Friction stir welding equipment with intelligent compensation function

Abstract

The utility model discloses friction stir welding equipment with an intelligent compensation function. The friction stir welding equipment comprises a control system, a workbench, a welding robot, a stirring tool and a position compensation mechanism, wherein the welding robot, the stirring tool and the position compensation mechanism are respectively and correspondingly electrically connected with the control system; the welding robot comprises at least one mechanical arm; the stirring tool comprises a shell installed on the mechanical arm, a stirring needle located below the shell and a driving device installed on the shell and used for driving the stirring needle to rotate. The position compensation mechanism comprises a plurality of X-axis coordinate base points, a plurality of Y-axis coordinate base points and a coordinate positioning device installed on the shell. The plurality of X-axis coordinate base points are uniformly distributed on one side edge of the workbench along the X-axis direction; the Y-axis coordinate base points are evenly distributed on the other side edge of the workbench in the Y-axis direction. According to the utility model, the offset position of the stirring tool can be gradually corrected through the matching of the position compensation mechanism and the control system.

Description

Technical Field

[0001] The utility model relates to the technical field of friction stir welding equipment, in particular to friction stir welding equipment with an intelligent compensation function. Background Art

[0002] As a rapidly developing new solid phase welding method, friction stir welding is becoming a hot welding method worldwide and is gradually becoming the dominant welding method for light alloy metals.

[0003] For the stir friction welding equipment, the application publication number CN112317950A discloses a stir friction welding composite processing equipment, which specifically discloses a processing table, a gas storage tank and a mechanical arm, the mechanical arm and the gas storage tank are both installed on the processing table, a fixture is installed on the mechanical arm, a welding head is installed on the fixture, a flying knife holder is connected to the fixture, a flying knife particle is installed on the flying knife holder, a fixing rod is welded on the mechanical arm, and the mechanical arm is fixedly connected to a gas ring through the fixing rod, the gas ring is movably sleeved on the periphery of the fixture, and the gas ring An annular through groove is provided on the upper surface, a through hole is provided on the clamp, the through hole is connected with the annular through groove, an air pipe is installed on the air storage tank, and one end of the air pipe away from the air storage tank is installed on the air ring, and a storage mechanism for storing the air pipe is provided on the mechanical arm; the storage mechanism includes a storage roller, a rotating shaft is fixedly connected to the storage roller, the rotating shaft is rotatably connected to the mechanical arm, the air pipe is wound around the storage roller, a torsion spring is sleeved on the rotating shaft, one end of the torsion spring is fixedly connected to the storage roller, and the other end of the torsion spring is fixedly connected to the mechanical arm

[0004] However, the above-mentioned stir friction welding composite processing equipment still has some shortcomings. For example, during the welding process of the stirring head, the workpiece will generate lateral pressure and forward pressure on the stirring head, that is, the workpiece will exert a double force on the stirring head during the welding process. In this way, the stirring head may gradually deviate from the preset coordinate position of the system during the welding process, that is, deviate from the preset welding trajectory. Moreover, the longer the weld, the more prominent this superposition effect is, which will cause the product to have obvious trajectory deviation during stir welding, which will lead to inaccurate welding position of the workpiece and poor welding quality, that is, product welding defects will occur in the workpiece. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the purpose of the utility model is to provide a friction stir welding device with an intelligent compensation function, which sets a position compensation mechanism, and the system can analyze whether the stirring tool has deviated from the preset welding trajectory according to the data and calculate the compensation error, so that the welding robot drives the stirring tool to gradually correct the position and finally operate according to the preset welding trajectory, effectively ensuring the accuracy of the welding position, ensuring the quality of welding and improving the efficiency of welding.

[0006] In order to achieve the above purpose, the technical solution of the utility model is:

[0007] A friction stir welding device with intelligent compensation function, comprising a control system, a workbench, and a welding robot, a stirring tool and a position compensation mechanism electrically connected to the control system respectively; the welding robot comprises at least one mechanical arm; the stirring tool comprises a shell mounted on the mechanical arm, a stirring needle located below the shell, and a driving device mounted on the shell and used to drive the stirring needle to rotate; the position compensation mechanism comprises a plurality of X-axis coordinate base points, a plurality of Y-axis coordinate base points and corresponding coordinate positioning devices mounted on the shell; the plurality of X-axis coordinate base points are evenly distributed on one side of the workbench along the direction of the X-axis; the plurality of Y-axis coordinate base points are evenly distributed along the direction of the Y-axis On the other side of the workbench; in the process of the welding robot driving the stirring tool to weld the workpiece along the weld, the coordinate positioning device can continuously measure the distance with the corresponding X-axis coordinate base point and the Y-axis coordinate base point on the side of the workbench and form coordinate information. After sending the coordinate information to the control system, the control system obtains the coordinate information to locate the real-time position of the stirring tool, and monitors the accuracy of the real-time welding trajectory of the stirring tool and the preset welding trajectory of the stirring tool in the control system. Then, the compensation error can be calculated according to the preset welding trajectory coordinates and the welding robot can be controlled to drive the stirring tool to gradually correct the position and finally operate according to the preset welding trajectory, thereby ensuring the quality of welding. The above-mentioned setting can conveniently realize the position compensation of the stirring tool.

[0008] Furthermore, the coordinate positioning device is a laser rangefinder; the laser rangefinder can form coordinate information after measuring the distance of the corresponding single X-axis coordinate base point and the Y-axis coordinate base point, and transmit the coordinate information to the control system for analysis by the control system, thereby locating the real-time position of the stirring tool and monitoring the accuracy of the real-time welding trajectory of the stirring tool and the preset welding trajectory of the stirring tool in the control system. The above setting can facilitate the cooperation of the laser rangefinder with the X-axis coordinate base point and the Y-axis coordinate base point.

[0009] Furthermore, the welding robot is provided with a signal receiving device for being electrically connected to the coordinate positioning device and the control system respectively. The above arrangement can facilitate the reception and transmission of corresponding signals.

[0010] Furthermore, the X-axis coordinate base point and the Y-axis coordinate base point are both set on the top surface of the workbench.

[0011] Furthermore, the welding robot also includes a base and the base can be used to provide rotational support for the robotic arm so as to realize the rotation of the robotic arm.

[0012] Furthermore, the mechanical arm includes a first arm and a second arm, one end of the second arm is rotatably connected to the base, the other end of the second arm is rotatably connected to one end of the first arm, and the other end of the first arm is rotatably connected to the shell. The above arrangement enables the welding robot to perform different actions.

[0013] Furthermore, the driving device is a motor.

[0014] Furthermore, the friction stir welding equipment with intelligent compensation function can be used for welding aluminum or aluminum alloy profiles.

[0015] The beneficial effects of the utility model are:

[0016] The utility model can obtain the coordinate information of the real-time welding trajectory of the stirring tool after measuring the distance between the coordinate positioning device and the X-axis coordinate base point and the Y-axis coordinate base point, and then calculate the compensation error of the real-time welding trajectory that deviates from the preset welding trajectory after analysis by the control system, and finally control the welding robot to drive the stirring tool to gradually correct the position and finally operate according to the preset welding trajectory, effectively ensuring the accuracy of the welding position, ensuring the quality of welding and improving the efficiency of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the friction stir welding equipment with intelligent compensation function of the utility model;

[0018] Figure 2 yes Figure 1 A in the enlarged view;

[0019] Figure 3 This is a principle framework diagram of the friction stir welding equipment with intelligent compensation function of the utility model;

[0020] Figure 4 It is a schematic diagram of the friction stir welding method with intelligent compensation function of the utility model.

[0021] Reference numerals

[0022] 1. Control system; 2. Workbench; 3. Welding robot; 31. First arm; 32. Second arm; 33. Base; 4. Stirring tool; 41. Shell; 42. Stirring needle; 5. Position compensation mechanism; 51. X-axis coordinate base point; 52. Y-axis coordinate base point; 53. Coordinate positioning device; 6. Signal receiving device; 7. Workpiece. DETAILED DESCRIPTION

[0023] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments. The following description is only exemplary and does not limit the protection scope of the utility model.

[0024] like Figure 1-Figure 3 As shown, a friction stir welding device with intelligent compensation function includes a control system 1, a workbench 2, and a welding robot 3, a stirring tool 4 and a position compensation mechanism 5 which are electrically connected to the control system 1 respectively; the welding robot 3 includes at least one mechanical arm; the stirring tool 4 includes a shell 41 installed on the mechanical arm, a stirring needle 42 located below the shell 41 and a driving device (not shown) installed on the shell 41 and used to drive the stirring needle 42 to rotate; the position compensation mechanism 5 includes a plurality of X-axis coordinate base points 51, a plurality of Y-axis coordinate base points 52 and a corresponding coordinate positioning device 53 installed on the shell 41; the plurality of X-axis coordinate base points 51 are evenly distributed on one side of the workbench 2 along the direction of the X-axis; the plurality of Y-axis coordinate base points 52 are evenly distributed on one side of the workbench 2 along the direction of the X-axis; the plurality of Y-axis coordinate base points 52 are evenly distributed on one side of the workbench 2 along the direction of the Y-axis. The direction of the Y-axis is evenly distributed on the other side of the workbench 2; during use, for example, when the welding robot 3 drives the stirring tool 4 to weld the workpiece 7 along the weld, the coordinate positioning device 53 can continuously measure the distance with the corresponding X-axis coordinate base point 51 and Y-axis coordinate base point 52 on the side of the workbench 2 and form coordinate information. After sending the coordinate information to the control system 1, the control system 1 obtains the coordinate information to locate the real-time position of the stirring tool 4, and monitors the accuracy of the real-time welding trajectory of the stirring tool 4 and the preset welding trajectory of the stirring tool 4 in the control system 1. Then, the compensation error can be calculated according to the preset welding trajectory coordinates and the welding robot 3 can be controlled to drive the stirring tool 4 to gradually correct the position and finally operate according to the preset welding trajectory, thereby ensuring the quality of welding.

[0025] Specifically, the welding robot 3 , the driving device and the coordinate positioning device 53 are electrically connected to the control system 1 , respectively.

[0026] In this embodiment, the coordinate positioning device 53 adopts a laser rangefinder. For the laser rangefinder, it can form coordinate information after measuring the distance of the corresponding single X-axis coordinate base point 51 and the Y-axis coordinate base point 52, and transmit the coordinate information to the control system 1, so that the control system 1 can analyze and locate the real-time position of the stirring tool 4 and monitor the accuracy of the real-time welding trajectory of the stirring tool 4 and the preset welding trajectory of the stirring tool 4 in the control system 1. Therefore, after the coordinate positioning device 53 is set as a laser rangefinder, it can be allowed to quickly measure the distance between the stirring tool 4 and the X-axis coordinate base point 51 and the Y-axis coordinate base point 52 respectively, and then compare these coordinate information with the preset coordinate information, so as to determine whether the stirring tool 4 deviates from the preset welding trajectory during the welding process.

[0027] Specifically, two laser rangefinders may be provided on the housing 41 , one of which is used to measure the distance to the X-axis coordinate base point 51 , and the other laser rangefinder is used to measure the distance to the Y-axis coordinate base point 52 .

[0028] Since the laser rangefinder is a prior art, its structure and principle will not be described in detail here.

[0029] Preferably, a signal receiving device 6 for electrically connecting to the coordinate positioning device 53 and the control system 1 is provided on the welding robot 3. Therefore, after the signal receiving device 6 is provided, the welding robot 3 can be used to receive the coordinate signal of the laser rangefinder and transmit the coordinate signal to the control system 1, and the control system 1 can transmit the action signal to the welding robot 3, so that the welding robot 3 can perform the corresponding stirring needle 42 correction action.

[0030] In this embodiment, the X-axis coordinate base point 51 and the Y-axis coordinate base point 52 are both set on the top surface of the workbench 2. However, those skilled in the art should know that the X-axis coordinate base point 51 and the Y-axis coordinate base point 52 can also be set at other places, and they only need to ensure that they can cooperate well with the laser rangefinder.

[0031] In this embodiment, the welding robot 3 further includes a base 33 and the base 33 can be used to provide rotation support for the robot arm, so that the robot arm can realize the rotation function to meet different needs.

[0032] Preferably, for the structure of the robot arm, in this embodiment, the robot arm includes a first arm 31 and a second arm 32, one end of the second arm 32 is rotatably connected to the base 33, the other end of the second arm 32 is rotatably connected to one end of the first arm 31, and the other end of the first arm 31 is rotatably connected to the housing 41. Therefore, by setting the first arm 31 and the second arm 32, the welding robot can perform different actions.

[0033] Since the rotational connection structure between the first arm 31 and the base 33, the rotational connection structure between the second arm 32 and the first arm 31, and the rotational connection structure between the first arm 31 and the housing 41 are all prior arts, they are not described in detail here.

[0034] In this embodiment, the driving device can be a motor.

[0035] In this embodiment, the friction stir welding equipment with intelligent compensation function can be used for welding profiles such as aluminum or aluminum alloy.

[0036] like Figure 4 As shown, the utility model also discloses a friction stir welding method with intelligent compensation function, which adopts the above-mentioned friction stir welding device with intelligent compensation function, and includes the following steps:

[0037] S1. The workpiece 7 to be welded is pre-installed at a preset position of the workbench 2, and the welding robot 3 adjusts the position of the stirring tool 4 and makes the stirring needle 42 be located above the weld seam of the workpiece 7 to be welded;

[0038] S2, preset the welding trajectory coordinate information of the stirring tool 4 in the control system 1;

[0039] S3, start the stirring tool 4 to weld the workpiece 7 and start the laser rangefinder;

[0040] S4, when the welding robot 3 drives the stirring tool 4 to move and perform welding, the laser rangefinder measures the distance of the single corresponding X-axis coordinate base point 51 and the Y-axis coordinate base point 52 on the two sides of the workbench 2 to form coordinate information, and sends the measured coordinate information to the control system 1;

[0041] S5. After the control system 1 obtains the coordinate information, it locates the real-time position of the stirring tool 4, and monitors the accuracy of the real-time welding trajectory of the stirring tool 4 and the preset welding trajectory of the stirring tool 4 in the control system 1. Then, the compensation error can be calculated according to the preset welding trajectory coordinates and the welding robot 3 can be controlled to drive the stirring tool 4 to gradually correct the welding position and finally operate according to the preset welding trajectory, thereby ensuring the quality of welding.

[0042] S6. After welding is completed, the workpiece 7 is removed.

[0043] Specifically, during the welding process, when the resistance encountered by the stirring needle 42 is too large, the rotation speed of the stirring needle 42 can be increased accordingly. Of course, when the resistance encountered by the stirring needle 42 is too small, the rotation speed of the stirring needle 42 can be reduced accordingly.

[0044] To sum up, the friction stir welding equipment with intelligent compensation function of the utility model can obtain the coordinate information of the real-time welding trajectory of the stirring tool 4 after measuring the distance between the coordinate positioning device 53 and the X-axis coordinate base point 51 and the Y-axis coordinate base point 52. Then, after analysis by the control system 1, the real-time welding trajectory that deviates from the preset welding trajectory can be calculated and compensated for, and finally the welding robot 3 can be controlled to drive the stirring tool 4 to gradually correct the position and finally operate according to the preset welding trajectory, which effectively ensures the accuracy of the welding position, ensures the quality of welding and improves the efficiency of welding.

[0045] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the claims of the present invention and the scope of equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A friction stir welding device with intelligent compensation function, Features: The invention comprises a control system, a workbench, and a welding robot, a stirring tool and a position compensation mechanism which are respectively and electrically connected to the control system; the welding robot comprises at least one mechanical arm; the stirring tool comprises a shell mounted on the mechanical arm, a stirring needle located below the shell, and a driving device mounted on the shell and used to drive the stirring needle to rotate; the position compensation mechanism comprises a plurality of X-axis coordinate base points, a plurality of Y-axis coordinate base points and corresponding coordinate positioning devices mounted on the shell; the plurality of X-axis coordinate base points are evenly distributed on one side of the workbench along the direction of the X-axis; the plurality of Y-axis coordinate base points are evenly distributed on the other side of the workbench along the direction of the Y-axis; In the process of the welding robot driving the stirring tool to weld the workpiece along the weld, the coordinate positioning device can continuously measure the distance with the corresponding X-axis coordinate base point and the Y-axis coordinate base point on the side of the workbench and form coordinate information. After sending the coordinate information to the control system, the control system obtains the coordinate information to locate the real-time position of the stirring tool, and monitors the accuracy of the real-time welding trajectory of the stirring tool and the preset welding trajectory of the stirring tool in the control system. Then, the compensation error can be calculated according to the preset welding trajectory coordinates and the welding robot can be controlled to drive the stirring tool to gradually correct the position and finally operate according to the preset welding trajectory, thereby ensuring the quality of welding.

2. The friction stir welding device with intelligent compensation function according to claim 1, Features: The coordinate positioning device is a laser rangefinder; the laser rangefinder can form coordinate information after measuring the distance of the corresponding single X-axis coordinate base point and the Y-axis coordinate base point, and transmit the coordinate information to the control system for analysis by the control system, thereby locating the real-time position of the stirring tool and monitoring the accuracy of the real-time welding trajectory of the stirring tool and the preset welding trajectory of the stirring tool in the control system.

3. The friction stir welding device with intelligent compensation function according to claim 2, Features: The welding robot is provided with a signal receiving device for being electrically connected to the coordinate positioning device and the control system respectively.

4. The friction stir welding device with intelligent compensation function according to claim 1, Features: The X-axis coordinate base point and the Y-axis coordinate base point are both arranged on the top surface of the workbench.

5. The friction stir welding device with intelligent compensation function according to claim 1, Features: The welding robot also includes a base, and the base can be used to provide rotation support for the robot arm.

6. The friction stir welding device with intelligent compensation function according to claim 5, Features: The mechanical arm includes a first arm and a second arm, one end of the second arm is rotatably connected to a base, the other end of the second arm is rotatably connected to one end of the first arm, and the other end of the first arm is rotatably connected to the shell.

7. The friction stir welding device with intelligent compensation function according to claim 1, Features: The driving device is a motor.

8. The friction stir welding device with intelligent compensation function according to claim 1, Features: The friction stir welding device with intelligent compensation function can be used for welding aluminum or aluminum alloy profiles.

Images