机器人搅拌摩擦点焊系统设计

搅拌摩擦点焊是一种新型固相焊接技术,机器人焊接是焊接制造业的主要发展方向,将搅拌摩擦点焊与机器人相结合,通过加工相应的焊接装置以及增加机器人的承载能力,设计完成机器人搅拌摩擦点焊装置,实现对搅拌针的精确控制。机器人搅拌摩擦点焊的控制系统是将机器人控制系统和搅拌摩擦点焊控制系统结合,在焊接过程中二者既能独立运行,又相互联系,实现搅拌摩擦点焊装置与机器人协同工作模式,从而实现无间断循环的焊接过程,提高焊接效率。通过实验对比分析机器人搅拌摩擦点焊与传统龙门式搅拌摩擦点焊焊接的工件表面成形和焊点力学性能,结果表明:机器人搅拌摩擦点焊系统实现了复杂结构工件的焊接,表面成形良好,无明显的焊接缺陷,且焊点结合强度与龙门式相当,机器人搅拌摩擦点焊系统具有良好的焊接性能。     

Evaluation of friction stir welding tool using wettability

ABSTRACT

Recently, friction stir welding (FSW) has been widely used in various fields. However, the tool wear and adhesion of the workpiece on the tool surface are serious problems. In the field of cutting tools, hard thin films were coated on the tool surface to improve the life and cutting performance of the tool. To address the problem of FSW, hard thin films such as TiN, TiAlN, TiSiN, TiBON, CrN, CrSiN and AlCrSiN were coated on the welding tools. Also, the relation between the wettability of these films and the process torque during FSW and quality of the finished surface was examined.

The wettability of pure iron and hard thin films was determined using a sessile drop method by focusing on the contact angle. The process torque during FSW was measured through the joining of low carbon steels. The process torque was significantly different depending on the type of the hard thin film. A clear correlation was observed between the wettability and the process torque. The result suggested that the tool performance for FSW can be evaluated by the wettability.     

Three-dimensional heat and material flow during friction stir welding of mild steel

Three-dimensional viscoplastic flow and heat transfer during friction stir welding of mild steel were investigated both experimentally and theoretically. The equations of conservation of mass, momentum and energy were solved in three dimensions using spatially variable thermo-physical properties and a methodology adapted from well-established previous work in fusion welding. Non-Newtonian viscosity for the metal flow was calculated considering temperature and strain rate dependent flow stress. The computed results showed significant viscoplastic flow near the tool surface, and convection was found to be the primary mechanism of heat transfer in this region. Also, the results demonstrated the strong three-dimensional nature of the transport of heat and mass, reaffirming the need for three-dimensional calculations. The streamlines of plastic flow indicated that material was transported mainly along the retreating side. The computed temperatures were in good agreement with the corresponding experimentally determined values.     

Development of friction stir welding of high strength steel sheet

Abstract

For friction stir welding (FSW) of advanced high strength steel (AHSS) sheets with tensile strength grades between 590 and 1180?N?mm^?2, the appropriate welding condition range and the influence of welding conditions on microstructures and mechanical properties of the welds were investigated. The appropriate welding conditions to avoid defects such as the incomplete consolidation at the bottom of the weld were obtained for the steel sheets up to 1180?N?mm^?2 grade. The higher tool rotation speed evidently resulted in the larger volume fraction of martensite and higher hardness in the stir zone (SZ), attributed to an increase in the peak temperature of its thermal cycle. The tensile strength of the weld joint was as high as that of the base metal for the steels up to 980?N?mm^?2 grade, but slightly lower than that of the base metal for the steel of 1180?N?mm^?2 grade due to the heat affected zone (HAZ) softening.     

搅拌摩擦焊应用及焊接设备简介

介绍了搅拌摩擦焊的工艺过程，分析了搅拌摩擦焊焊缝及焊接过程的优缺点。对搅拌摩擦焊的应用和常用搅拌摩擦焊设备作了简要的描述。     

Bobbin tool friction stir welding: a review

ABSTRACT

Friction stir welding is a solid-state welding technique for joining similar and dissimilar material. Bobbin tool friction stir welding (BTFSW) is a variant of the conventional friction stir welding process (CFSW). Compared with conventional FSW, BTFSW eliminates all limitations of CFSW using a two shoulders configuration. Now, the need has arisen to review the work done on BTFSW to provide broader aspects of the technique to researchers. This paper aims at providing comprehensive insight on the BTFSW. The paper pays critical attention to tool material selection, design features of shoulder and pin surfaces, microstructure evolution, mechanical characterisation, derivatives, and challenges in this technique. Further, welding defects and future scope of BTFSW are also addressed in this paper.     

Themo-elasto-viscoplastic modelling of friction stir welding

Abstract

A coupled two-dimensional Eulerian thermo-elasto-viscoplastic model has been developed for modelling the friction stir welding process. First, a coupled thermo-viscoplastic analysis is performed to determine the temperature distribution in the full domain and the incompressible material flow around the spinning tool. Next, an elasto-viscoplastic analysis is performed outside the viscoplastic region to compute the residual stress. Both frictional heat and plastic deformation heat generation are considered in the model. Furthermore, this is the only known model computing residual stress accounting for plasticity caused by both thermal expansion and mechanical deformation due to material spinning. The computed residual stress is verified by comparing to experimentally measured data.     

自持式搅拌摩擦焊研究

文中综述了自持式搅拌摩擦焊的研究现状和存在的不足,主要涉及自持式搅拌摩擦焊原理、搅拌头结构、微观组织、温度场以及力学性能等几方面内容。指出了自持式搅拌摩擦焊接头的焊缝成形、温度场分布以及力学性能等特征。在此基础上提出了进一步的研究方向。     

Thermal modelling of friction stir welding

The objective of the present work is to present the basic elements of the thermal modelling of friction stir welding as well as to clarify some of the uncertainties in the literature regarding the different contributions to the heat generation. Some results from a new thermal pseudomechanical model in which the temperature-dependent yield stress of the weld material controls the heat generation are also presented.     

Monitoring of friction stir welding process using weld image information

Monitoring friction stir welding process based on weld images is attempted in this research. Well-known fractal theory is applied to images of the welds and extracted features in terms of fractal dimension are correlated to ultimate tensile strength (UTS) of the joints. The correlation shows a decreasing trend that can be an indicator towards monitoring of weld quality. Apart from fractal theory, wavelet transform is also applied to the acquired images and an indicator is proposed relating the information gathered after the decomposition. Interestingly, the proposed indicator also describes a decreasing trend of UTS with the increase in its value. The proposed approaches can be effectively applied in real-time monitoring of the process with appreciable accuracy.     

搅拌摩擦焊辅助装置的研究

辅助装置是搅拌摩擦焊接设备的重要组成部分,直接关系到焊接过程是否稳定进行,并对焊接质量和效率产生显著影响.论文主要介绍保护气罩、冷却回路、工装夹具和辅助热源等辅助装置.重点论述它们的作用、类型、特点及现状,为进一步扩大搅拌摩擦焊接技术的应用范围提供了参考依据.     

汽车制造驶上搅拌摩擦焊之路

新世纪汽车制造轻量化的发展趋势使铝合金、镁合金等轻质合金材料所占的比重越来越大，从而促进了新型搅拌摩擦焊技术在汽车制造中的应用。在简要介绍搅拌摩擦焊技术的基础上，重点一对搅拌摩擦焊技术在汽车稠造业中的应用进行了探讨和综述，并对国内外的搅拌摩擦焊工艺装备进行了简单介绍。     

异种材料及复合热源搅拌摩擦焊

在对接和搭接方式中,异种材料搅拌摩擦焊相较于同种材料分别具有一些额外的焊接参数,并且对搅拌头材料也有更苛刻的使用要求。总结近年来异种材料搅拌摩擦焊的研究现状,介绍异种材料搅拌摩擦焊过程中脆性金属间化合物的生成及其对焊接接头的力学性能产生的影响。从金属流动机理和数值模拟方面,研究金属间化合物的生成和成长规律,给出针对金属间化合物可能的解决方法。针对高熔点焊材,介绍复合热源搅拌摩擦焊技术、常用的辅助热源以及复合热源搅拌摩擦焊在异种材料搅拌摩擦焊方面的优点和研究的不足之处。     

Repair welding process of friction stir welding groove defect

The groove defect formed in the friction stir welding dramatically deteriorates weld appearances and mechanical properties of the joints owing to its larger size and penetration. Therefore, the friction stir repair welding was utilized to remove such a groove defect, and the focus was placed on the mechanical properties and microstructural characteristics of the repair joints so as to obtain an optimum repair welding process. The experimental results indicate that the groove defect can be removed by friction stir repair welding, and the offset repair welding process is superior to the symmetrical repair welding process. In the symmetrical repair welding process, a large number of fine cavity defects and an obvious aggregation of hard-brittle phase Al2Cu occur, accordingly the mechanical properties of the repair joint are weakened, and the fracture feature of repair joint is partially brittle and partially plastic. A good-quality repair joint can be obtained by the offset repair welding process, and the repair joint is fractured near the interface between the weld nugget zone and thermal-mechanically affected zone.     

基于ADAMS的搅拌摩擦点焊机器人动力学仿真分析

ADAMS软件在分析机构的运动学和动力学方面有着强大的功能;针对搅拌摩擦点焊机器人的设计问题,首先建立其动力学模型,然后利用Pro/E软件建立了机器人的三维实体模型,将其导入到ADAMS中进行动力学分析,给各个关节运动副加上相应的轨迹曲线方程,使其按照指定的运动方式运动.通过仿真得到并分析了机器人各关节在运动过程中各阶段的动力学特性,为电机系统的精确选型及控制系统的设计等进一步研发搅拌摩擦点焊机器人设备提供了可靠有力的依据,对于保证其机械系统的性能以及提高其可靠性等具有十分重要的意义.     

Three-dimensional numerical and experimental investigation on friction stir welding processes of ferritic stainless steel

A three-dimensional thermomechanical simulation of friction stir welding (FSW) processes is carried out for ferritic stainless steel by utilizing an Eulerian finite volume method under the steady state condition, and the simulation result is compared directly with both the measured temperature histories during FSW and the microstructural changes after FSW. Based on a viscoplastic self-consistent approach for polycrystal, the texture development in the FSWed material is determined from the velocity gradients along the streamlines in the material flow field. The simulation results show that the heat is generated mainly near the interface between the tool and the workpiece, and that the viscosity changes drastically in the vicinity of the boundary between the stir zone and the thermomechanically affected zone. From the predicted streamlines, it can be indicated that the strong material flow mainly develops on the retreating side of the tool. Also, the simulation results show that the shear deformation texture is significantly developed in the FSWed region. The measured temperatures and microstructural characteristics agree fairly well with the predicted data.     

铜的搅拌摩擦焊研究

采用搅拌摩擦焊技术焊接铜克服了传统熔焊的缺点,使接头具有优良的件能,.因而具有广阔的应用前景.文中从微观组织与流动行为、上艺参数与接头性能以及热循环与温度场分析三个方面.系统介绍铜的搅拌摩擦焊的研究进展,为进行相关研究提供参考依据.综合分析表明,铜的搅拌摩擦焊接头组织分为焊核区、热机影响区热影响区,某些情况下热机影响区或热影响区不明显,而洋葱环的出现与否与焊接参数有关,接头强度略低于母材,接头焊核区的硬度最高,但也出现软化现象.轴肩摩擦产热足最主要的热量来源,距母材表面不同深度处的温度随距离和时间的变化存在较大差异.     

Numerical analysis of friction stir welding process

Friction stir welding (FSW), which has several advantages over the conventional welding processes, is a solid-state welding process where no gross melting of the material being welded takes place. Despite significant advances over the last decade, the fundamental knowledge of thermomechanical processes during FSW is still not completely understood. To gain physical insight into the FSW process and the evaluation of the critical parameters, the development of models and simulation techniques is a necessity. In this article, the available literature on modeling of FSW has been reviewed followed by details of an attempt to understand the interaction between process parameters from a simulation study, performed using commercially available nonlinear finite element (FE) code DEFORM. The distributions of temperature, residual stress, strain, and strain rates were analyzed across various regions of the weld apart from material flow as a means of evaluating process efficiency and the quality of the weld. The distribution of process parameters is of importance in the prediction of the occurrence of welding defects, and to locate areas of concern for the metallurgist. The suitability of this modeling tool to simulate the FSW process has been discussed. The lack of the detailed material constitutive information and other thermal and physical properties at conditions such as very high strain rates and elevated temperatures seems to be the limiting factor while modeling the FSW process.     

Coupled thermomechanical analysis of friction stir welding process using simplified models

Abstract

It is widely recognised that the fundamental mechanisms associated with the weld formation process and their relationships with welding parameters are complex and remain to be fully understood. The present paper reports a series of general findings based on a set of simplified numerical models that were designed to elucidate various aspects of the complex thermomechanical phenomena associated with friction stir welding. The following phenomena were investigated in separate numerical models: (i) coupled friction heat generation; (ii) plastic flow slip zone development; and (iii) three-dimensional heat and material flow. The friction induced heat generation model was used to quantify the contributions of coupled thermomechanical friction heating, including non-linear interfacial phenomena between the tooling (e.g. stir pin) and material being welded. The plastic work induced heating effects were also examined. The plastic slip formation mechanisms were then investigated by considering contributions from various heating mechanisms. Finally, a simplified three-dimensional heat and material flow model, based on the observations from the coupled friction heat generation model, was used to establish some initial insight regarding the heat and material flow. The results from the three subproblem areas were then generalised in the form of a simple parametric relationship between welding variables (i.e. travel and rotating speeds) and weld formation conditions. A series of assumptions were made in constructing these individual models since there exists little information on actual material behaviour under friction stir welding conditions. However, the findings from the present study not only illuminate some of the important weld formation mechanisms in friction stir welding, but also provide an effective framework for more focused investigations into some of the fundamental phenomena identified in the three subproblem areas: such investigations will be reported separately in a future publication.