual-manipulator friction stir welding system provided by the present invention, a water cooling channel is formed in the support plate; The dual-manipulator friction stir welding system further comprises: a water cooling system, communicated with the water cooling channel and electrically connected to the controller; A temperature detection device is provided on the support plate and is electrically connected to the controller for detecting the temperature of the support plate.

[0008] The friction stir welding system based on dual robotic arms provided by the present invention further includes: A position detection device is electrically connected to the controller and is used to detect position information of the support plate and the friction stir welding head.

[0009] According to the dual-manipulator friction stir welding system provided by the present invention, the position detection device includes: a first position sensor, provided at the movable end of the first robotic arm, for detecting position information of the support plate; The second position sensor is provided at the movable end of the second robotic arm and is used to detect the position information of the friction stir welding head.

[0010] The friction stir welding system based on dual robotic arms provided by the present invention further includes: A pressure detection device is electrically connected to the controller and is used to detect the supporting force provided by the support plate and the pressing force of the friction stir welding head.

[0011] According to the dual-manipulator friction stir welding system provided by the present invention, the pressure detection device includes: a first pressure sensor, provided at the movable end of the first robotic arm, for detecting a supporting force provided by the first robotic arm to the supporting plate; The second pressure sensor is provided at the movable end of the second robotic arm and is used to detect the pressing force provided by the second robotic arm to the friction stir welding head.

[0012] The present invention further provides a control method for a friction stir welding system based on a dual robotic arm according to the present invention, comprising: The working state of the friction stir welding head and / or the second robotic arm is obtained, and the working state of the first robotic arm is correspondingly adjusted according to the working state of the friction stir welding head and / or the second robotic arm.

[0013] According to the control method of the dual-manipulator friction stir welding system provided by the present invention, the method of obtaining the working state of the friction stir welding head and / or the second manipulator, and adjusting the working state of the first manipulator accordingly according to the working state of the friction stir welding head and / or the second manipulator, specifically includes: Establishing a three-dimensional coordinate system, obtaining initial position information of the first robotic arm, the support plate, the second robotic arm, the friction stir welding head, and the workpiece to be welded in the three-dimensional coordinate system, and determining the relative position relationship between the support plate and the friction stir welding head; Acquire first position information of the friction stir welding head in real time, and acquire second position information of the support plate in real time; According to the relative position relationship between the support plate and the friction stir welding head and the first position information, the position of the support plate is adjusted in real time by adjusting the first robotic arm in real time.

[0014] According to the control method of the dual-manipulator friction stir welding system provided by the present invention, the method of obtaining the working state of the friction stir welding head and / or the second manipulator, and adjusting the working state of the first manipulator accordingly according to the working state of the friction stir welding head and / or the second manipulator, specifically includes: In an initial state, obtaining a supporting force provided by the first robotic arm to the supporting plate and a pressing force provided by the second robotic arm to the friction stir welding head, and determining a magnitude relationship between the supporting force and the pressing force; The pressing force provided by the second robotic arm to the friction stir welding head is obtained in real time, and the supporting force provided by the first robotic arm to the supporting plate is adjusted in real time according to the pressing force obtained in real time.

[0015] The control method of the friction stir welding system based on the dual robotic arms provided by the present invention further includes: Preset the support plate temperature threshold range and obtain the support plate temperature in real time; According to the real-time temperature of the support plate, the flow rate of the water cooling system into the water cooling channel is controlled to ensure that the real-time temperature of the support plate is within the temperature threshold range.

[0016] The present invention provides a friction stir welding system based on dual robotic arms, comprising: a first robotic arm, a support plate, a second robotic arm, a friction stir welding head, and a controller; the support plate is provided at the movable end of the first robotic arm, for supporting the workpiece to be welded; the friction stir welding head is provided at the movable end of the second robotic arm, for performing friction stir welding on the workpiece to be welded; the controller is electrically connected to the first robotic arm, the second robotic arm, and the friction stir welding head, respectively, for controlling the working states of the first robotic arm, the second robotic arm, and the friction stir welding head. The friction stir welding system based on dual robotic arms provided by the present invention eliminates the need for complex tooling and clamping tools, and can complete the welding support work only through the cooperation of two robotic arms, greatly saving the cost of tooling and fixtures; improves the efficiency of clamping work, speeds up the production pace, can meet the needs of large-scale, high-efficiency production, improves overall welding efficiency and welding quality, and meets the needs of mechanized and automated production; for the welding of large workpieces, support plates of corresponding sizes can be processed to meet their welding needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a structural schematic diagram of a friction stir welding system based on dual robotic arms provided in one embodiment of the present invention.

[0019] Figure 2 It is a partial structural diagram of a workpiece to be welded, a support plate and a stirring needle provided in one embodiment of the present invention.

[0020] Figure 3 It is a flow chart of a control method of a friction stir welding system based on dual robotic arms provided in one embodiment of the present invention.

[0021] Reference numerals: 1: First robotic arm; 2: Support plate; 3: Workpiece to be welded; 4: Friction stir welding head; 5: Second robotic arm; 6: Controller; 7: Bottom workpiece to be welded; 8: Upper workpiece to be welded; 9: Stirring needle; 10: Welding area; 11: Water-cooling channel. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0023] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this embodiment.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this embodiment, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0025] In this embodiment, unless otherwise specified or limited, the terms "disposed," "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0026] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0027] In related technologies, welding large workpieces with irregular shapes or complex curved surfaces requires specially designed contoured fixtures tailored to their geometry. Positioning accuracy is particularly critical in spot welding (FSSW), as the location of the weld directly impacts the strength of the joint. This requires tooling equipped with precise locating pins, reference surfaces, or clamping blocks to ensure extremely high workpiece alignment accuracy, typically within 0.1mm. However, the design and manufacture of such high-precision tooling not only increases costs, but also makes the commissioning and installation process extremely cumbersome, consuming significant time and labor.

[0028] Furthermore, the performance requirements for the clamping device are stringent. Both pneumatic and hydraulic clamps must provide uniform and controllable pressure. Typical clamping forces range from 500 to 5000N, requiring flexible adjustment based on workpiece thickness. For thin aluminum alloy sheets (1 to 3mm thick, commonly used in the aerospace industry), the clamping process must also avoid indentations on the workpiece surface caused by over-clamping. This typically requires the use of soft or rubber pads for cushioning. This not only increases the complexity of tooling design, but also makes precise control of clamping force challenging in actual operation, compromising weld quality even with the slightest inaccuracy.

[0029] The following combination Figure 1 and Figure 2 The present invention describes a friction stir welding system based on dual robotic arms. The friction stir welding system based on dual robotic arms comprises: a first robotic arm 1 , a support plate 2 , a second robotic arm 5 , a friction stir welding head 4 and a controller 6 .

[0030] Among them, the support plate 2 is arranged at the movable end of the first robotic arm 1, for supporting the workpiece 3 to be welded; the stir friction welding head 4 is arranged at the movable end of the second robotic arm 5, for performing stir friction welding on the workpiece 3 to be welded; the controller 6 is electrically connected to the first robotic arm 1, the second robotic arm 5 and the friction stir welding head 4, respectively, for controlling the working status of the first robotic arm 1, the second robotic arm 5 and the friction stir welding head 4.

[0031] Specifically, the first and second robotic arms 1, 5 can each be a six-axis robotic arm, positioned relative to each other, with their distal ends acting as movable ends. The distal end of the first robotic arm 1 can drive the movement of the support plate 2, while the distal end of the second robotic arm 5 can drive the movement of the friction stir welding head 4. The support plate 2 provides support for the workpiece 3 to be welded, while the friction stir welding head 4 performs friction stir welding on the workpiece 3. Both robotic arms possess high-precision positioning and motion control capabilities.

[0032] In addition, the workpiece 3 to be welded can be placed on the foundation and have self-supporting capabilities; a base and a track are also provided, and the above-mentioned first robotic arm 1 and second robotic arm 5 are installed on the base, and the base can be slidably set on the track. The movement of the base drives the first robotic arm 1 and the second robotic arm 5 to move, and welding work can be performed in a larger range.

[0033] The friction stir welding head 4 typically consists of a rotating pin 9 and a shoulder. During welding, the pin 9 is inserted into the workpiece, with the shoulder in close contact with the workpiece surface. The pin 9 rotates at high speed, generating heat through friction with the workpiece material, causing the material at the weld to reach a plastic state. Simultaneously, a robotic arm moves the pin along a pre-set welding path to complete the welding operation.

[0034] The design of the support plate 2 requires consideration of various factors to meet diverse welding requirements. It should possess sufficient rigidity to withstand the reaction force applied by the stirring head to the workpiece, preventing deformation during welding that could compromise support effectiveness. The surface shape of the support plate 2 can be tailored to common workpiece shapes, such as flat or curved, to better conform to the workpiece back. For welding large workpieces, a support plate 2 of the appropriate shape and size can be designed and fabricated to provide support. Furthermore, the support plate 2 should be easily adaptable to different thermally conductive materials or to the installation of a water cooling system (detailed in the following embodiments).

[0035] An appropriate thermally conductive material can be selected and installed on the back support plate 2 based on factors such as the workpiece material properties and welding process requirements. During the welding process, the thermally conductive material, through contact with the back of the workpiece, conducts away excess heat generated in the weld zone 10, thereby regulating the temperature of the weld zone 10. For example, for some temperature-sensitive materials, a copper alloy with high thermal conductivity can be selected as a thermally conductive material to accelerate heat dissipation and prevent the weld zone 10 from overheating.

[0036] Controller 6 is used to control the working state of first robotic arm 1, second robotic arm 5, and friction stir welding head 4. It primarily controls the motion of first and second robotic arms 1, 5, including their movement positions and applied pressure. It detects their initial positions and relative positional relationships and controls the movements of the robotic arms in real time. Control of friction stir welding head 4 primarily involves controlling it according to pre-set welding parameters, such as welding speed, stirring head rotation speed, and insertion depth of stirring needle 9. Support plate 2 primarily serves as the contact surface with workpiece 3 to be welded, and its motion and applied pressure are determined by first robotic arm 1.

[0037] During the welding process, Figure 2 As shown, the bottom workpiece 7 to be welded and the upper workpiece 8 to be welded are supported in sequence by the support plate 2 , and the workpieces are welded in the welding area 10 using a stirring needle 9 .

[0038] The present invention provides a dual-manipulator friction stir welding system, comprising: a first manipulator 1, a support plate 2, a second manipulator 5, a friction stir welding head 4, and a controller 6; the support plate 2 is provided at the movable end of the first manipulator 1 and is used to support a workpiece 3 to be welded; the friction stir welding head 4 is provided at the movable end of the second manipulator 5 and is used to perform friction stir welding on the workpiece 3 to be welded; the controller 6 is electrically connected to the first manipulator 1, the second manipulator 5, and the friction stir welding head 4, respectively, and is used to control the working states of the first manipulator 1, the second manipulator 5, and the friction stir welding head 4. The dual-manipulator friction stir welding system provided by the present invention eliminates complex tooling and clamping fixtures and can complete welding support work only through the cooperation of two manipulators, greatly saving tooling and fixture costs; improves clamping efficiency, accelerates production pace, can meet the needs of large-scale, high-efficiency production, improves overall welding efficiency and welding quality, and meets the needs of mechanized and automated production; for welding large workpieces, the support plate 2 of corresponding size can be processed to meet its welding needs.

[0039] In one embodiment of the present invention, a water-cooling channel 11 is formed in the support plate 2. The stir friction welding system based on the dual robotic arms also includes: a water-cooling system and a temperature detection device. The water-cooling system is connected to the water-cooling channel 11 and is electrically connected to the controller 6; the temperature detection device is provided on the support plate 2 and is electrically connected to the controller 6 for detecting the temperature of the support plate 2. In this embodiment, by processing a water-cooling channel on the support plate 2 and configuring a water-cooling system and a temperature detection device, the temperature of the support plate 2 is detected in real time by the temperature detection device and fed back to the controller 6. The controller 6 determines the flow rate of the water-cooling medium provided by the water-cooling system to the water-cooling channel 11 based on the temperature of the support plate 2, thereby ensuring that the temperature of the support plate 2 is within a preset range. Specifically, if the current temperature of the support plate 2 is greater than the preset value, the flow rate of the water-cooling medium is increased to improve the cooling effect; otherwise, the flow rate of the water-cooling medium is appropriately reduced to achieve energy saving and emission reduction.

[0040] In one embodiment of the present invention, the dual-manipulator friction stir welding system further includes: a position detection device electrically connected to the controller 6 for detecting the position information of the support plate 2 and the friction stir welding head 4. In this embodiment, the position detection device is used to detect the position information of the support plate 2 and the friction stir welding head 4 and transmit the detected position information to the controller 6. When the friction stir welding head 4 is working, the position of the support plate 2 is adjusted accordingly based on the position information of the friction stir welding head 4 to ensure that the support plate 2 moves accordingly with the friction stir welding head 4. Specifically, when welding a workpiece with an irregular curved surface, the position of the friction stir welding head 4 changes continuously during the movement of the curved surface. At this time, the support plate 2 can be synchronously adjusted according to the real-time position of the friction stir welding head 4, always maintaining contact with the back of the workpiece, and providing stable support for the welding part. It should be understood that the above-mentioned position change of the support plate 2 is determined by the movable end of the first manipulator 1, and the position change of the friction stir welding head 4 is determined by the movable end of the second manipulator 5. Therefore, the controller 6 directly controls the first manipulator 1 and the second manipulator 5 to achieve position adjustment.

[0041] In one embodiment of the present invention, the position detection device includes a first position sensor (not shown) and a second position sensor (not shown). The first position sensor is located at the movable end of the first robotic arm 1 and is used to detect the position of the support plate 2. The second position sensor is located at the movable end of the second robotic arm 5 and is used to detect the position of the friction stir welding head 4. In this embodiment, since the position changes of the support plate 2 and the friction stir welding head 4 are determined by the first robotic arm 1 and the second robotic arm 5, respectively, the position information of the support plate 2 and the friction stir welding head 4 can be monitored by installing position sensors at the movable ends of the two robotic arms.

[0042] In one embodiment of the present invention, the dual-manipulator friction stir welding system further includes a pressure detection device electrically connected to the controller 6 for detecting the support force provided by the support plate 2 and the pressing force of the friction stir welding head 4. In this embodiment, the pressure detection device is used to detect the support force of the support plate 2 and the pressing force of the friction stir welding head 4 and transmit the detected pressure data to the controller 6. When the friction stir welding head 4 is in operation, it contacts the workpiece and begins to rotate and generate frictional heat. At this time, the pressure detection device monitors the pressing force of the stirring pin 9 in real time and feeds the data back to the controller 6. Based on the received pressing force data, the controller 6 compares the pressures provided by the two manipulators. If the pressures are too large or too small, the controller 6 adjusts the support force of the first manipulator 1 accordingly, thereby controlling the support force provided by the support plate 2. For example, if the pressure detection device detects a sudden increase in the pressing force of the stirring pin 9, the controller 6 immediately sends a command to the first manipulator 1 to increase the support force of the support plate 2 on the workpiece to ensure that the workpiece does not deform due to excessive pressure during the welding process.

[0043] In one embodiment of the present invention, the pressure detection device includes: a first pressure sensor (not shown) and a second pressure sensor (not shown). The first pressure sensor is located at the movable end of the first robotic arm 1 and is used to detect the support force provided by the first robotic arm 1 to the support plate 2; the second pressure sensor is located at the movable end of the second robotic arm 5 and is used to detect the pressing force provided by the second robotic arm 5 to the friction stir welding head 4. In this embodiment, since the support force of the support plate 2 and the pressing force of the friction stir welding head 4 are determined by the first robotic arm 1 and the second robotic arm 5, respectively, the support force of the support plate 2 and the pressing force of the friction stir welding head 4 can be monitored by installing pressure sensors at the movable ends of the two robotic arms.

[0044] like Figure 3 As shown, the present invention also provides a control method for a dual-manipulator friction stir welding system. The control method specifically includes the following steps: S100, obtaining the working status of the friction stir welding head 4 and / or the second manipulator 5, and adjusting the working status of the first manipulator 1 accordingly based on the working status of the friction stir welding head 4 and / or the second manipulator 5.

[0045] The above control method is stored in the controller 6 , which can receive corresponding data information and issue corresponding instructions to adjust the first robotic arm 1 .

[0046] In addition, before the above steps, also include: Preset welding parameters, such as welding speed, stirring head rotation speed, insertion depth of the stirring needle 9, etc., control the second robot arm 5 to drive the friction stir welding head 4 to approach the workpiece and start friction stir welding on the workpiece.

[0047] Due to the control method of the stir friction welding system based on dual robotic arms provided by the present invention, it has the beneficial effects of the stir friction welding system based on dual robotic arms as described above, and can collaboratively control the working status of the robotic arms, thereby dynamically adjusting the system working parameters to ensure welding efficiency and workpiece quality.

[0048] In one embodiment of the present invention, the step S100 specifically includes: S11, establishing a three-dimensional coordinate system, obtaining initial position information of the first robotic arm 1, the support plate 2, the second robotic arm 5, the friction stir welding head 4, and the workpiece to be welded 3 in the three-dimensional coordinate system, and determining the relative position relationship between the support plate 2 and the friction stir welding head 4; S12, acquiring first position information of the friction stir welding head 4 in real time, and acquiring second position information of the support plate 2 in real time; S13 , adjusting the position of the support plate 2 in real time by adjusting the first robotic arm 1 according to the relative position relationship between the support plate 2 and the friction stir welding head 4 and the first position information.

[0049] Before the above steps S11 to S13 , the workpiece may be manually mounted on the support plate 2 , and the second manipulator may be controlled so that the friction stir welding head 4 is pressed against the other side of the workpiece.

[0050] By establishing a three-dimensional coordinate system and detecting the initial position information, the relative position relationship between the support plate 2 and the friction stir welding head 4 is determined. When welding begins, the friction stir welding head 4 moves along the welding path, and its first position information and second position information are detected in real time and fed back to the controller 6. Based on the changes in the first position information, to ensure that the relative position relationship remains unchanged or substantially unchanged, the first robotic arm 1 is controlled to adjust the position of the support plate 2, always keeping the support plate 2 in close contact with the back of the welding part. For example, when the friction stir welding head 4 moves along a workpiece with a complex curved surface, the back support plate 2 can follow the position changes of the friction stir welding head 4 and make corresponding position adjustments in a timely manner to provide stable support for welding.

[0051] In one embodiment of the present invention, the step S100 specifically includes: S21. In the initial state, obtain the support force provided by the first robotic arm 1 to the support plate 2 and the pressing force provided by the second robotic arm 5 to the friction stir welding head 4, and determine the relationship between the support force and the pressing force; S22 , obtaining in real time the pressing force provided by the second robotic arm 5 to the friction stir welding head 4 , and adjusting in real time the supporting force provided by the first robotic arm 1 to the supporting plate 2 according to the pressing force obtained in real time.

[0052] Before welding or at the initial stage of welding, the support force and the pressing force are detected, and the relationship between the support force and the pressing force is determined. At the beginning of welding, as the friction stir welding head 4 penetrates the workpiece and moves along the welding path, if the pressure of the friction stir welding head 4 changes at a certain position due to factors such as uneven workpiece material, the controller 6 receives the change in the pressing force. To ensure that the relationship between the pressing force and the support force remains unchanged or substantially unchanged, the controller controls the first robot arm 1 and promptly adjusts the support force of the back support plate 2 to ensure that stable and appropriate support is always provided to the workpiece.

[0053] In one embodiment of the present invention, the welding process further includes the following steps: S31, presetting a temperature threshold range of the support plate 2 and obtaining the temperature of the support plate 2 in real time; S32 . According to the real-time temperature of the support plate 2 , control the flow rate of the water cooling system into the water cooling channel 11 so that the real-time temperature of the support plate 2 is within a temperature threshold range.

[0054] By setting a threshold range for the temperature of the support plate 2 and monitoring the temperature of the support plate 2 in real time, the water cooling flow rate is increased (or decreased) accordingly when the temperature of the support plate 2 is above (or below) the threshold range to prevent the temperature of the support plate 2 from being too high (or too low). Generally, due to the heat generated during the welding process, the water cooling flow rate only needs to be increased when the temperature exceeds the threshold range.

[0055] In addition, the above-mentioned water cooling system adopts the form of circulating water-cooling medium. After the water-cooling medium enters the water-cooling channel 11, it absorbs the heat transferred from the welding area 10 and then flows back to the circulation equipment for cooling treatment. This cycle is repeated to take away the excess heat of the welding area 10 and accurately control the temperature of the welding area 10 within an appropriate range.

[0056] It can be seen that the present invention has the following beneficial effects through the above improvements: 1. From a cost perspective, traditional friction stir welding relies on complex and highly customized fixtures, which are expensive to design, manufacture, debug, and maintain. This system, however, eliminates the need for complex fixtures and clamping equipment, and instead uses only two robotic arms working together to complete welding support, significantly reducing fixture costs. For example, in the aerospace sector, customizing a set of fixtures for welding complex aircraft parts previously could cost hundreds of thousands of yuan or even more. However, with this system, fixture costs can be significantly reduced, saving companies significant money and improving product cost competitiveness.

[0057] 2. In terms of clamping efficiency, the clamping process of traditional welding tooling is cumbersome. For special-shaped parts or complex curved workpieces, clamping and adjustment often takes a lot of time, which may range from several hours to several days, seriously affecting production progress. This system does not require complex clamping. The controller 6 can use the robotic arm to quickly adjust the position and support force of the back support plate 2 according to the initial position of the workpiece and the real-time position of the stirring head. The clamping process can be completed in a few minutes, greatly improving the clamping efficiency, accelerating the production pace, and meeting the needs of large-scale, high-efficiency production.

[0058] 3. In terms of adaptability to automated production, this system is highly compatible with automated production processes. The robotic arm can precisely follow pre-set programs and real-time feedback, seamlessly integrating with other parts of the automated production line. In highly automated industries such as automotive manufacturing, it can be easily integrated into existing automated production lines, fully automating the welding process, reducing manual intervention, improving production stability and consistency, and mitigating quality issues caused by human factors, thus driving the entire industry towards a higher level of automated production.

[0059] 4. Overall work efficiency has also been significantly improved. On the one hand, the rapid clamping process saves pre-setup time; on the other hand, the efficient linkage and collaboration of the robotic arms ensures a smooth and stable welding process, increasing welding speed. Compared to traditional friction stir welding, this system can weld more workpieces in the same amount of time, or even weld the same number of workpieces in a shorter time, significantly improving production efficiency and increasing production capacity, bringing greater economic benefits to the company.

[0060] 5. It also has a positive impact on welding quality. By adjusting the back support force according to the pressure of the stirring head in real time and adjusting the position of the support plate 2 according to the position of the stirring head, workpiece deformation can be effectively reduced, ensuring the quality and precision of the weld. In addition, by precisely controlling the temperature of the welding zone 10, problems such as material structure changes, grain growth, welding defects, and reduced mechanical properties caused by excessive temperatures are prevented, thereby improving the quality of the weld joint, ensuring better performance and reliability of the welded workpiece, and further enhancing product quality.

[0061] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A friction stir welding system based on dual robotic arms, characterized in that: include: First robotic arm (1); A support plate (2) is provided at the movable end of the first mechanical arm (1) and is used to support a workpiece (3) to be welded; Second robotic arm (5); A friction stir welding head (4) is provided at the movable end of the second mechanical arm (5) and is used for performing friction stir welding on the workpiece (3) to be welded; A controller (6) is electrically connected to the first robotic arm (1), the second robotic arm (5) and the friction stir welding head (4), respectively, and is used to control the working states of the first robotic arm (1), the second robotic arm (5) and the friction stir welding head (4).

2. The friction stir welding system based on dual robotic arms according to claim 1, characterized in that: A water cooling channel (11) is formed in the support plate (2); The dual-manipulator friction stir welding system further comprises: A water cooling system, connected to the water cooling channel (11) and electrically connected to the controller (6); A temperature detection device is provided on the support plate (2) and is electrically connected to the controller (6) for detecting the temperature of the support plate (2).

3. The friction stir welding system based on dual robotic arms according to claim 1 or 2, characterized in that: Also includes: A position detection device is electrically connected to the controller (6) and is used to detect position information of the support plate (2) and the friction stir welding head (4).

4. The friction stir welding system based on dual robotic arms according to claim 3, characterized in that: The position detection device comprises: A first position sensor, provided at the movable end of the first mechanical arm (1), for detecting position information of the support plate (2); A second position sensor is provided at the movable end of the second mechanical arm (5) and is used to detect position information of the friction stir welding head (4).

5. The friction stir welding system based on dual robotic arms according to claim 1 or 2, characterized in that: Also includes: A pressure detection device is electrically connected to the controller (6) and is used to detect the supporting force provided by the support plate (2) and the pressing force of the friction stir welding head (4).

6. The friction stir welding system based on dual robotic arms according to claim 5, characterized in that: The pressure detection device comprises: a first pressure sensor, provided at the movable end of the first mechanical arm (1), for detecting the supporting force provided by the first mechanical arm (1) to the supporting plate (2); A second pressure sensor is provided at the movable end of the second mechanical arm (5) and is used to detect the pressing force provided by the second mechanical arm (5) to the friction stir welding head (4).

7. A control method for a dual-manipulator friction stir welding system according to any one of claims 1 to 6, characterized in that: include: The working state of the friction stir welding head (4) and / or the second robotic arm (5) is obtained, and the working state of the first robotic arm (1) is correspondingly adjusted according to the working state of the friction stir welding head (4) and / or the second robotic arm (5).

8. The control method of the dual-manipulator friction stir welding system according to claim 7, characterized in that: The method of obtaining the working state of the friction stir welding head (4) and / or the second robotic arm (5), and adjusting the working state of the first robotic arm (1) accordingly according to the working state of the friction stir welding head (4) and / or the second robotic arm (5) specifically includes: Establishing a three-dimensional coordinate system, obtaining initial position information of the first robotic arm (1), the support plate (2), the second robotic arm (5), the friction stir welding head (4), and the workpiece to be welded (3) in the three-dimensional coordinate system, and determining the relative position relationship between the support plate (2) and the friction stir welding head (4); Acquiring first position information of the friction stir welding head (4) in real time, and acquiring second position information of the support plate (2) in real time; According to the relative positional relationship between the support plate (2) and the friction stir welding head (4) and the first position information, the position of the support plate (2) is adjusted in real time by adjusting the first mechanical arm (1) in real time.

9. The control method of the dual-manipulator friction stir welding system according to claim 7, characterized in that: The method of obtaining the working state of the friction stir welding head (4) and / or the second robotic arm (5), and adjusting the working state of the first robotic arm (1) accordingly according to the working state of the friction stir welding head (4) and / or the second robotic arm (5) specifically includes: In an initial state, obtaining the support force provided by the first robotic arm (1) to the support plate (2) and the pressing force provided by the second robotic arm (5) to the friction stir welding head (4), and determining the magnitude relationship between the support force and the pressing force; The pressing force provided by the second mechanical arm (5) to the friction stir welding head (4) is obtained in real time, and the supporting force provided by the first mechanical arm (1) to the supporting plate (2) is adjusted in real time based on the pressing force obtained in real time.

10. The control method of the friction stir welding system based on dual robotic arms according to any one of claims 7 to 9, characterized in that: Also includes: Preset a temperature threshold range of the support plate (2) and obtain the temperature of the support plate (2) in real time; According to the real-time temperature of the support plate (2), the flow rate of the water cooling system into the water cooling channel (11) is controlled so that the real-time temperature of the support plate (2) is within the temperature threshold range.

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