基于焊缝跟踪控制系统的机器人FSW实现及表面质量  

Robot FSW Implementation and Surface Quality Based on Weld Seam Tracking Control System

作　　者：柴鹏[1,2] 王月 齐铂金 姬书得[3] CHAI Peng;WANG Yue;QI Bojin;JI Shude(School of Mechanical Engineering and Automation,Bei Hang University,Beijing 100024,China;AVIC Manufacturing Technology Institute,Beijing 100024,China;College of Aerospace Engineering,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100024 [2]中国航空制造技术研究院,北京100024 [3]沈阳航空航天大学航空宇航学院,辽宁沈阳110136

出　　处：《热加工工艺》2021年第19期131-134,共4页Hot Working Technology

摘　　要：焊缝跟踪控制系统的应用对机器人搅拌摩擦焊接接头的表面质量具有重要作用。为研究焊缝跟踪系统对机器人搅拌摩擦焊缝的控制效果,设计了一种基于激光视觉传感器和PD纠偏算法的焊缝跟踪控制系统。以3 mm厚2A12-T4铝合金板材为试验材料,进行了斜线焊缝的跟踪引导焊接以及曲线焊缝的纠偏焊接试验,观察分析焊速200mm/min下斜线和曲线焊缝焊接后接头的表面质量。结果表明:两种焊缝接头表面均匀平整,本试验设计的焊缝跟踪控制系统有助于提高机器人搅拌摩擦焊焊缝的表面成形质量。The application of the weld tracking control system plays an important role in the surface quality of robot friction stir welding joint. In order to study the control effect of the weld seam tracking system on robot friction stir weld seam, a weld seam tracking control system based on laser vision sensor and PD correction algorithm was designed. The 3 mm thick 2 A12-T4 aluminum alloy sheet was used as the test material, and the tracking welding of the oblique weld and the curve weld correcting welding experiments were performed. The surfaces of the oblique and curved welds when the welding speed is 200 mm/min were observed and analyzed. The results show that the surfaces of the two welding joints are smooth. The weld seam tracking control system designed in this experiment is helpful to improve the surface forming quality of the robot friction stir weld.

关 键 词：焊缝跟踪 机器人FSW 斜线焊缝 曲线焊缝 表面质量 

分 类 号：TG453.9[金属学及工艺—焊接] TG409