CN211438561U - Robot friction stir spot welding system capable of accurately supporting welding spot position - Google Patents
Robot friction stir spot welding system capable of accurately supporting welding spot position Download PDFInfo
- Publication number
- CN211438561U CN211438561U CN201922397647.3U CN201922397647U CN211438561U CN 211438561 U CN211438561 U CN 211438561U CN 201922397647 U CN201922397647 U CN 201922397647U CN 211438561 U CN211438561 U CN 211438561U
- Authority
- CN
- China
- Prior art keywords
- supporting
- welding
- spot welding
- robot
- machine head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a robot friction stir spot welding system for accurately supporting a welding spot, wherein a control system is respectively electrically connected with a welding robot and a supporting robot and is used for controlling the actions of the welding robot and the supporting robot; the welding robot is provided with a spot welding machine head and is used for driving the spot welding machine head to move to one side of a part to be welded; the supporting robot is provided with a supporting machine head and is used for driving the supporting machine head to move to the other side of the part to be welded; the spot welding machine head and the supporting machine head are respectively and electrically connected with the control system, and when the spot welding machine head and the supporting machine head are shifted to two sides opposite to the welding point position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate; the supporting machine head is conical, the bottom surface of the supporting machine head is a plane supporting point, and the size of the plane supporting point is not smaller than the outer diameter of the backfilling spot welding head pressing sleeve. When the complex curved surface structural part is welded, the welding part can be more conveniently and accurately supported.
Description
Technical Field
The utility model relates to a friction stir spot welding technical field, concretely relates to robot friction stir spot welding system of accurate support solder joint position.
Background
In the field of solid phase spot welding, friction stir spot welding is a new technology developed based on friction stir welding technology, and the friction stir spot welding technology developed by Mazda in 1993 in Japan adopts an integral stirring tool with a fixed geometric shape, and a keyhole is left in the center of a spot welding head after welding; the German GKSS research center researches and develops a backfill type friction stir spot welding technology in 1999, and the backfill of materials can be completed by accurately controlling the relative movement of a stirring pin and a pressing sleeve in the welding process, so that the connection of the friction stir spot welding without a keyhole is realized. In recent years, friction stir spot welding is gradually developed into a new technology capable of replacing technologies such as riveting and resistance spot welding, and the welding of common light metals such as aluminum alloy and magnesium alloy has wide application prospects in the fields of aerospace, automobiles, shipbuilding and the like.
The friction stir spot welding equipment generally comprises a welding head, a fixing mechanism, a control system, a supporting mechanism and the like, wherein the general supporting mechanism is a fixed seat or a C-shaped supporting structure. Friction stir spot welding is in welding process, and welding head and back support frame are located the both sides of treating the welding respectively, and when welding large-scale complicated curved surface structure, when aircraft ribbed wallboard structure and fuselage structure, owing to the restriction that has fixing base structure and space, C type bearing structure's the less scheduling problem of inner chamber size hardly adopts fixing base or C type bearing structure to carry out point-to-point normal direction welding and support, can't realize the accurate support of solder joint position.
Therefore, the utility model provides a robot friction stir spot welding system of accurate support solder joint position solves above-mentioned technical problem.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model discloses solve among the prior art technical problem that the solder joint position is difficult to accurate support.
(II) technical scheme
The utility model provides a robot friction stir spot welding system of accurate support solder joint position, including welding robot, support robot and control system, control system respectively with the welding robot reaches the support robot electricity is connected for control the welding robot with the action of support robot;
the welding robot is provided with a spot welding machine head and is used for driving the spot welding machine head to move to one side of a part to be welded;
the supporting robot is provided with a supporting machine head and is used for driving the supporting machine head to move to the other side of the part to be welded;
the spot welding machine head and the supporting machine head are respectively and electrically connected with the control system, and when the spot welding machine head and the supporting machine head are shifted to two opposite sides of the welding point position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate;
the supporting machine head is conical, the bottom surface of the supporting machine head is a plane supporting point, and the size of the plane supporting point is larger than or equal to the outer diameter of the pressing sleeve.
Further, the shape of the plane supporting point is circular, square or rectangular.
Further, the control system includes:
the welding servo driving system is electrically connected with the welding robot and the spot welding machine head, and is used for driving the welding robot to act and driving the spot welding operation of the welding machine head;
the supporting servo driving system is electrically connected with the supporting robot and the supporting machine head and is used for driving the supporting robot to act and driving the supporting operation of the supporting machine head; and
and the numerical control system is electrically connected with the welding servo driving system and the supporting servo driving system and is used for controlling the welding servo driving system and the supporting servo driving system to synchronously drive the spot welding machine head and the supporting machine head.
Further, the spot welding machine head comprises a spot welding mounting seat, a spot welding driving motor and a spot welding head, the spot welding mounting seat is connected with the welding robot, the spot welding driving motor and the spot welding head are installed on the spot welding mounting seat, and the spot welding head and the control system are respectively connected with the spot welding driving motor.
Furthermore, the supporting machine head comprises a supporting installation seat, a supporting driving motor and a supporting head, the supporting installation seat is connected with the supporting robot, the supporting driving motor and the supporting head are both arranged on the supporting installation seat, and the supporting head and the control system are respectively connected with the supporting driving motor.
Furthermore, the supporting head comprises a conical supporting body and a supporting end head connected to the end head of the conical supporting body, and the bottom surface of the supporting end head is a plane supporting point.
Further, the conical support body is detachably connected with the support end head.
Further, the supporting head is provided with a mounting hole for being matched with a bolt to be connected with the supporting robot.
(III) advantageous effects
The above technical scheme of the utility model has following advantage:
in the robot friction stir spot welding system for accurately supporting the welding spot position, the control system is respectively electrically connected with the welding robot and the supporting robot and is used for controlling the welding robot and the supporting robot to act so as to achieve the aim of accurately controlling the robot; the welding robot is provided with a spot welding machine head, the welding robot is used for driving the spot welding machine head to move to one side of a part to be welded, the supporting robot is provided with a supporting machine head, and the supporting robot is used for driving the supporting machine head to move to the other side of the part to be welded; the control system is respectively electrically connected with the spot welding machine head and the supporting machine head, when the spot welding machine head and the supporting machine head are shifted to two opposite sides of the welding spot position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate, when a complex curved surface structural part is welded, the welding machine head and the supporting machine head are respectively positioned on two sides of the part to be welded, the part to be welded is moved along the mirror symmetry of the curved surface of the part to be welded, point-to-point normal welding and supporting are always carried out, and accurate control of welding force and the welding. The supporting machine head is conical, the contact area between the supporting machine head and a part to be welded is small, the bottom surface of the supporting machine head is a plane supporting point, the size of the plane supporting point is not smaller than the outer diameter size of a backfill spot welding head pressing sleeve, and the part to be welded can be more conveniently and accurately supported when a complex curved surface structural part is welded.
The advantage of replacing riveting with welding for the complex curved surface structural member is obvious, the welding quality is ensured, meanwhile, the intelligent manufacturing is realized, the operation is simple, the popularization is suitable, and the expansion function and the transportability are stronger; the application research of the robot friction stir spot welding engineering is developed, and a technical foundation is laid for advanced manufacturing and assembly of large aluminum alloy parts.
Drawings
FIG. 1 is a schematic diagram of the operation structure of the robot friction stir spot welding system of the present invention;
FIG. 2 is a structural diagram of a supporting head in the robot friction stir spot welding system of the present invention;
FIG. 3 is a bottom view of a support head of the robotic friction stir spot welding system of the present invention;
FIG. 4 is a schematic structural view of a spot welder head in the robot friction stir spot welding system of the present invention;
figure 5 is the utility model discloses a robot friction stir spot welding system frame construction sketch map.
In the figure: 1. a control system; 2. a numerical control system; 3. a welding servo drive system; 4. supporting the servo drive system; 5. a welding robot; 6. spot welding a head; 7. supporting the robot; 8. supporting the machine head; 9. a part to be welded; 10. mounting holes; 11. spot welding a driving motor; 12. spot welding the mounting base; 13. and (4) a spot welding head.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-5, the robot friction stir spot welding system for accurately supporting the welding spot position provided by the present invention comprises a welding robot 5, a supporting robot 7 and a control system 1, wherein the control system 1 is electrically connected with the welding robot 5 and the supporting robot 7 respectively, and is used for controlling the welding robot 5 and the supporting robot 7 to move; the welding robot 5 is provided with a spot welding machine head 6, and the welding robot 5 is used for driving the spot welding machine head 6 to move to one side of a piece to be welded 9; the supporting robot 7 is provided with a supporting machine head 8, and the supporting robot 7 is used for driving the supporting machine head 8 to move to the other side of the to-be-welded part 9; the spot welding machine head 6 and the supporting machine head 8 are respectively electrically connected with the control system 1, and when the spot welding machine head 6 and the supporting machine head 8 are shifted to two sides opposite to the welding point position of the to-be-welded part 9, the spot welding machine head 6 and the supporting machine head 8 are driven to synchronously operate; the supporting machine head 8 is conical, the bottom surface of the supporting machine head 8 is a plane supporting point, and the size of the plane supporting point is larger than or equal to the outer diameter of the backfilling spot welding head pressing sleeve.
In the above-mentioned embodiment, be provided with welding robot 5 and support robot 7, install spot welding head 6 on welding robot 5, support head 8 is installed on support robot 7, under welding robot 5 and support robot 7's action, spot welding head 6 can be located respectively with support head 8 and treats the relative both sides of a 9 face of weld of welding, because support head 8's structural feature, welding quality does not receive the structural complexity influence of treating a 9 face of weld, can adapt to the welding demand of complex curved surface.
In the course of the work, control system 1 gives out the instruction, drive spot welder head 6 and support aircraft nose 8 contact simultaneously in treating the relative both sides of weldment 9 welding face, and exert pressure simultaneously, spot welder head 6 is point-to-point with support aircraft nose 8, one welds one, realize the accurate support of solder joint position, treat when welding the end, welding robot 5 keeps away from the motion with support robot 7 relatively, make spot welder head 6 and support aircraft nose 8 leave in step and treat weldment 9, improve welding quality.
It should be pointed out that, in this embodiment, welding robot 5 all adopts heavy-duty industrial robot with support robot 7, for two independent KUKA robots, the model is KR1000Titan, and maximum bearing capacity can be selected to use 2400kg, and concrete parameter can be selected according to the welding object and changed, and numerical control system adopts the doubly good at numerical control system.
Preferably, the shape of the planar support points is circular, square or rectangular. The shape of the planar support points may be many, such as rectangular, triangular, etc., and the shape chosen in this embodiment is only a preferred embodiment.
Specifically, the control system 1 comprises a welding servo driving system 3, a supporting servo driving system 4 and a numerical control system 2, wherein the welding servo driving system 3 is electrically connected with a welding robot 5 and a spot welding machine head 6 and is used for driving the welding robot 5 to move and driving the spot welding operation of the spot welding machine head 6; the supporting servo driving system 4 is electrically connected with the supporting robot 7 and the supporting machine head 8 and is used for driving the supporting robot 7 to act and driving the supporting operation of the supporting machine head 8; the welding servo driving system 3 and the supporting servo driving system 4 are respectively electrically connected with the numerical control system 2 and are used for controlling the welding servo driving system 3 and the supporting servo driving system 4 to synchronously drive the spot welding machine head 6 and the supporting machine head 8. So, welding servo drive system 3 and support servo drive system 4 are based on numerical control system 2, and spot welder head 6 reaches the solder joint position both sides of waiting to weld 9 with the support aircraft nose 8 relative of spot welder head 6 synchronous arrival, and the normal direction is coaxial, and welding robot 5 carries out point-to-point normal direction welding and support with support robot 7 all the time when guaranteeing that spot welding goes on, realizes the accurate control of welding power and solder joint position.
Specifically, the spot welding machine head 6 includes a spot welding mounting seat 12, a spot welding driving motor 11 and a spot welding head 13, the spot welding mounting seat 12 is connected with the welding robot 5, the spot welding driving motor 11 and the spot welding head 13 are both installed on the spot welding mounting seat 12, and the spot welding head 13 and the control system 1 are respectively connected with the spot welding driving motor 11.
Specifically, the supporting machine head 8 comprises a supporting mounting seat, a supporting driving motor and a supporting head, the supporting mounting seat is connected with the supporting robot 7, the supporting driving motor and the supporting head are both arranged on the supporting mounting seat, and the supporting head and the control system are respectively connected with the supporting driving motor. Therefore, the spot welding driving motor 11 drives the spot welding head 13 to provide welding force, and the supporting driving motor drives the supporting machine head 8 to provide supporting force, so that the purpose of friction stir spot welding is achieved.
Specifically, the supporting head comprises a conical supporting body and a supporting end head connected to the end head of the conical supporting body, and the bottom surface of the supporting end head is a plane supporting point.
Particularly, the conical supporting body is detachably connected with the supporting end head, so that the required supporting end head can be conveniently replaced according to specific conditions.
Specifically, the support head 8 has a mounting hole 10 for connecting with the support robot 7 by fitting with a bolt. The mounting holes 10 of the supporting heads 8 can be easily detached and mounted on the supporting robot so as to select the proper supporting head to meet the working requirements of friction stir spot welding, and the manner of detachably mounting the supporting heads on the supporting robot is not limited to that of this embodiment.
The specific working process is as follows:
before welding, a part 9 to be welded is suspended between the two robots, a program is set in the numerical control system 2, the two robots move synchronously, the end effectors of the robots have the same point position but different postures, and the movement paths of the end effectors are different in the movement process;
when welding starts, the spot welding machine head 6 and the back support machine head 8 are respectively positioned at two sides of a part to be welded 9, move symmetrically along the curved surface of the part to be welded in a mirror image manner, and carry out point-to-point normal welding and support all the time, so that the accurate control of welding force and welding spot position is realized; the spot welding machine head 6 contacts with a part to be welded in the descending process, meanwhile, the supporting machine head 8 also contacts with the part to be welded 9 and generates supporting force, the spot welding machine head 6 continues to descend until the spot welding head 13 is tightly pressed on the part to be welded 9 at a given pressure value, and at the moment, the supporting machine head 8 continues to ascend to generate the supporting force with the same size;
welding, wherein a stirring pin in the spot welding head 13 and the inner shaft shoulder rotate and complete welding, the supporting machine head 8 keeps a tight-pushing state, welding force and back supporting force are simultaneously applied to the position of a welding spot, and the pressure provided by the two robots is balanced;
and after welding is finished, the spot welding machine head 6 stops running and is lifted upwards, the pressure value of the supporting machine head 8 is reduced, the supporting machine head and the workpiece to be welded 9 are quickly separated, and the two robots with mirror image motion simultaneously leave the workpiece to be welded 9 to finish welding of one welding point.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A robot friction stir spot welding system for accurately supporting a welding spot position is characterized by comprising a welding robot, a supporting robot and a control system, wherein the control system is electrically connected with the welding robot and the supporting robot respectively and is used for controlling the actions of the welding robot and the supporting robot;
the welding robot is provided with a spot welding machine head and is used for driving the spot welding machine head to move to one side of a part to be welded;
the supporting robot is provided with a supporting machine head and is used for driving the supporting machine head to move to the other side of the part to be welded;
the spot welding machine head and the supporting machine head are respectively and electrically connected with the control system, and when the spot welding machine head and the supporting machine head are shifted to two opposite sides of the welding point position of the part to be welded, the spot welding machine head and the supporting machine head are driven to synchronously operate;
the supporting machine head is conical, the bottom surface of the supporting machine head is a plane supporting point, and the size of the plane supporting point is larger than or equal to the outer diameter of the pressing sleeve.
2. A robotic friction stir spot welding system for precisely supporting weld locations according to claim 1 wherein the planar support points are circular, square or rectangular in shape.
3. A robotic friction stir spot welding system for precisely supporting a spot weld location according to claim 1 wherein the control system comprises:
the welding servo driving system is electrically connected with the welding robot and the spot welding machine head, and is used for driving the welding robot to act and driving the spot welding operation of the welding machine head;
the supporting servo driving system is electrically connected with the supporting robot and the supporting machine head and is used for driving the supporting robot to act and driving the supporting operation of the supporting machine head; and
and the numerical control system is electrically connected with the welding servo driving system and the supporting servo driving system and is used for controlling the welding servo driving system and the supporting servo driving system to synchronously drive the spot welding machine head and the supporting machine head.
4. The system of claim 1, wherein the spot welding head comprises a spot welding mounting base, a spot welding driving motor and a spot welding head, the spot welding mounting base is connected to the welding robot, the spot welding driving motor and the spot welding head are both mounted on the spot welding mounting base, and the spot welding head and the control system are respectively connected to the spot welding driving motor.
5. The system of claim 1, wherein the support head comprises a support mounting base, a support driving motor and a support head, the support mounting base is connected to the support robot, the support driving motor and the support head are both mounted on the support mounting base, and the support head and the control system are respectively connected to the support driving motor.
6. A robot friction stir spot welding system for accurately supporting a welding spot according to claim 5 wherein the support head comprises a conical support body and a support head connected to the end of the conical support body, and the bottom surface of the support head is a planar support point.
7. A robotic friction stir spot welding system for precisely supporting weld locations according to claim 6 wherein said conical support body is removably linked to said support head.
8. A robotic friction stir spot welding system for precisely supporting a spot weld location according to claim 1 wherein the support head has mounting holes for engaging bolts to connect to the support robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922397647.3U CN211438561U (en) | 2019-12-27 | 2019-12-27 | Robot friction stir spot welding system capable of accurately supporting welding spot position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922397647.3U CN211438561U (en) | 2019-12-27 | 2019-12-27 | Robot friction stir spot welding system capable of accurately supporting welding spot position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211438561U true CN211438561U (en) | 2020-09-08 |
Family
ID=72296656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922397647.3U Active CN211438561U (en) | 2019-12-27 | 2019-12-27 | Robot friction stir spot welding system capable of accurately supporting welding spot position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211438561U (en) |
-
2019
- 2019-12-27 CN CN201922397647.3U patent/CN211438561U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109986195B (en) | Friction stir welding spindle head mechanism for parallel robot | |
| CN212043114U (en) | Robot friction stir spot welding system for detecting and feeding back temperature change | |
| CN206383147U (en) | A kind of Underwater Welding robot | |
| CN203091993U (en) | Welding fixture rotating platform | |
| CN205032832U (en) | Welding system coordinates in two robots | |
| CN211438561U (en) | Robot friction stir spot welding system capable of accurately supporting welding spot position | |
| CN209598415U (en) | Series parallel type heavy duty Friction Stir Welding robot | |
| CN211889423U (en) | Robot friction stir spot welding system | |
| CN209793550U (en) | Product fixing tool based on PLC manipulator machining line | |
| CN111014939B (en) | Robot friction stir spot welding mirror image welding method | |
| CN211804382U (en) | Robot friction stir spot welding mirror image welding system with temperature control function | |
| CN202411671U (en) | Spot welding robot | |
| CN205852051U (en) | A kind of new type auto soldering turret | |
| CN111014940B (en) | Robot friction stir spot welding mirror image welding method | |
| CN206105204U (en) | Workpiece welding device | |
| CN209094818U (en) | The welding robot of Ke Kuaisugenghuan collet | |
| CN209206803U (en) | A kind of front engine support welding fixture | |
| CN212793680U (en) | Mechanical automatic welding device | |
| CN213998324U (en) | Automatic loading and unloading manipulator for welding automobile body | |
| CN113001023A (en) | Single-welding-point laser welding equipment and using method | |
| CN217224228U (en) | Crane girder large rib plate cooperative welding device | |
| CN203610847U (en) | Welding system | |
| CN203092000U (en) | Intelligent welding integrating mechanism | |
| CN218926773U (en) | Novel mower welding positioner | |
| CN211889422U (en) | Robot friction stir spot welding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |