搅拌摩擦焊接机器人形变及载荷控制方法研究  

Research on Stiffness Characteristics and Load Control Method of Friction Stir Welding Robot

作　　者：房立金 张月 徐晓辉 FANG Lijin;ZHANG Yue;XU Xiaohui(Faculty of Robot Science and Engineering,Northeastern University,Shenyang 110819,China;School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China)

机构地区：[1]东北大学机器人科学与工程学院,沈阳110819 [2]东北大学机械工程与自动化学院,沈阳110819 [3]上海航天技术研究院,上海201109

出　　处：《航空制造技术》2020年第9期14-20,共7页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(51575092);辽宁重大装备制造协同创新项目。

摘　　要：基于搅拌摩擦焊接中搅拌头受力数学模型,利用Ansys Workbench建立了搅拌头的静力学模型。分析了焊接过程中前进阻力、侧向力、轴向力和扭矩对搅拌头应变影响,仿真结果表明,搅拌摩擦焊接过程中搅拌针的根部是主要的应力集中区域。合适的焊接方法与工艺对提高机器人搅拌摩擦焊接稳定性有很大帮助,对搅拌摩擦焊点焊、优化搅拌头设计和焊接工艺参数、热源和超声辅助、反馈测量补偿搅拌摩擦焊、改进机器人结构刚度和精度等载荷控制方法进行了详细阐述。结合工业机器人整体刚性较弱、加工作业时易引发颤振、关节减速器内部齿隙较大,提出了基于双电机传动的无间隙传动高刚性机械臂结构设计,并对机械臂刚度特性进行分析。Based on the mathematical model of the force on the mixing head in friction stir welding,the static model of the mixing head was established by using Ansys Workbench.The influence of forward resistance,lateral force,axial force and torque on the strain of the mixing head is analyzed.Suitable welding methods and processes are of great help to improve the stability of robot friction stir welding,and the load control methods such as friction stir spot welding,optimizing mixing head design and welding process parameters,heat source and ultrasonic-assisted,feedback measurement and compensation friction stir welding,as well as the improvement of robot structural stiffness and accuracy are described in detail.In combination with the weak overall rigidity of industrial robot,easy to cause flutter during processing,and large internal tooth gap of joint reducer,a high rigid mechanical arm with non-clearance drive based on dual motor drive is proposed,and the stiffness characteristics of the mechanical arm are discussed.

关 键 词：机器人 搅拌摩擦焊接 搅拌头 传动间隙 载荷控制 刚度 

分 类 号：TG409[金属学及工艺—焊接]