(1. 北京工業(yè)大學 材料與制造學部智能成型裝備與系統(tǒng)研究所，北京 100124；
2. 首都航天機械有限公司，北京 100076)
摘 要: 針對6061-T6鋁合金機器人攪拌摩擦焊(RFSW)展開研究，首先在庫卡機器人的末端和攪拌摩擦焊電主軸之間安裝六維力傳感器，搭建六維力傳感器數(shù)據(jù)采集系統(tǒng)。其次采用不同的工藝參數(shù)對5 mm 6061-T6鋁合金進行焊接，在焊接過程中實時監(jiān)測攪拌頭受到的軸向力和前進抗力，焊后對焊縫橫截面進行觀察與分析，對焊縫橫截面進行拉伸測試和硬度測量，分析軸向力和前進抗力對焊縫微觀組織及力學性能的影響。結(jié)果表明：攪拌頭轉(zhuǎn)速在800~3400 r/min之間，攪拌頭轉(zhuǎn)速對焊縫力學性能影響較小；焊接速度在60~360 mm/min之間，焊縫力學性能良好。焊接過程中攪拌針下壓階段軸向力最大，達到約5000 N，焊接階段穩(wěn)定時，軸向力約為3600 N，焊接階段前進抗力最大，達到約-550 N。在焊接過程中，軸向力/前進抗力的比值為-6.5左右時焊縫性能良好。
關(guān)鍵字: 機器人攪拌摩擦焊；6061鋁合金；軸向力；前進抗力；力學性能
（1. Institute of Intelligent Forming Equipment and System, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing 100124, China;
2. Capital Aerospace Machinery Company, Beijing 100076, China）
Abstract:This article focuses on the 6061-T6 aluminum alloy robot friction stir welding (RFSW). Firstly, a six-dimensional force sensor was installed between the end of the KUKA robot and the friction stir welding electric spindle to build a six-dimensional force sensor data acquisition system. Secondly, the 5 mm 6061-T6 aluminum alloy was welded at different process parameters. During the welding process, the axial force and forward resistance of the stirring head were monitored in real time. After welding, the cross section of the weld was observed and analyzed. The section was subjected to tensile test and hardness measurement to analyze the influence of axial force and forward resistance on the microstructure and mechanical properties of the weld. The results show that the speed of the stirring head is between 800 and 3400 r/min, and the speed of the stirring head has little effect on the mechanical properties of the weld; the welding speed is between 60 and 360 mm/min, and the mechanical properties of the weld are good. During the welding process, the axial force of the stirring pin is the largest in the pressing stage, which reaches about 5000 N. When the welding stage is stable, the axial force is about 3600 N, and the forward resistance of the welding stage is the largest, reaching about -550 N. In the welding process, the performance of the weld is good when the ratio of axial force/forward resistance is about -6.5.
Key words: robot friction stir welding; 6061 aluminum alloy; axial force; mechanical properties
