AU2019430754A1 - Series-parallel type heavy-duty friction stir welding robot - Google Patents
Series-parallel type heavy-duty friction stir welding robot Download PDFInfo
- Publication number
- AU2019430754A1 AU2019430754A1 AU2019430754A AU2019430754A AU2019430754A1 AU 2019430754 A1 AU2019430754 A1 AU 2019430754A1 AU 2019430754 A AU2019430754 A AU 2019430754A AU 2019430754 A AU2019430754 A AU 2019430754A AU 2019430754 A1 AU2019430754 A1 AU 2019430754A1
- Authority
- AU
- Australia
- Prior art keywords
- friction stir
- stir welding
- hinge
- guide pillar
- lifting column
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
A series-parallel type heavy-duty friction stir welding robot, comprising a base (1), a rotary table (2), a lifting device (3), an adapter platform (4), a parallel work arm (5), a two-degree-of-freedom attitude adjusting mechanism (6), and a friction stir welding head (7). The bottom of the rotary table (2) is fixedly mounted on the base (1). The bottom of the lifting device (3) is fixedly mounted on the top of the rotary table (2), and the top of the lifting device (3) is fixedly connected to the bottom of the adapter platform (4). The rear end of the parallel work arm (5) is fixedly mounted on the adapter platform (4). The two-degree-of-freedom attitude adjusting mechanism (6) is fixedly mounted on the front end of the parallel work arm (5); the friction stir welding head (7) is connected to the parallel work arm (5) by means of the two-degree-of-freedom attitude adjusting mechanism (6).
Description
Field of the Invention
The present invention relates to the technical field of automatic welding equipment, and in particular, to a series-parallel type heavy-duty friction stir welding robot.
Description of Related Art As a solid-state joining technique invented by the British Welding Institute in 1991, friction stir welding has significant advantages such as few joint defects, high quality, small deformation, and a green pollution-free welding process as compared with the conventional fusion welding, thus having a wide application prospect in aerospace, shipbuilding, nuclear industry, transportation, and other industrial manufacturing fields.
A friction stir welding robot system can shield against human interference and effectively improve the intelligence, production efficiency, and quality stability of friction stir welding. Friction stir welding equipment widely used at present mainly has a gantry type, cantilever type, and C type, which basically meet the requirements of linear or planar two-dimensional welding and have a rather limited processing range, thus being inapplicable to friction stir welding of a large-space complex curved structural piece. Therefore, it is required to change the structure of the conventional friction stir welding equipment, so as to enlarge its working space on the premise of maintaining its load capacity and accuracy requirement.
Based on the features of the friction stir welding, the welding equipment mainly bears a forging force at the butt joint and a forwarding resistance during welding, thus requiring the friction stir welding equipment to have high rigidity and large load torque. At present, a friction stir welding robot still has a limited form of mounting a friction stir welding end effector onto the conventional series-type robot, which has low rigidity. Under the effect of a welding force of the friction stir welding, the series-type robot lacks stability, and consequently a weldable thickness and welding precision of the friction stir welding robot are limited, thus limiting its industrial application. In addition, a parallel-type friction stir welding robot has high rigidity and precision, but low flexibility and small working space, failing to meet the welding requirements of large complex structures. Therefore, the series-type robot and the parallel-type robot neither can satisfactorily meet the friction stir welding requirements of a large-size, large-thickness, and complex structural piece.
Friction stir welding of the large-space complex curved structural piece, especially, a thick workpiece requires the welding equipment to have high rigidity, high bearing capability, high precision, and large working space. The existing robot structures all fail to meet the friction stir welding requirements, limiting the application of the friction stir welding technique in the large-space complex curved structural piece. Therefore, it is in urgent need to develop a novel series-parallel friction stir welding robot combining structural advantages of the series-type robot and the parallel-type robot.
For the technical problems in the existing friction stir welding equipment, some researchers propose some solutions. Chinese invention patent application No. 201710859622.3 discloses a heavy-duty friction stir welding robot which is formed by cascading two or more parallel-type robots together, to create a series-parallel robot combining series and parallel characteristics. Such a series-parallel robot in this technical solution combines high flexibility and large working space of the series-type robot and high rigidity, high precision, strong bearing capability, and desired stability of the parallel-type robot. However, this robot has a rather complicated structure, making control difficult; and further has high energy consumption and cost. Chinese invention patent application No. 201810059766.5 discloses a friction stir welding device which includes a frame, a moving platform, and a parallel mechanism formed by three sub-mechanisms. The parallel mechanism is of a 3PRS structure and mounted in series onto horizontally arranged slide rails, to achieve four degrees of freedom of movement: two spatial translations and two rotations. This welding device is mainly applicable to annular seam welding for a cylinder section of a large rocket fuel tank. Chinese invention patent application No. 201810515617.5 discloses a rigid-flexible friction stir welding device, including a welding robot, a stir head mounted on the bottom of the welding robot, a working platform, and three flexible cable mechanisms disposed at 120° around the working platform. The position of the welding robot is adjusted by adjusting the flexible cable mechanisms, achieving high rigidity and processing precision. However, this welding device cannot meet the requirements of heavy-duty work and needs to rely on the three flexible cable mechanisms to achieve control, thus reducing the flexibility of the welding work and limiting the working space. Chinese invention patent application No.
201810090007.5 discloses a friction stir welding device for a large plate, which includes a reference mechanism, left and right vertical frames, left and right compression mechanisms, a vertical movement frame, a lifting frame, and a friction stir welding head. This welding device retains a workpiece by using the reference mechanism, and is only applicable to friction stir welding of a large plate and cannot meet the requirements of other complicated structural pieces. Zou Cheng and Zheng Kuijing of Yanshan University designed a three-degree-of-freedom parallel-type friction stir welding robot of a 2UPR-UPS structure, which achieves three degrees of freedom of movement: two spatial movements and one rotation. This welding robot overcomes poor structural rigidity and low precision of the existing welding device, but has few degrees of freedom of movement and a small working space, thus limiting its application scenarios.
During friction stir welding of a thick structural piece, large torque is generated due to friction between the stir head and the material being welded. The conventional series-type robot may have elastic deformation during welding due to its low rigidity, affecting the precision of the welding track. If the rigidity of the series-type robot is simply enhanced, it is necessary to increase the tonnage of the robot, resulting in a great increase in the weight of the whole welding system. Moreover, the conventional series-type robot accumulates the errors of movement pairs, and cannot eliminate the errors, also affecting the welding precision of the welding robot. The existing parallel-type mechanism cannot be directly used due to its limited working space. Therefore, it is necessary to develop a series-parallel type heavy-duty friction stir welding robot according to the actual requirements of friction stir welding.
Technical Problem
In view of the shortcomings in the prior art, the present invention aims to provide a series-parallel type heavy-duty friction stir welding robot, which is applicable to a large-space complex curved structural piece and particularly meets the friction stir welding requirements of a thick workpiece. Such a welding robot has desired stability and further meets the flexibility requirement in a small space, improving the precision and reliability of friction stir welding, reducing equipment manufacturing and use costs, and further overcoming the technical shortcomings in the prior art.
Technical Solution
The technical problem to be solved by the present invention is resolved by using the following technical solutions:
A series-parallel type heavy-duty friction stir welding robot includes a base, a rotary table, a lifting device, a switch platform, a parallel work arm, a two-degree-of-freedom attitude adjusting mechanism, and a friction stir welding head. The bottom of the rotary table is fixedly mounted on the base; the bottom of the lifting device is fixedly mounted on the top of the rotary table, and the top of the lifting device is fixedly connected to the bottom of the switch platform; the rear end of the parallel work arm is fixedly mounted on the switch platform; the two-degree-of-freedom attitude adjusting mechanism is fixedly mounted on the front end of the parallel work arm; and the friction stir welding head is connected to the parallel work arm by means of the two-degree-of-freedom attitude adjusting mechanism.
The rotary table is used to realize rotation of the lifting device, the switch platform, and the parallel work arm; and includes a rotary base, a rotary body, a ring gear, a drive gear, and a rotary motor. The bottom of rotary base is fixedly mounted on the top of the base via screws, and is used to mount and support the rotary body and the rotary motor; the rotary body is used to fixedly mount the lifting device and output a rotary motion of the rotary table, and is connected to the rotary base via a thrust bearing and a radial bearing. The ring gear isfixedly mounted inside the rotary body via screws; and keeps internal meshing with the drive gear and is used to transfer the rotation of the drive gear and the rotary motor to the rotary body. The rotary motor is fixedly mounted in the rotary base via screws and provides power for the rotation of the rotary body. The drive gear is fixedly mounted on an output shaft of the rotary motor and is connected to the output shaft of the rotary motor via a flat key.
The lifting device is used to drive the switch platform and the parallel work arm to raise or descend, to adjust a working height of the friction stir welding head. The lifting device includes a first lifting column, a first guide pillar, a second lifting column, a second guide pillar, and a middle connecting plate. The first lifting column and the second lifting column are lifting motion drive elements of the lifting device, and are used to drive the switch platform to raise or descend. The first guide pillar and the second guide pillar are non-driving elements and are merely used to enhance the structural rigidity and stability of the lifting device. The first lifting column, the first guide pillar, the second lifting column, and the second guide pillar are symmetrically disposed on the top of the rotary body; and are all connected to the rotary body at the bottoms via screws. The middle connecting plate isfixedly mounted at the middle portions of the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar; and is connected to the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar via screws. The first guide pillar includes a guide sleeve and a guide rod which are connected via a cylindric pair. The second guide pillar and the first guide pillar have totally identical structures. The first lifting column and the second lifting column are both double-acting servo hydraulic cylinders or DC (direct current) servo electric push rods.
The switch platform includes a horizontal mounting base, a tilted mounting base, and a U-shaped beam, which are used to support and mount the parallel work arm. Four cylindrical connecting seats are symmetrically disposed on the bottom of the horizontal mounting base. Two lower support lugs are symmetrically disposed on the rear side of the bottom of the horizontal mounting base, and two upper support lugs are symmetrically disposed on the top of the tilted mounting base. The U-shape beam is located on the top of the tilted mounting base, and is connected to the upper support lugs of the tilted mounting base via screws. The four cylindrical connecting seats are fixedly connected to the tops of the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar respectively.
The parallel work arm is a major support mechanism of the friction stir welding head, and is used to drive the friction stir welding head to realize back-and-forth telescoping and pitching swing. The parallel work arm includes a first linear slipway, a second linear slipway, a third linear slipway, a duplex rotation seat, a lower rotation seat, and an end moving platform. The first linear slipway and the second linear slipway are located above the third linear slipway and the lower rotation seat; the front ends of the first linear slipway and the second linear slipway are connected to the end moving platform via a first front hinge and a second front hinge respectively; and sliders of the first linear slipway and the second linear slipway are connected to the duplex rotation seat via a first rear hinge and a second rear hinge respectively. The front end of the third linear slipway is connected to the end moving platform via a third front hinge, and a slider of the third linear slipway is connected to the lower rotation seat via a third rear hinge. The duplex rotation seat is mounted on the top of the tilted mounting seat, and the two ends of the duplex rotation seat are connected to the upper support lugs of the tilted mounting seat via upper swing hinges respectively. The lower rotation seat is mounted on the lower end of the horizontal mounting base, and the two ends of the lower rotation seat are connected to the lower support lugs of the horizontal mounting base via lower swing hinges respectively. The axes of the first front hinge, the second front hinge, the first rear hinge, and the second rear hinge are mutually parallel, and are perpendicular to the axes of the upper swing hinges. The axes of the third front hinge and the lower swing hinges are mutually parallel, and are perpendicular to the axis of the third rear hinge. The axis of the first front hinge is perpendicular to the axis of the third front hinge. A first drive motor, a second drive motor, and a third drive motor are fixedly mounted on rear ends of the first linear slipway, the second linear slipway, and the third linear slipway respectively, to provide power for linear reciprocating movement of the first linear slipway, the second linear slipway, and the third linear slipway respectively.
The two-degree-of-freedom attitude adjusting mechanism is a two-degree-of-freedom series-type mechanism capable of achieving two-dimensional spatial rotation, and can drive the friction stir welding head to realize rotation around a horizontal axis and pitching swing. The two-degree-of-freedom attitude adjusting mechanism includes a horizontal swing motor, a U-shaped bracket, and a pitching push rod. The horizontal swing motor is fixedly mounted on a rear end face of the end moving platform via screws, and used to provide power for the rotation around the horizontal axis of the U-shaped bracket and the friction stir welding head. The rear end of the U-shaped bracket is fixedly mounted on an output flange of the horizontal swing motor via screws, and used to support and mount the friction stir welding head and the pitching push rod. The friction stir welding head is fixedly mounted on the front end of the U-shaped bracket, and is connected to the U-shaped bracket via a first end hinge. The pitching push rod is mounted in the U-shaped bracket, and used to drive the friction stir welding head to realize pitching swing. The middle part of the pitching push rod is connected to the U-shaped bracket via a second end hinge, and the upper end of the pitching push rod is connected to the rear end of the friction stir welding head via a third end hinge.
The friction stir welding head is an end-effector for the friction stir welding robot to execute a friction stir welding task; and includes a high-speed motorized spindle and a stir head. The lower end of the high-speed motorized spindle is connected to the U-shaped bracket via the first end hinge, and the rear end of the high-speed motorized spindle is connected to the upper end of the pitching push rod via the third end hinge. The stir head is fixedly mounted on an output end of the high-speed motorized spindle.
Preferably, when a workpiece being welded has a weld seam of a relatively large horizontal size, the base of the present invention is mounted on horizontal guide rails, and a horizontal drive motor and a rack-and-pinion mechanism are mounted inside the base. The horizontal drive motor drives, via the rack-and-pinion mechanism, the base to make reciprocating movement along the horizontal guide rails. Thus, the present invention is capable of long transverse movement, so as to meet welding requirements in the case of a long weld seam in the horizontal direction.
From a mechanism perspective, the parallel work arm and the switch platform of the present invention constitute a parallel mechanism of a 3UPR structure, which achieves two degrees of freedom of movement: back-and-forth movement and pitching swing. Compared to a parallel mechanism of a 3UPS or 2UPR-UPS structure, the parallel work arm of the present invention has high structural rigidity and stability, thus being more applicable to the requirements of a heavy-duty friction stir welding task. The parallel work arm of a parallel structure is connected in series to the rotary table, the lifting device, the two-degree-of-freedom attitude adjusting mechanism, and the horizontal guide rails, to form a six-degree-of-freedom series-parallel mechanism having a redundant degree of freedom. The redundant degree of freedom refers to pitching swing of the stir head, which improves the flexibility of the stir head during operation.
During use, the workpiece being welded is first fixed; and then it is determined, according to the size of a transverse weld seam of the workpiece being welded, whether to drive the base to make reciprocating movement along the horizontal guide rails. The height of the switch platform is adjusted according to the height of the workpiece being welded, and is further adjusted by adjusting the telescoping amounts of the first lifting column and the second lifting column. The attitude of the parallel work arm is adjusted according to the size of a longitudinal weld seam of the workpiece being welded, and attitude adjustment of the end moving platform is realized by driving the first drive motor, the second drive motor, and the third drive motor. A left-and-right swing angle of the friction stir welding head is adjusted by using the horizontal swing motor in the two-degree-of-freedom attitude adjusting mechanism, and an angle of inclination of the stir head is adjusted by using the pitching push rod. An overall angle of the parallel work arm and the friction stir welding head can be adjusted by using the rotary table. A final attitude of the stir head is determined by means of coordinated adjustment of the rotary table, the lifting device, the parallel work arm, and the two-degree-of-freedom attitude adjusting mechanism.
Advantageous Effect
The present invention achieves the following advantageous effects: Compared with the prior art, the stir head of the present invention has more degrees of freedom and achieves six degrees of freedom of spatial movement, and further has a larger working space, meeting the requirements of friction stir welding of a large-space complex curved structural piece. Compared with the conventional series-type friction stir welding equipment, the present invention has significant features such as high working load, high precision, and low energy consumption. Moreover, the present invention also has advantages such as a compact structure, low space usage, low cost, high security, and easy operation and maintenance, thus overcoming the shortcomings in the prior art.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of an overall structure (excluding horizontal guide rails) of the present invention;
FIG. 2 is a schematic structural diagram of a rotary table of the present invention;
FIG. 3 is a schematic structural diagram of a switch platform of the present invention;
FIG. 4 is a schematic structural diagram of a parallel work arm of the present invention;
FIG. 5 is a schematic diagram showing assembly of a stir head and a two-degree-of-freedom attitude adjusting mechanism; and
FIG. 6 is a schematic diagram of a working status of the present invention.
DETAILED DESCRIPTION OF THE INVENTION In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention is further described below with reference to specific embodiments and drawings.
As shown in FIGs. 1, 4, and 6, a series-parallel type heavy-duty friction stir welding robot includes a base 1, a rotary table 2, a lifting device 3, a switch platform 4, a parallel work arm 5, a two-degree-of-freedom attitude adjusting mechanism 6, and a friction stir welding head 7. The bottom of the rotary table 2 is fixedly mounted on the base 1. The bottom of the lifting device 3 is fixedly mounted on the top of the rotary table 2, and the top of the lifting device 3 is fixedly connected to the bottom of the switch platform 4. The rear end of the parallel work arm 5 isfixedly mounted on the switch platform 4. The two-degree-of-freedom attitude adjusting mechanism 6 is fixedly mounted on the front end of the parallel work arm 5; the friction stir welding head 7 is connected to the parallel work arm 5 by means of the two-degree-of-freedom attitude adjusting mechanism 6.
As shown in FIGs. 1, 2, and 6, the rotary table 2 is used to realize a rotary motion of the lifting device 3, the switch platform 4, and the parallel work arm 5; and includes a rotary base 21, a rotary body 22, a ring gear 25, a drive gear 26, and a rotary motor 27. The rotary base 21 is fixedly mounted on the top of the base 1 via screws; and is used to mount and support the rotary body 22 and the rotary motor 27. The rotary body 22 is used to fixedly mount the lifting device 3 and output a rotary motion of the rotary table 2; and is connected to the rotary base 21 via a thrust bearing 23 and a radial bearing 24. The ring gear 25 isfixedly mounted inside the rotary body 22 via screws; and keeps internal meshing with the drive gear 26 and is used to transfer the rotation of the drive gear 26 and the rotary motor 27 to the rotary body 22. The rotary motor 27 is fixedly mounted in the rotary base 21 via screws and provides power for the rotation of the rotary body 22. The drive gear 26 is fixedly mounted on an output shaft of the rotary motor 27 and is connected to the output shaft of the rotary motor 27 via a flat key.
As shown in FIGs. 1 and 6, the lifting device 3 is used to drive the switch platform 4 and the parallel work arm 5 to raise or descend, to adjust a working height of the friction stir welding head 7. The lifting device 3 includes a first lifting column 31, a first guide pillar 32, a second lifting column 33, a second guide pillar 34, and a middle connecting plate 35. The first lifting column 31 and the second lifting column 33 are lifting motion drive elements of the lifting device 3, and are used to drive the switch platform 4 to raise or descend. The first guide pillar 32 and the second guide pillar 34 are non-driving elements and are merely used to enhance the structural rigidity and stability of the lifting device 3. The first lifting column 31, the first guide pillar 32, the second lifting column 33, and the second guide pillar 34 are symmetrically disposed on the top of the rotary body 22; and are all connected to the rotary body 22 at the bottoms via screws. The middle connecting plate 35 is fixedly mounted at the middle portions of the first lifting column 31, the first guide pillar 32, the second lifting column 33, and the second guide pillar 34; and is connected to the first lifting column 31, the first guide pillar 32, the second lifting column 33, and the second guide pillar 34 via screws. The first guide pillar 32 includes a guide sleeve 321 and a guide rod 322 which are connected via a cylindric pair. The second guide pillar 34 and the first guide pillar 32 have totally identical structures. The first lifting column 31 and the second lifting column 33 are both double-acting servo hydraulic cylinders or DC servo electric push rods.
As shown in FIGs. 1, 3, and 6, the switch platform 4 includes a horizontal mounting base 41, a tilted mounting base 42, and a U-shaped beam 43, which are used to support and mount the parallel work arm 5. Four cylindrical connecting seats 411 are symmetrically disposed on the bottom of the horizontal mounting base 41. Two lower support lugs 412 are symmetrically disposed on the rear side of the bottom of the horizontal mounting base 41, and two upper support lugs 421 are symmetrically disposed on the top of the tilted mounting base 42. The U-shape beam 43 is located on the top of the tilted mounting base 42, and is connected to the upper support lugs 421 of the tilted mounting base 42 via screws. The four cylindrical connecting seats 411 are fixedly connected to the tops of the first lifting column 31, the first guide pillar 32, the second lifting column 33, and the second guide pillar 34 respectively. An included angle between the tilted mounting base 42 and the horizontal mounting base 41 ranges from 300 to 60°.
As shown in FIGs. 1, 3, 4, and 6, the parallel work arm 5 is a major support mechanism of the friction stir welding head 7, and is used to drive the friction stir welding head 7 to realize back-and-forth telescoping and pitching swing. The parallel work arm 5 includes a first linear slipway 51, a second linear slipway 52, a third linear slipway 53, a duplex rotation seat 54, a lower rotation seat 55, and an end moving platform 56. The first linear slipway 51 and the second linear slipway 52 are located above the third linear slipway 53 and the lower rotation seat 55; the front ends of the first linear slipway 51 and the second linear slipway 52 are connected to the end moving platform 56 via a first front hinge 561 and a second front hinge 562 respectively; and sliders of the first linear slipway 51 and the second linear slipway 52 are connected to the duplex rotation seat 54 via a first rear hinge 541 and a second rear hinge 542. The front end of the third linear slipway 53 is connected to the end moving platform 56 via a third front hinge 563, and a slider of the third linear slipway 53 is connected to the lower rotation seat 55 via a third rear hinge 551. The duplex rotation seat 54 is mounted on the top of the tilted mounting seat 42, and the two ends of the duplex rotation seat 54 are connected to the upper support lugs 421 of the tilted mounting seat 42 via upper swing hinges 543 respectively. The lower rotation seat 55 is mounted on the lower end of the horizontal mounting base 41; and the two ends of the lower rotation seat 55 are connected to the lower support lugs 412 of the horizontal mounting base 41 via lower swing hinges 552 respectively. Axes of the first front hinge 561, the second front hinge 562, the first rear hinge 541, and the second rear hinge 542 are mutually parallel, and are perpendicular to the axes of the upper swing hinges 543. The axes of the third front hinge 563 and the lower swing hinges 552 are mutually parallel, and are perpendicular to the axis of the third rear hinge 551. The axis of the first front hinge 561 is perpendicular to the axis of the third front hinge 563. A first drive motor 511, a second drive motor 521, and a third drive motor 531 are fixedly mounted on rear ends of the first linear slipway 51, the second linear slipway 52, and the third linear slipway 53 respectively, to provide power for linear reciprocating movement of the first linear slipway 51, the second linear slipway 52, and the third linear slipway 53 respectively.
As shown in FIGs. 1, 5 and 6, the two-degree-of-freedom attitude adjusting mechanism 6 is a two-degree-of-freedom series-type mechanism capable of achieving two-dimensional spatial rotation, and can drive the friction stir welding head 7 to realize rotation around a horizontal axis and pitching swing. The two-degree-of-freedom attitude adjusting mechanism 6 includes a horizontal swing motor 61, a U-shaped bracket 62, and a pitching push rod 63. The horizontal swing motor 61 is fixedly mounted on a rear end face of the end moving platform 56 via screws, and used to provide power for the rotation around the horizontal axis of the U-shaped bracket 62 and the friction stir welding head 7. The rear end of the U-shaped bracket 62 is fixedly mounted on an output flange of the horizontal swing motor 61 via screws, and used to support and mount the friction stir welding head 7 and the pitching push rod 63. The friction stir welding head 7 is fixedly mounted on the front end of the U-shaped bracket 62, and is connected to the U-shaped bracket 62 via a first end hinge 761. The pitching push rod 63 is mounted in the U-shaped bracket 62, and used to drive the friction stir welding head 7 to realize pitching swing. The middle part of the pitching push rod 63 is connected to the U-shaped bracket 62 via a second end hinge 631, and the upper end of the pitching push rod 63 is connected to the rear end of the friction stir welding head 7 via a third end hinge 632.
As shown in FIGs. 1, 5 and 6, the friction stir welding head 7 is an end-effector for the friction stir welding robot to execute a friction stir welding task; and includes a high-speed motorized spindle 71 and a stir head 72. The lower end of the high-speed motorized spindle 71 is connected to the U-shaped bracket 62 via the first end hinge 761, and the rear end of the high-speed motorized spindle 71 is connected to the upper end of the pitching push rod 63 via the third end hinge 632. The stir head 72 is fixedly mounted on an output end of the high-speed motorized spindle 71.
As shown in FIG. 6, further, when a workpiece being welded has a weld seam of a relatively large horizontal size, the base 1 of the present invention may be mounted on horizontal guide rails 8, and a horizontal drive motor and a rack-and-pinion mechanism are mounted inside the base 1. The horizontal drive motor drives, via the rack-and-pinion mechanism, the base 1 to make reciprocating movement along the horizontal guide rails 8. Thus, the present invention is capable of long transverse movement, so as to meet welding requirements in the case of a long weld seam in the horizontal direction.
The rotary motor 27 and the horizontal swing motor 61 are servo reduction motors; the first drive motor 511, the second drive motor 521, and the third drive motor 531 are all DC servo motors; and the pitching push rod 63 is a servo electric push rod.
During use, the workpiece being welded is first fixed; and then it is determined, according to the size of the transverse weld seam of the workpiece being welded, whether to drive the base 1 to make reciprocating movement along the horizontal guide rails 8. The height of the switch platform 4 is adjusted according to the height of the workpiece being welded, and is further adjusted by adjusting the telescoping amounts of the first lifting column 31 and the second lifting column 33 in the lifting device 3. The attitude of the parallel work arm 5 is adjusted according to the size of a longitudinal weld seam of the workpiece being welded, and attitude adjustment of the end moving platform 56 is realized by driving the first drive motor 511, the second drive motor 521, and the third drive motor 531. A left-and-right swing angle of the friction stir welding head 7 is adjusted by using the horizontal swing motor 61 in the two-degree-of-freedom attitude adjusting mechanism 6, and an angle of inclination of the stir head 72 is adjusted by using the pitching push rod 63. An overall angle of the parallel work arm 5 and the friction stir welding head 7 can be adjusted by using the rotary table 2. A final attitude of the stir head 72 is determined by means of coordinated adjustment of the rotary table 2, the lifting device 3, the parallel work arm 5, and the two-degree-of-freedom attitude adjusting mechanism 6.
In the description of the present invention, it should be noted that, the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "top", "bottom", "inner", "outer", "lateral" etc. are based on the orientation or positional relationship shown in the accompanying drawings, and are only used for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the denoted device or element must have a specific orientation or be constructed and operated in a specific orientation. Therefore, these terms cannot be understood as limitations to the present invention.
The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the foregoing embodiments, and the foregoing description in the embodiments and the specification are merely for explaining the principle of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and these changes and improvements all fall within the scope of protection of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.
Claims (7)
1. A series-parallel type heavy-duty friction stir welding robot, comprising a base, a rotary table, a lifting device, a switch platform, a parallel work arm, a two-degree-of-freedom attitude adjusting mechanism, and a friction stir welding head, wherein the bottom of the rotary table is fixedly mounted on the base; the bottom of the lifting device isfixedly mounted on the top of the rotary table, and the top of the lifting device isfixedly connected to the bottom of the switch platform; the rear end of the parallel work arm is fixedly mounted on the switch platform; the two-degree-of-freedom attitude adjusting mechanism is fixedly mounted on the front end of the parallel work arm; and the friction stir welding head is connected to the parallel work arm by means of the two-degree-of-freedom attitude adjusting mechanism;
the rotary table comprises a rotary base, a rotary body, a ring gear, a drive gear, and a rotary motor; the bottom of the rotary base is fixedly mounted on the top of the base via screws, and the rotary body is connected to the rotary base via a thrust bearing and a radial bearing; the ring gear is fixedly mounted inside the rotary body via screws, and keeps internal meshing with the drive gear; the rotary motor is fixedly mounted in the rotary base via screws; and the drive gear is fixedly mounted on an output shaft of the rotary motor and is connected to the output shaft of the rotary motor via a flat key;
the lifting device includes a first lifting column, a first guide pillar, a second lifting column, a second guide pillar, and a middle connecting plate; the first lifting column and the second lifting column are lifting motion drive elements of the lifting device; the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar are symmetrically disposed on the top of the rotary body, and are all connected to the rotary body at the bottoms via screws; the middle connecting plate is fixedly mounted at the middle portions of the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar, and is connected to the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar via screws; the first guide pillar includes a guide sleeve and a guide rod which are connected via a cylindric pair; and the second guide pillar and the first guide pillar have totally identical structures;
the switch platform comprises a horizontal mounting base, a tilted mounting base, and a U-shaped beam; four cylindrical connecting seats are symmetrically disposed on the bottom of the horizontal mounting base; two lower support lugs are symmetrically disposed on the rear side of the bottom of the horizontal mounting base, and two upper support lugs are symmetrically disposed on the top of the tilted mounting base; the U-shape beam is located on the top of the tilted mounting base, and is connected to the upper support lugs of the tilted mounting base via screws; and the four cylindrical connecting seats are fixedly connected to the tops of the first lifting column, the first guide pillar, the second lifting column, and the second guide pillar respectively; the two-degree-of-freedom attitude adjusting mechanism comprises a horizontal swing motor, a U-shaped bracket, and a pitching push rod; the horizontal swing motor is fixedly mounted on a rear end face of an end moving platform of the parallel work arm via screws; the rear end of the U-shaped bracket is fixedly mounted on an output flange of the horizontal swing motor via screws; the friction stir welding head is fixedly mounted on the front end of the U-shaped bracket, and is connected to the U-shaped bracket via a first end hinge; the pitching push rod is mounted in the U-shaped bracket; and the middle part of the pitching push rod is connected to the U-shaped bracket via a second end hinge, and the upper end of the pitching push rod is connected to the rear end of the friction stir welding head via a third end hinge; and the friction stir welding head comprises a high-speed motorized spindle and a stir head; the lower end of the high-speed motorized spindle is connected to the U-shaped bracket via the first end hinge, and the rear end of the high-speed motorized spindle is connected to the upper end of the pitching push rod via the third end hinge; and the stir head isfixedly mounted on an output end of the high-speed motorized spindle.
2. The series-parallel type heavy-duty friction stir welding robot according to claim 1, wherein the parallel work arm comprises a first linear slipway, a second linear slipway, a third linear slipway, a duplex rotation seat, a lower rotation seat, and an end moving platform; the first linear slipway and the second linear slipway are located above the third linear slipway and the lower rotation seat; the front ends of the first linear slipway and the second linear slipway are connected to the end moving platform via a first front hinge and a second front hinge respectively; and sliders of the first linear slipway and the second linear slipway are connected to the duplex rotation seat via a first rear hinge and a second rear hinge respectively; the front end of the third linear slipway is connected to the end moving platform via a third front hinge, and a slider of the third linear slipway is connected to the lower rotation seat via a third rear hinge; the duplex rotation seat is mounted on the top of the tilted mounting seat, and the two ends of the duplex rotation seat are connected to the upper support lugs of the tilted mounting seat via upper swing hinges respectively; the lower rotation seat is mounted on the lower end of the horizontal mounting base, and the two ends of the lower rotation seat are connected to the lower support lugs of the horizontal mounting base via lower swing hinges respectively; and a first drive motor, a second drive motor, and a third drive motor are fixedly mounted on rear ends of the first linear slipway, the second linear slipway, and the third linear slipway respectively.
3. The series-parallel type heavy-duty friction stir welding robot according to claim 2, wherein the axis of the first front hinge is parallel to the axes of the second front hinge, the first rear hinge, and the second rear hinge, and are perpendicular to the axes of the upper swing hinges; the axes of the third front hinge and the lower swing hinges are mutually parallel, and are perpendicular to the axis of the third rear hinge; and the axis of the first front hinge is perpendicular to the axis of the third front hinge.
4. The series-parallel type heavy-duty friction stir welding robot according to claim 1, wherein an included angle between the tilted mounting base and the horizontal mounting base ranges from 300 to 60°.
5. The series-parallel type heavy-duty friction stir welding robot according to claim 1, wherein the rotary motor and the horizontal swing motor are servo reduction motors, and the pitching push rod is a servo electric push rod.
6. The series-parallel type heavy-duty friction stir welding robot according to claim 2, wherein the first drive motor, the second drive motor, and the third drive motor are all direct current servo motors.
7. The series-parallel type heavy-duty friction stir welding robot according to claim 1, wherein the first lifting column and the second lifting column are both double-acting servo hydraulic cylinders or direct current servo electric push rods.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910119053.8A CN109648188B (en) | 2019-02-18 | 2019-02-18 | Series-parallel heavy-load friction stir welding robot |
| CN201910119053.8 | 2019-02-18 | ||
| PCT/CN2019/083440 WO2020168630A1 (en) | 2019-02-18 | 2019-04-19 | Series-parallel type heavy-duty friction stir welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2019430754A1 true AU2019430754A1 (en) | 2020-12-24 |
| AU2019430754B2 AU2019430754B2 (en) | 2021-10-07 |
Family
ID=66122789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2019430754A Active AU2019430754B2 (en) | 2019-02-18 | 2019-04-19 | Series-parallel type heavy-duty friction stir welding robot |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN109648188B (en) |
| AU (1) | AU2019430754B2 (en) |
| WO (1) | WO2020168630A1 (en) |
| ZA (1) | ZA202007411B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
| CN111745623B (en) * | 2020-06-24 | 2021-11-23 | 天津大学 | Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method |
| CN114102614A (en) * | 2020-08-31 | 2022-03-01 | 惠州市厚发电器有限公司 | Mechanical arm |
| TWI744112B (en) * | 2020-11-25 | 2021-10-21 | 國立臺東專科學校 | Constant loading and adjustable inclination platform for friction stir welding |
| CN112548318B (en) * | 2020-12-18 | 2021-12-21 | 清华大学 | Friction stir welding device |
| CN113084831A (en) * | 2021-04-09 | 2021-07-09 | 北京石油化工学院 | Disassembling device for nuclear irradiation resistant emergency robot |
| CN113267323A (en) * | 2021-06-08 | 2021-08-17 | 上海市东方海事工程技术有限公司 | Intelligent multi-axis displacement and rotation device |
| CN113182664B (en) * | 2021-06-11 | 2022-06-03 | 四川航天长征装备制造有限公司 | Vertical synchronous heavy-duty friction stir welding equipment |
| CN114161445A (en) * | 2021-12-17 | 2022-03-11 | 上海杭和智能科技有限公司 | Robot general platform of polishing |
| CN114700608B (en) * | 2022-04-15 | 2023-10-10 | 济宁市技师学院 | Friction stir welding processing device with no track and convenient to move |
| CN114770473B (en) * | 2022-05-10 | 2023-07-21 | 燕山大学 | Three-degree-of-freedom ball ring type gesture-adjusting parallel stable platform and use method thereof |
| CN114951959B (en) * | 2022-07-04 | 2023-03-24 | 河北科技大学 | Friction stir welding tool |
| CN116038091B (en) * | 2023-01-12 | 2023-06-16 | 安徽文达信息工程学院 | Parallel traction frame for small friction welder head |
| CN115780999B (en) * | 2023-01-29 | 2023-05-05 | 安徽文达信息工程学院 | Lifting type flexible swinging friction welding machine head traction frame |
| CN116252015B (en) * | 2023-05-16 | 2023-07-14 | 四川省钢构智造有限公司 | Novel bridge truss welding robot |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11129080A (en) * | 1997-10-28 | 1999-05-18 | Nippon Stad Welding Kk | Friction welding machine |
| JP5441500B2 (en) * | 2009-05-25 | 2014-03-12 | 中村留精密工業株式会社 | Friction welding method to slant cut surface and friction welding machine |
| JP2014018850A (en) * | 2012-07-23 | 2014-02-03 | Nsk Ltd | Friction stir joining device |
| CN103909518A (en) * | 2014-03-11 | 2014-07-09 | 浙江理工大学 | Hybrid robot for stirring friction welding in redundant drive space |
| CN105921917B (en) * | 2016-05-23 | 2017-12-19 | 江苏弘汉生物科技有限公司 | A kind of omnidirectional industrial automatic welding machine people uses mobile adjusting means |
| CN108080831A (en) * | 2016-05-23 | 2018-05-29 | 吴杰 | A kind of novel welding industrial robot high precision mobile platform |
| CN105798502B (en) * | 2016-05-23 | 2017-12-12 | 郑利敏 | A kind of four-degree-of-freedom sewage treatment pipeline sewage blocking plate welding industry robot |
| CN105798873A (en) * | 2016-05-23 | 2016-07-27 | 丁士林 | Novel industrial welding robot |
| CN107253179B (en) * | 2017-08-10 | 2023-07-25 | 安徽理工大学 | Series-parallel truss type movable heavy-load casting robot |
| CN109202265A (en) * | 2017-09-21 | 2019-01-15 | 中国航空制造技术研究院 | A kind of heavy duty friction stir welding machine device people |
| CN108465929B (en) * | 2018-01-22 | 2020-03-27 | 清华大学 | Friction stir welding device and friction stir welding system comprising same |
| CN108655558A (en) * | 2018-05-25 | 2018-10-16 | 河北工程大学 | A kind of hard and soft cooperation friction stir weld device |
| CN108890116A (en) * | 2018-07-28 | 2018-11-27 | 天津大学 | Two-shipper process unit for the weldering of large-sized structural parts agitating friction |
| CN108817652A (en) * | 2018-09-17 | 2018-11-16 | 安徽理工大学 | A kind of four-degree-of-freedom parallel connection friction stir welding machine device people |
| CN209598415U (en) * | 2019-02-18 | 2019-11-08 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
-
2019
- 2019-02-18 CN CN201910119053.8A patent/CN109648188B/en active Active
- 2019-04-19 AU AU2019430754A patent/AU2019430754B2/en active Active
- 2019-04-19 WO PCT/CN2019/083440 patent/WO2020168630A1/en active Application Filing
-
2020
- 2020-11-27 ZA ZA2020/07411A patent/ZA202007411B/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020168630A1 (en) | 2020-08-27 |
| CN109648188A (en) | 2019-04-19 |
| AU2019430754B2 (en) | 2021-10-07 |
| ZA202007411B (en) | 2022-04-28 |
| CN109648188B (en) | 2023-08-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2019430754B2 (en) | Series-parallel type heavy-duty friction stir welding robot | |
| WO2019091425A1 (en) | Few-joint over-constrained five-freedom-degree hybrid connection robot | |
| CN108465929B (en) | Friction stir welding device and friction stir welding system comprising same | |
| CN102785239B (en) | Industrial robot of six-degrees of freedom | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN209598415U (en) | Series parallel type heavy duty Friction Stir Welding robot | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN105364913A (en) | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism | |
| CN112192550A (en) | Constraint redundant two-rotation two-movement four-freedom-degree parallel mechanism | |
| WO2021017204A1 (en) | Mobile processing robot for large rotary member | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN211277118U (en) | Automatic welding robot based on stable movement control | |
| CN112207400A (en) | Five special welding robots | |
| CN108453706B (en) | Outer limb auxiliary operation arm | |
| CN110509257A (en) | A kind of adjustable absorption type machining robot of pose | |
| CN214291695U (en) | Liftable formula biax C type machine of shifting | |
| CN209830693U (en) | Six-axis welding robot | |
| WO2019071465A1 (en) | Parallel manipulator having five degrees of freedom, and multi-axis machining device developed therefrom | |
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN209319074U (en) | A kind of dedicated all-position welding machine of five axis | |
| CN202825822U (en) | Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN112621717A (en) | Redundant branched chain parallel mechanism based on annular guide rail | |
| CN213731745U (en) | Constraint redundant two-rotation two-movement four-freedom-degree parallel mechanism | |
| TWI544982B (en) | A multi-axis hybrid machine tool capable of maintaining operation at an optimum operating plane and a spherical joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FGA | Letters patent sealed or granted (standard patent) |