CN111151867A - Pressure control method of friction stir welding system of series-parallel robot - Google Patents
Pressure control method of friction stir welding system of series-parallel robot Download PDFInfo
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- CN111151867A CN111151867A CN202010063117.XA CN202010063117A CN111151867A CN 111151867 A CN111151867 A CN 111151867A CN 202010063117 A CN202010063117 A CN 202010063117A CN 111151867 A CN111151867 A CN 111151867A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/126—Workpiece support, i.e. backing or clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pressure control method of a friction stir welding system of a series-parallel robot, which comprises the following steps of: installing equipment and weldment; setting the welding speed of the robot; starting man-machine interaction software to establish communication with a hydraulic pump station; the robot is inching to enable the main shaft to be close to the weldment; starting the main shaft to rotate and setting the rotating speed; the robot is inching to enable the main shaft to be in contact with the weldment, and the pressure of the main shaft is set through a hydraulic pump station; obtaining a welding track through an demonstrating method, and writing the welding track into a motion program; running a welding motion program, welding by the robot, and uploading welding process parameters to a robot control system; after welding is finished, closing the main shaft and moving the robot to a zero position; and saving the welding parameters. The robot has high rigidity and strong bearing capacity, and is suitable for thick plate welding. The force control part is controlled by a hydraulic system, so that the self-adaptive capacity is strong, the adjustment is rapid, and the intelligent level is high. The robot has high flexibility and good welding effect.
Description
Technical Field
The invention relates to a robot friction stir welding processing method, in particular to a pressure control method of a friction stir welding system of a series-parallel robot.
Background
The conventional welding method is very difficult to process large parts with complex surfaces, and the advantages of the friction stir welding technology are revealed. The friction stir welding model consists of a shaft shoulder, a stirring head and a workpiece. During processing, the stirring head compresses the surface of the weldment and rotates at a high speed. Thereby generating a large amount of heat to locally melt the workpiece surface material. As the stirring head moves forwards at a certain welding speed, part of the material flows to the rear part of the stirring head to form a compact welding line, and the welding effect is achieved.
The axial force required in the friction stir welding process is relatively large, and therefore the welding equipment is required to have relatively high bearing capacity and rigidity. Traditional series robots in the robot industry have poor rigidity and low bearing capacity, so that the traditional series robots as welding equipment can generate large structural deformation and seriously affect the welding effect.
The patent CN204308404U discloses a "robot friction stir welding device", which only refers to a robot body in parallel or series connection, and does not indicate the specific type of robot. If the rigidity of the series robot is poor, the bearing capacity is usually insufficient, so that large deformation is easily generated in the processing process, and the welding effect is influenced. The traditional parallel robot has small working space and thus lacks flexibility.
The "robot friction stir welding system and the force position loop combination hybrid control method thereof" disclosed in patent CN104607795A adopts a series of sensors such as a vision sensor and a force sensor. The vision sensor is expensive and there is a delay in data transmission, which is not conducive to ensuring real-time performance of the welding system. The force sensor feeds back the contact force of the tail end of the robot to the robot, the robot carries out certain algorithm according to data so as to realize force control, but the control mode has serious delay phenomenon and can not ensure that force compensation is carried out at the current point in real time.
The patent CN109365992A discloses a "robot friction stir welding pressure control method" which combines a PID algorithm and a CMAC (Cerebellar model architecture Controller) function to calculate the actual pressure, thereby realizing the control of the end force of the robot. The implementation is still limited by the measurement precision of the sensor and the motion control precision of the robot, and the algorithm is complex, so that the compensation speed and precision are still difficult to ensure.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the pressure control method of the five-freedom-degree series-parallel robot friction stir welding system, which is easy to operate, high in precision, good in real-time performance and strong in universality.
The specific technical scheme of the invention is as follows:
the invention discloses a pressure control method of a friction stir welding system of a series-parallel robot, which comprises the following steps of:
step one, installing equipment and weldment:
the five-freedom-degree hybrid robot is hoisted and installed on a robot supporting device, a hydraulic main shaft head is fixed on a flange plate at the tail end of the five-freedom-degree hybrid robot, and the hydraulic main shaft head is connected with an oil port of a hydraulic pump station through a hydraulic oil pipe; a PLC of the hydraulic pump station is connected with an upper computer of the robot control system through an Ethernet cable, and the weldment is arranged on the workbench;
setting the welding speed of the five-freedom-degree series-parallel robot through a robot control system;
running a human-computer interaction software program on an upper computer of the robot control system, starting a human-computer interface, and establishing TCP communication between the upper computer of the robot control system and a PLC (programmable logic controller) of a hydraulic pump station;
step four, the five-degree-of-freedom hybrid robot is inching through the robot control system to enable the hydraulic main shaft head to be close to the weldment, the rotating speed of the hydraulic main shaft head is set through a PLC (programmable logic controller) of the hydraulic pump station, and the hydraulic main shaft head is started to rotate;
fifthly, the five-degree-of-freedom hybrid robot is inching through a robot control system until a hydraulic main shaft head is contacted with a weldment, and a pressure value of an oil inlet of the hydraulic main shaft head is set through a PLC (programmable logic controller) of a hydraulic pump station;
step six, obtaining a welding motion track of the five-degree-of-freedom series-parallel robot through an demonstrating method, and writing the welding motion track into a welding track motion program in a robot control system;
seventhly, a welding track motion program taught in advance runs in a robot control system, and the five-degree-of-freedom hybrid robot moves to weld; during welding, the PLC of the hydraulic pump station transmits welding process parameters to an upper computer of the robot control system in real time and displays the welding process parameters on a human-computer interaction interface;
step eight, stopping the rotation of a hydraulic main shaft head after the five-freedom-degree series-parallel robot finishes welding according to a preset track, turning off a motor of a hydraulic pump station, and inching through a robot control system to control the five-freedom-degree series-parallel robot to move to a robot zero position far away from a weldment;
and step nine, stopping the motion of the five-degree-of-freedom hybrid robot, and generating Excel tables of welding process parameters and storing the Excel tables in a robot control system.
Compared with the prior art, the invention has the following advantages:
the robot in the invention adopts a series-parallel robot, and the bearing capacity and the rigidity of the robot are both stronger than those of a series-parallel robot, so that the robot has small deformation in a friction stir welding processing environment, thereby improving the accuracy of a welding track and ensuring the welding effect. The hybrid robot has larger motion space and high flexibility, so the hybrid robot is suitable for welding large weldments with complex surfaces.
The invention decouples the robot movement and the pressure control, and the pressure is completely controlled by a hydraulic system. When the pressure of the tail end is too small, the hydraulic spindle head can quickly compensate the set target pressure, and errors are not generated due to the influence of external interference such as robot deformation and inaccuracy of a teach point method, so that the robustness is high, the anti-interference capability is high, and the force control precision is high.
The hybrid robot adopted in the invention adopts a hoisting mode, thus avoiding cantilever type installation of the traditional welding equipment and reducing errors caused by equipment deformation. By adopting the hoisting, the gravity direction of the robot is downward, and the side effect of the gravity during the robot processing is weakened.
According to the invention, the contact between the stirring head and the welding workpiece is realized by the movement of the robot according to the teaching track, and the welding speed can be controlled by controlling the movement speed of the robot. The rotating speed of the stirring head can be controlled by setting the rotating speed of the main shaft through the hydraulic pump station, and the welding force provided by the hydraulic main shaft can be controlled by setting the pressure value of the oil inlet of the oil cylinder in the hydraulic system.
Drawings
FIG. 1 is a schematic diagram of the hardware connection of the hybrid robot friction stir welding system and the pressure control method thereof according to the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
The method of the invention realizes the pressure control of the friction stir welding by programming the hybrid robot.
The pressure control method of the friction stir welding system of the series-parallel robot, which is disclosed by the invention and shown in figure 1, comprises the following steps:
step one, installing equipment and weldment:
as shown in fig. 1, a five-degree-of-freedom hybrid robot 3 (the five-degree-of-freedom hybrid robot 3 can be an existing robot, such as a TriMule800 five-degree-of-freedom hybrid robot system which can be adopted by the university of tianjin) is hoisted and installed on a robot supporting device 2, a hydraulic main shaft head 4 is fixed on a flange plate at the tail end of the five-degree-of-freedom hybrid robot 3, and the hydraulic main shaft head 4 is connected with an oil port of a hydraulic pump station 5 (the hydraulic pump station 5 can be an existing device, such as a hydraulic pump station manufactured by the great industry of kangcheng (tianjin) mechanical equipment limited) through a hydraulic oil pipe; the PLC of the hydraulic power unit 5 is connected with the upper computer of the robot control system 1 through an Ethernet cable 8. The weldment 6 is mounted on the table 7. The five-degree-of-freedom hybrid robot 3 adopted by the invention has high rigidity and strong bearing capacity, and can be suitable for the friction stir welding processing environment.
And step two, setting the welding speed of the five-freedom-degree series-parallel robot 3 through the robot control system 1.
And thirdly, running a human-computer interaction software program (only by adopting the existing QT software) on the upper computer of the robot control system 1, starting a human-computer interface, and establishing TCP communication between the upper computer of the robot control system 1 and the PLC of the hydraulic pump station 5.
And step four, the five-degree-of-freedom hybrid robot 3 is inching through the robot control system 1 to enable the hydraulic main shaft head 4 to be close to the weldment 6 (usually, the distance is 10 mm to 20 mm), the rotating speed of the hydraulic main shaft head 4 is set through a PLC (programmable logic controller) of the hydraulic pump station 5, and the hydraulic main shaft head 4 is started to rotate.
And fifthly, the five-degree-of-freedom series-parallel robot 3 is inching through the robot control system 1 until the hydraulic main shaft head 4 is in contact with the weldment 6, and the pressure value of an oil inlet of the hydraulic main shaft head 4 is set through a PLC (programmable logic controller) of the hydraulic pump station 5.
And step six, obtaining the welding motion track of the five-degree-of-freedom series-parallel robot 3 through an demonstrating method, and writing the welding motion track into a welding track motion program in the robot control system 1.
And seventhly, operating a welding track motion program taught in advance in the robot control system 1, and moving the five-freedom-degree series-parallel robot 3 to weld. During welding, the PLC of the hydraulic pump station 5 transmits welding process parameters (including the rotating speed, welding pressure and the like of the hydraulic spindle head 4) to an upper computer of the robot control system 1 in real time, and the welding process parameters are displayed on a human-computer interaction interface.
And step eight, after the five-degree-of-freedom hybrid robot 3 finishes welding according to a preset track, stopping the rotation of the hydraulic main shaft head 4, turning off a motor of a hydraulic pump station 5, and inching and controlling the five-degree-of-freedom hybrid robot 3 to move to a robot zero position far away from a welded part through the robot control system 1.
And step nine, stopping the motion of the five-degree-of-freedom hybrid robot 3, generating Excel tables of welding process parameters (data such as the rotating speed of the hydraulic spindle head 4, welding pressure and the like) and storing the Excel tables in the robot control system 1.
Claims (1)
1. A pressure control method of a friction stir welding system of a series-parallel robot is characterized by comprising the following steps:
step one, installing equipment and weldment:
the five-freedom-degree hybrid robot is hoisted and installed on a robot supporting device, a hydraulic main shaft head is fixed on a flange plate at the tail end of the five-freedom-degree hybrid robot, and the hydraulic main shaft head is connected with an oil port of a hydraulic pump station through a hydraulic oil pipe; a PLC of the hydraulic pump station is connected with an upper computer of the robot control system through an Ethernet cable, and the weldment is arranged on the workbench;
setting the welding speed of the five-freedom-degree series-parallel robot through a robot control system;
running a human-computer interaction software program on an upper computer of the robot control system, starting a human-computer interface, and establishing TCP communication between the upper computer of the robot control system and a PLC (programmable logic controller) of a hydraulic pump station;
step four, the five-degree-of-freedom hybrid robot is inching through the robot control system to enable the hydraulic main shaft head to be close to the weldment, the rotating speed of the hydraulic main shaft head is set through a PLC (programmable logic controller) of the hydraulic pump station, and the hydraulic main shaft head is started to rotate;
fifthly, the five-degree-of-freedom hybrid robot is inching through a robot control system until a hydraulic main shaft head is contacted with a weldment, and a pressure value of an oil inlet of the hydraulic main shaft head is set through a PLC (programmable logic controller) of a hydraulic pump station;
step six, obtaining a welding motion track of the five-degree-of-freedom series-parallel robot through an demonstrating method, and writing the welding motion track into a welding track motion program in a robot control system;
seventhly, a welding track motion program taught in advance runs in a robot control system, and the five-degree-of-freedom hybrid robot moves to weld; during welding, the PLC of the hydraulic pump station transmits welding process parameters to an upper computer of the robot control system in real time and displays the welding process parameters on a human-computer interaction interface;
step eight, stopping the rotation of a hydraulic main shaft head after the five-freedom-degree series-parallel robot finishes welding according to a preset track, turning off a motor of a hydraulic pump station, and inching through a robot control system to control the five-freedom-degree series-parallel robot to move to a robot zero position far away from a weldment;
and step nine, stopping the motion of the five-degree-of-freedom hybrid robot, and generating Excel tables of welding process parameters and storing the Excel tables in a robot control system.
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| CN202010063117.XA CN111151867A (en) | 2020-01-19 | 2020-01-19 | Pressure control method of friction stir welding system of series-parallel robot |
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| CN202010063117.XA CN111151867A (en) | 2020-01-19 | 2020-01-19 | Pressure control method of friction stir welding system of series-parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515595A (en) * | 2020-07-06 | 2020-08-11 | 湖南翰坤实业有限公司 | Butt-joint robot |
| CN111716054A (en) * | 2020-07-06 | 2020-09-29 | 湖南翰坤实业有限公司 | Intelligent butt-welding machine |
| CN112139654A (en) * | 2020-09-24 | 2020-12-29 | 北京工业大学 | Robot friction stir welding online force position hybrid control system |
| CN115723127A (en) * | 2022-11-14 | 2023-03-03 | 天津大学 | Grating encoder-based profile error prediction method for hybrid robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515595A (en) * | 2020-07-06 | 2020-08-11 | 湖南翰坤实业有限公司 | Butt-joint robot |
| CN111716054A (en) * | 2020-07-06 | 2020-09-29 | 湖南翰坤实业有限公司 | Intelligent butt-welding machine |
| CN112139654A (en) * | 2020-09-24 | 2020-12-29 | 北京工业大学 | Robot friction stir welding online force position hybrid control system |
| CN115723127A (en) * | 2022-11-14 | 2023-03-03 | 天津大学 | Grating encoder-based profile error prediction method for hybrid robot |
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