Active vibration suppression method for robot friction stir welding

Abstract

The invention discloses an active vibration suppression method for robot friction stir welding, comprising the following steps of: acquiring a vibration signal of a tail-end electric spindle through avibration sensor in the welding process of robot friction stir welding, extracting frequency and an amplitude of the vibration signal, and combining with data provided by a process database established by a large number of friction stir welding process experiments according to the extracted frequency and amplitude of the vibration signal, calculating high-frequency vibration signals needing to besuperposed into the robot through an active vibration suppression control algorithm and then superposing the signals into current loop control of the robot in the form of current compensation signals, so that the purpose of suppressing low-frequency vibration of an electric spindle at the tail end of the robot is achieved, friction stir welding of the robot can be operated stably, and the weldingseam quality is improved.

Description

technical field [0001] The invention relates to an active vibration suppression method for robot friction stir welding, in particular to a method for actively suppressing low-frequency vibration generated at the end of an electric spindle when a robot performs friction stir welding. Background technique [0002] Friction stir welding (FSW) is a new type of solid-phase joining technology, which utilizes the heat generated by the extrusion friction between the stirring head and the weldment and the plastic deformation of the material to soften the material, and the highly plastically deformed material is gradually deposited on the back of the stirring head to obtain a stirring Friction welded seams. Compared with fusion welding, the welding temperature is generally lower than the melting point of the weldment material, and the burning tendency of alloy elements is low; the weld seam is smooth and the deformation is small; no filler material is needed, and resources are saved. ...

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Problems solved by technology

[0004] Aerospace high-strength aluminum alloy large-scale thin-wall complex curved panel structure demand is increasingly strong, in order to solve the problem of low-frequency external vibration of the electric spindle at the end of robot friction stir welding, based on the research on the periodic change law of mechanical parameters of robot friction stir welding process, the present invention An active vibration suppression method for the low-frequency vibration problem at the end of the electric spindle is proposed to ensure the stability of the robot friction stir welding welding process

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