CN114700610A - Friction stir welding device - Google Patents
Friction stir welding device Download PDFInfo
- Publication number
- CN114700610A CN114700610A CN202210507195.3A CN202210507195A CN114700610A CN 114700610 A CN114700610 A CN 114700610A CN 202210507195 A CN202210507195 A CN 202210507195A CN 114700610 A CN114700610 A CN 114700610A
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- Prior art keywords
- welding
- friction stir
- sensor
- stir welding
- friction
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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
-
- 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
- B23K20/123—Controlling or monitoring the welding process
-
- 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
-
- 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
- B23K20/125—Rotary tool drive mechanism
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a friction stir welding device. The friction stir welding device provided by the embodiment of the invention is provided with the welding line sensor, the welding line sensor driving mechanism, the angular displacement driving mechanism and the controller, wherein the angular displacement driving mechanism can enable the welding line sensor and the friction stir welding drill bit to generate relative angular displacement motion, and the welding line sensor driving mechanism can enable the welding line sensor to generate motion around the axis of the welding line sensor. The controller can respectively control the welding line sensor driving mechanism and the angular displacement driving mechanism according to the welding line information of the welding line sensor, so that the friction stir welding device is suitable for linear welding lines and also suitable for curve welding lines, and the welding accuracy and efficiency are further effectively improved.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a friction stir welding device.
Background
The friction stir welding device is a technology for melting local fusion of materials of workpieces to be welded by utilizing heat generated by friction between a welding tool rotating at a high speed and the workpieces to be welded and forming a welding line under extrusion of the welding tool. The friction stir welding device can complete welding of a long welding line, a large section and different positions at one time, and is low in residual stress and low in cost. However, the friction stir welding device in the prior art is difficult to identify the welding seam and low in identification efficiency for large plate weldments with few batches and special textural features and curved welding seams.
Therefore, in view of the above technical problems, it is necessary to provide a friction stir welding apparatus capable of coping with large plate weldments.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide a friction stir welding apparatus capable of handling large plate weldments. The friction stir welding device provided by the embodiment of the invention is additionally provided with the weld joint sensor, the weld joint is scanned through the weld joint sensor and fed back to the controller, and the controller controls the corresponding driving mechanism to generate the corresponding driving number according to the weld joint information, so that the welding accuracy and efficiency are improved.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions: a friction stir welding device comprises a friction stir welding drill bit, a welding head and a welding head, wherein the friction stir welding drill bit is used for performing friction welding with a workpiece to be welded; the friction welding drill bit driving mechanism is connected with the friction stir welding drill bit and is used for driving the friction stir welding drill bit to generate rotary motion; the welding line sensor is arranged on the friction stir welding device, keeps the sensing direction of the welding line sensor consistent with the working direction of the friction stir welding drill bit, and is used for sensing the welding line on the workpiece to be welded; the welding seam sensor driving mechanism is connected with the welding seam sensor and used for driving the welding seam sensor to generate displacement motion; the angular displacement driving mechanism is used for driving the friction stir welding drill bit and the welding seam sensor to generate relative angular displacement motion; the controller is connected with the friction welding drill bit driving mechanism, the angular displacement driving mechanism, the welding seam sensor and the welding seam sensor driving mechanism, receives welding seam information sensed by the welding seam sensor, and controls the friction welding drill bit driving mechanism, the angular displacement driving mechanism or/and the welding seam sensor driving mechanism to generate corresponding driving signals based on the welding seam information so as to align the position of the friction stir welding drill bit with the sensed welding seam position.
As a further improvement of the invention, the friction stir welding device further comprises a friction welding motion platform, and the direction of the motion track of the friction stir welding drill bit is limited by the friction stir welding motion platform to be perpendicular to the working direction of the friction stir welding drill bit.
As a further improvement of the invention, the friction welding motion platform comprises a track arranged in the horizontal direction, and the friction stir welding drill bit can generate horizontal displacement along the track.
As a further improvement of the invention, the friction welding drill bit driving mechanism and the friction stir welding drill bit are connected in a vertical direction.
As a further improvement of the invention, the welding seam sensor driving mechanism and the welding seam sensor are connected in a vertical direction, and the welding seam sensor driving mechanism is fixed on the friction welding drill bit driving mechanism through a connecting piece.
As a further improvement of the invention, the connecting piece is arranged in the horizontal direction, one end of the connecting piece is connected to the welding seam sensor driving mechanism, and the other end of the connecting piece is connected to the friction welding drill bit driving mechanism.
As a further improvement of the invention, the angular displacement driving mechanism drives the connecting piece to generate angular displacement motion, and the connecting piece drives the welding seam sensor and the friction stir welding drill bit to generate relative angular displacement.
As a further improvement of the present invention, the weld sensor includes an image sensor, an infrared sensor, or a laser sensor.
As a further improvement of the present invention, when the weld sensor is a laser sensor, the weld information sensed by the laser sensor includes position information of the weld and depth information of the weld.
As a further improvement of the invention, the friction welding drill bit driving mechanism adopts a screw to shrink a steel sleeve to fasten the friction welding drill bit.
The invention has the following advantages:
the friction stir welding device provided by the embodiment of the invention is provided with the welding line sensor and the dual-driving mechanism (the welding line sensor driving mechanism and the angular displacement driving mechanism), the angular displacement driving mechanism can enable the welding line sensor and the friction stir welding drill bit to generate relative angular displacement motion, and the welding line sensor driving mechanism can enable the welding line sensor to generate motion around the axis of the welding line sensor. The controller can respectively control the dual-drive mechanisms according to the welding seam information of the welding seam sensor, so that the friction stir welding device is suitable for linear welding seams and also suitable for curve welding seams, and the welding accuracy and efficiency are further effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a friction stir welding apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a friction stir welding process for identifying a weld joint according to an embodiment of the present invention.
Description of the reference symbols in the drawings:
| 100. friction stir welding device | 1. Friction |
2. Angular |
| 3. Connecting piece | 4. Friction welding drill |
5. Friction stir |
| 7. Weld |
6. Driving mechanism of welding seam sensor |
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a friction stir welding apparatus according to a first embodiment of the present invention is schematically configured. In this embodiment, the friction stir welding apparatus 100 includes a friction stir welding bit 5, a friction welding bit driving mechanism 4 connected to the friction stir welding bit 5, an angular displacement driving mechanism 2, a bead sensor 7, a bead sensor driving mechanism 6 connected to the bead sensor 7, and a controller (not shown in the figure). The controller is respectively connected with the friction welding drill bit driving mechanism 4, the angular displacement driving mechanism 2, the welding seam sensor 7 and the welding seam sensor driving mechanism 6. The controller receives the welding seam information sensed by the welding seam sensor 7, and controls the friction welding drill bit driving mechanism 4, the angular displacement driving mechanism 2 or/and the welding seam sensor driving mechanism 6 to generate corresponding driving signals based on the welding seam information so as to align the position of the friction stir welding drill bit 5 with the sensed welding seam position.
With continued reference to FIG. 1, a friction stir welding bit 5 is used to friction weld with a workpiece to be welded. The friction welding drill bit driving mechanism 4 is connected with the friction stir welding drill bit 5 and is used for driving the friction stir welding drill bit 5 to rotate. In this embodiment, the friction welding bit driving mechanism 4 and the friction stir welding bit 5 are vertically connected. In the present embodiment, the longitudinal direction of the sheet shown in fig. 1 is the vertical direction of the friction stir welding apparatus 100, and the width direction of the sheet shown in fig. 1 is the horizontal direction of the friction stir welding apparatus 100. The friction welding drill bit driving mechanism 4 adopts a screw contraction steel sleeve to fasten the friction welding stir welding drill bit 5 so as to ensure that the driving direction of the friction welding stir welding drill bit 5 can be coaxial with the driving shaft of the friction welding drill bit driving mechanism 4. Preferably, friction weld drill bit actuating mechanism 4 is the motor, and the motor rotation drives friction stir welding drill bit 5 and produces rotary motion to can fix a position to the welding seam position accurately and carry out welding work. Rotation of the friction stir welding bit 5 in the vertical direction defines the operation of the friction stir welding bit 5 and, correspondingly, the vertical direction also defines the operating direction.
As shown in fig. 1, the friction stir welding apparatus 100 further includes a friction welding motion stage 1. The friction welding motion platform 1 is used for limiting the motion track of the friction stir welding drill bit 5. Specifically, the direction of the motion platform 1 for limiting the motion track of the friction stir welding bit 5 is perpendicular to the working direction of the friction stir welding bit. In this embodiment, the friction stir welding bit 5 is disposed on the friction welding motion platform 1 in the vertical direction simultaneously with the friction welding bit drive mechanism 4. The friction welding motion platform 1 comprises a track arranged in the horizontal direction, and the friction stir welding drill bit 5 can generate horizontal displacement along the track.
With continued reference to fig. 1, the friction stir welding apparatus 100 is provided with a weld sensor driving mechanism 6. The welding seam sensor driving mechanism 6 is connected with the welding seam sensor 7 and used for driving the welding seam sensor 7 to move around the axis of the welding seam sensor 7. Preferably, the weld joint sensor driving mechanism 6 and the weld joint sensor 7 are connected in a vertical direction. The weld sensor drive 6 is fixed to the friction welding bit drive 4 by the connecting member 3. The controller can control the welding seam sensor driving mechanism 6 to generate a driving signal according to the clearness of the welding seam information of the welding seam sensor 7 so as to enable the welding seam sensor 7 to move around the axis of the welding seam sensor, and therefore clearer welding seam information can be obtained.
In this embodiment, the connecting member 3 is disposed in a horizontal direction. One end of the connecting piece 3 is connected with the welding seam sensor driving mechanism 6, and the other end of the connecting piece 3 is connected with the friction welding drill bit driving mechanism 4. Specifically, holes are respectively formed at two ends of the connecting member 3, and the two holes are respectively sleeved on the outer diameters of the welding seam sensor driving mechanism 6 and the friction welding drill bit driving mechanism 4.
With continued reference to FIG. 1, an angular displacement drive mechanism 2 is provided for driving the friction stir welding bit 5 and the weld sensor 7 into relative angular displacement motion. The angular displacement driving mechanism 2 drives the connecting piece 3 to generate angular displacement motion, and the connecting piece 3 drives the welding seam sensor driving mechanism 6 to generate relative angular displacement relative to the friction welding drill bit driving mechanism 4. Because the welding seam sensor driving mechanism 6 is fixedly connected with the welding seam sensor 7, and the friction welding drill bit driving mechanism 4 is fixedly connected with the friction stir welding drill bit 5, the connecting piece 3 drives the friction stir welding drill bit 5 and the welding seam sensor 7 to generate relative angular displacement motion. Of course, in other embodiments, the angular displacement driving mechanism 2 may also directly connect the friction stir welding bit 5 and the weld sensor 7 to directly drive the weld sensor 7 or the friction stir welding bit 5, so that the friction stir welding bit 5 and the weld sensor 7 generate relative angular displacement motion.
Further, in the embodiment shown in fig. 1, the angular displacement driving mechanism 2 is connected with the friction welding moving platform 1 through a moving module, and the bottom of the angular displacement driving mechanism 2 is fixedly connected with the friction welding drill bit driving mechanism 4 through a fastener such as a screw.
The bead sensor 7 is provided on the friction stir welding apparatus 100, and the sensing direction of the bead sensor 7 is kept coincident with the working direction of the friction stir welding bit 5. The weld sensor 7 is used for sensing the weld on the workpiece to be welded. The weld sensor includes an image sensor, an infrared sensor, or a laser sensor. With continued reference to fig. 1, in this embodiment, the weld sensor 7 employs a laser sensor, and the weld information sensed by the laser sensor includes position information of the weld and depth information of the weld. The laser sensor has good energy focusing performance, can sense the distance information of the welding seam and can also sense the depth information of the welding seam. Through the distance information of the welding seam, the controller can quickly obtain the position information of the welding seam in a preset coordinate system rule. The controller receives the position information of the welding seam and the depth information of the welding seam simultaneously, and can accurately plan the motion track of the friction stir welding drill bit 5, so that the welding efficiency is further improved.
The friction stir welding device 100 provided by the embodiment of the invention is provided with the welding seam sensor 7 and a dual-drive mechanism (the welding seam sensor drive mechanism 6 and the angular displacement drive mechanism 2), the angular displacement drive mechanism 2 can enable the welding seam sensor 7 and the friction stir welding drill bit 5 to generate relative angular displacement motion, and the welding seam sensor drive mechanism 6 can enable the welding seam sensor 7 to generate motion around the axis of the welding seam sensor 7. The controller can respectively control the dual-drive mechanisms according to the welding seam information of the welding seam sensor, so that the friction stir welding device 100 is suitable for linear welding seams and also suitable for curve welding seams, and the welding accuracy and efficiency are further effectively improved.
As shown in fig. 2, a schematic flow chart of a friction stir welding recognition weld joint according to an embodiment of the present invention is provided. In this embodiment, the friction stir welding apparatus 100 is fixedly disposed on an X-Y axis moving platform with a work piece to be welded. The welding seam sensor 7 obtains the plane coordinate of the welding seam through scanning, and feeds the plane coordinate of the welding seam back to the controller, and when the position of the welding seam does not deviate from the center of the welding seam sensor 7, the controller sends a driving signal to the friction welding drill bit driving mechanism 4 to drive the friction stir welding drill bit 5 to generate rotary motion. When the welding seam sensor 7 scans that the plane coordinate of the welding seam deviates from the center of the welding seam sensor 7, the controller controls the friction welding angular displacement driving mechanism 2 and/or the welding seam sensor driving mechanism 6 to respectively generate driving signals, so that the friction welding motion platform 1 is controlled to rotate and the welding seam sensor 7 generates angular deflection, the position difference between the welding seam and the middle point of a laser line is compensated, the welding seam is always in the scanning range of the welding seam sensor 7, and the welding track identification of the friction stir welding drill bit 5 is ensured. And when the position of the welding seam does not deviate from the center of the welding seam sensor 7, the controller sends a driving signal to the friction welding drill bit driving mechanism 4 again to drive the friction stir welding drill bit 5 to rotate.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (10)
1. A friction stir welding apparatus, comprising:
the friction stir welding drill is used for friction welding with a workpiece to be welded;
the friction welding drill bit driving mechanism is connected with the friction stir welding drill bit and is used for driving the friction stir welding drill bit to generate rotary motion;
the welding line sensor is arranged on the friction stir welding device, keeps the sensing direction of the welding line sensor consistent with the working direction of the friction stir welding drill bit, and is used for sensing the welding line on the workpiece to be welded;
the welding line sensor driving mechanism is connected with the welding line sensor and used for driving the sensing center of the welding line sensor to generate deviation;
the angular displacement driving mechanism is used for driving the friction stir welding drill bit and the welding seam sensor to generate relative angular displacement motion;
the controller is connected with the friction welding drill bit driving mechanism, the angular displacement driving mechanism, the welding seam sensor and the welding seam sensor driving mechanism, receives welding seam information sensed by the welding seam sensor, and controls the friction welding drill bit driving mechanism, the angular displacement driving mechanism or/and the welding seam sensor driving mechanism to generate corresponding driving signals based on the welding seam information so as to align the position of the friction stir welding drill bit with the sensed welding seam position.
2. The friction stir welding apparatus of claim 1 further comprising a friction stir welding motion stage configured to limit the direction of the motion trajectory of the friction stir welding bit to be perpendicular to the direction of operation of the friction stir welding bit.
3. A friction stir welding apparatus as defined in claim 2 wherein said friction stir welding motion stage includes a horizontally disposed rail along which said friction stir welding bit is horizontally displaceable.
4. A friction stir welding apparatus as defined in claim 2 wherein said friction weld bit drive mechanism and said friction stir welding bit are vertically connected.
5. The friction stir welding apparatus of claim 4 wherein said weld sensor drive mechanism and said weld sensor are vertically connected, said weld sensor drive mechanism being secured to said friction weld bit drive mechanism by a connecting member.
6. The friction stir welding apparatus of claim 5 wherein said connecting member is horizontally oriented, one end of said connecting member being connected to said weld sensor drive mechanism and the other end of said connecting member being connected to said friction weld bit drive mechanism.
7. The friction stir welding apparatus of claim 5 wherein said angular displacement drive mechanism drives said connecting member to produce an angular displacement motion, said connecting member driving said weld sensor to produce a relative angular displacement with said friction stir welding bit.
8. The friction stir welding apparatus of claim 1 wherein said weld sensor comprises an image sensor, an infrared sensor, or a laser sensor.
9. The friction stir welding apparatus of claim 8 wherein, when the weld sensor is a laser sensor, the weld information sensed by the laser sensor includes position information of the weld and depth information of the weld.
10. A friction stir welding apparatus as defined in claim 1 wherein said friction weld bit drive mechanism fastens said friction stir welding bit with a screw set shrink sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507195.3A CN114700610A (en) | 2022-05-10 | 2022-05-10 | Friction stir welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507195.3A CN114700610A (en) | 2022-05-10 | 2022-05-10 | Friction stir welding device |
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| Publication Number | Publication Date |
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| CN114700610A true CN114700610A (en) | 2022-07-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202210507195.3A Pending CN114700610A (en) | 2022-05-10 | 2022-05-10 | Friction stir welding device |
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| CN (1) | CN114700610A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115519233A (en) * | 2022-09-15 | 2022-12-27 | 青岛寰宇乾堃航天特种设备有限公司 | Friction stir welding weld joint spindle device and centering method |
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| DE202016001908U1 (en) * | 2016-03-23 | 2016-05-19 | Grenzebach Maschinenbau Gmbh | Device for residue-free friction stir welding of workpieces caused by manufacturing tolerances height differences of joining partners |
| CN109530906A (en) * | 2018-12-28 | 2019-03-29 | 北京工业大学 | A kind of friction stir welding machine device people configuration and motion algorithm |
| CN111482696A (en) * | 2020-04-22 | 2020-08-04 | 上海电气集团自动化工程有限公司 | Welding seam tracking and height measuring system of friction stir welding robot |
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2022
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| CN1275450A (en) * | 1999-05-28 | 2000-12-06 | 株式会社日立制作所 | Method and apparatus for making structural element |
| CN1600505A (en) * | 2004-10-21 | 2005-03-30 | 上海交通大学 | Servo binocular vision sensors on welding robot |
| CN202278307U (en) * | 2011-08-19 | 2012-06-20 | 广州有色金属研究院 | An adjustable double line structured light weld tracking visual sensing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115519233A (en) * | 2022-09-15 | 2022-12-27 | 青岛寰宇乾堃航天特种设备有限公司 | Friction stir welding weld joint spindle device and centering method |
| CN115519233B (en) * | 2022-09-15 | 2024-05-28 | 青岛寰宇乾堃航天特种设备有限公司 | Friction stir welding weld joint main shaft device and centering method |
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