混联机器人搅拌摩擦焊接系统集成研究

赵慧慧; 李志伟; 王子德; 高洪明; 董吉义; 胡蓝

doi:10.7512/j.issn.1001-2303.2022.01.01

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混联机器人搅拌摩擦焊接系统集成研究
Research on Integration of Hybrid Robot Friction Stir Welding System
2022年52卷第1期页码：1-6
DOI： 10.7512/j.issn.1001-2303.2022.01.01

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赵慧慧，李志伟，王子德，等.混联机器人搅拌摩擦焊接系统集成研究［J］.电焊机，2022，52（01）：1-6.

ZHAO Huihui, LI Zhiwei, WANG Zide, et al.Research on integration of hybrid robot friction stir welding system[J].Electric Welding Machine, 2022, 52(01): 1-6.
赵慧慧，李志伟，王子德，等.混联机器人搅拌摩擦焊接系统集成研究［J］.电焊机，2022，52（01）：1-6. DOI： 10.7512/j.issn.1001-2303.2022.01.01.

ZHAO Huihui, LI Zhiwei, WANG Zide, et al.Research on integration of hybrid robot friction stir welding system[J].Electric Welding Machine, 2022, 52(01): 1-6. DOI： 10.7512/j.issn.1001-2303.2022.01.01.

摘要

机器人搅拌摩擦焊设备因具有焊接适应性强、易于实现空间全位置焊接、自动化程度高、生产效率高等技术特点，近年来得到了越来越多地应用。针对空间曲线焊缝搅拌摩擦焊接需求，开展了五轴混联型机器人搅拌摩擦焊接系统研究。该系统由搅拌摩擦焊接机器人子系统、液压主轴子系统、传感与控制子系统和中央控制单元组成，能够实现复杂构件的空间曲面焊接，对搅拌头倾角、轴肩压入量、焊缝偏差等过程参数实现了在线检测，可对焊接过程进行恒倾角控制、恒下压量控制以及焊缝自动跟踪控制。以工控机为核心开发了中央控制单元，实现了上述各子系统的集成。基于组态软件开发了人机交互系统，具有模式设置、设备状态显示、参数采集与存储等功能，为焊接过程数字化以及产品质量追溯提供了技术保障。

Abstract

Robot friction stir welding equipment has been more and more used in recent years because of its strong welding adaptability, easy to realize space all position welding, high degree of automation and high production efficiency. In order to meet the requirements of friction stir welding for space curve welds, a five-axis hybrid robot friction stir welding system was developed in this paper. The system is composed of friction stir welding robot subsystem, hydraulic subsystem, sensing and control subsystem and central control unit. It can realize the space surface welding of complex components. The process parameters such as tilt, shoulder depth and weld deviation were measured online. The welding process can be controlled by constant tilt, constant depth and automatic welding seam tracking. The central control unit is developed with industrial computer as the core to realize the integration of the above subsystems. Based on the Kingview software, the human-computer interaction system is developed, which has the functions of mode setting, equipment status display, parameter acquisition and storage. It provides technical support for the digitization of welding process and product quality traceability.

关键词

搅拌摩擦焊五轴混联机器人系统集成中央控制单元

Keywords

friction stir weldingfive axis hybrid robotsystem integrationcentral control unit

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