CN105834576A - Redundant-driven friction stir welding parallel robot - Google Patents

Redundant-driven friction stir welding parallel robot Download PDF

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Publication number
CN105834576A
CN105834576A CN201610289804.7A CN201610289804A CN105834576A CN 105834576 A CN105834576 A CN 105834576A CN 201610289804 A CN201610289804 A CN 201610289804A CN 105834576 A CN105834576 A CN 105834576A
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China
Prior art keywords
branch
revolute pair
axis
moving platform
parallel
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Pending
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CN201610289804.7A
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Chinese (zh)
Inventor
李秦川
朱旭彪
贺磊盈
柴馨雪
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Zhejiang Sci Tech University ZSTU
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Zhejiang Sci Tech University ZSTU
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Priority to CN201610289804.7A priority Critical patent/CN105834576A/en
Publication of CN105834576A publication Critical patent/CN105834576A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12Non-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
    • B23K20/122Non-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
    • B23K20/1245Non-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 characterised by the apparatus

Abstract

The invention relates to a redundant-driven friction stir welding parallel robot. A provided parallel mechanism can guarantee high rigidity and machining precision and has the advantages of being simple in associated movement, simple in structure, easy to machine and assemble, easy to control and the like. According to the technical scheme, the redundant-driven friction stir welding parallel robot is characterized in that the parallel mechanism comprises a movable platform, a rack and four branch mechanisms connected between the rack and the movable platform, wherein the first branch mechanism and the third branch mechanism are symmetrically arranged with respect to the movable platform, and the second branch mechanism and the fourth branch mechanism are symmetrically arranged with respect to the movable platform; the central hinging point of the first branch mechanism with the movable platform, the central hinging point of the second branch mechanism with the movable platform, the central hinging point of the third branch mechanism with the movable platform and the central hinging point of the fourth branch mechanism with the movable platform are evenly distributed around the movable platform and form 90-degree included angles with one another.

Description

A kind of agitating friction weldering parallel robot of redundant drive
Technical field
The present invention relates to agitating friction welding technology field, the agitating friction weldering parallel connection of a kind of redundant drive Robot.
Background technology
Agitating friction weldering (FSW) is to be connected in the novel solid phase of one of invention in 1991 by Britain's institute of welding Connection technology.Compared with traditional melting welding, agitating friction soldering set has plurality of advantages, such as: welding deformation is little, machine Tool is functional, therefore easily realizes through engineering approaches, automation, and belongs to green manufacturing, and steady quality is reliable Property high.
Parallel institution (PM), can be defined as moving platform (end effector) and fixed platform (frame) leads to The kinematic chain crossing at least two independence is connected, and a kind of close loop mechanism driven with parallel way.Compared to Traditional serial mechanism, parallel institution has bigger rigidity, load and higher precision.Therefore parallel machine Structure is widely used in the industries such as industry, medical treatment, food.Concrete application relates to positioner, micro- Manipulator, motion simulator, machining center main tapping, multi-axis NC Machine Tools etc..Make with redundant drive It is possible not only to overcome unusual for type of drive so that the orientation capability of moving platform increases, and also has and improves mechanism Mechanical property and improve parallel institution rigidity and the advantage of precision property, so redundant drive is also parallel machine The common type of drive of structure.In view of the feature of agitating friction weldering, the lathe carrying stirring-head needs fabulous Rigidity property, therefore general industry robot is unable to reach this requirement, and the parallel institution of redundant drive can profit Its work requirements is met by the advantage of high rigidity.
From the beginning of Steward mechanism successful Application on Tire testing and flight simulator, parallel institution one Directly become the object of many scholar's research.But in general actual application, be not required to multivariant also Online structure.For simplified operation effectively, control and reduce manufacturing cost, it is possible to realize corresponding behaviour The minority carrier generation lifetime made is researched and developed.Wherein, two turn one is moved parallel institution is lower-mobility parallel machine An important class in structure, is the class that in minority carrier generation lifetime, great engineer applied is worth.
There is now similar configuration 3DOF Invention Announce patent (as CN104625198A, CN104551714A, CN104772628A), there is the problem that working space is less, rigidity is relatively low, and use redundant drive Mode may utilize redundancy properties to overcome these problems.So proposing a kind of rigidity height, precision height, structure The agitating friction weldering of compact, low-cost, can to meet agitating friction weldering need of work redundant drive is in parallel Robot is necessary.
Summary of the invention
The technical problem to be solved is the deficiency overcoming background technology to exist, it is provided that a kind of redundancy is driven Dynamic agitating friction weldering parallel robot, this parallel institution can ensure that higher stiffness and machining accuracy, and Have that associated movement is simple, simple in construction, processing assemble the advantages such as easy and easily controllable.
Present invention provide the technical scheme that
A kind of agitating friction weldering parallel robot of redundant drive, it is characterised in that: this parallel institution includes moving Platform, frame and four branches being connected between frame and moving platform, wherein the first branch and Three branches are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform and arrange, the first branch, Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform Between arrange in 90 ° of deciles;
Described first branch and the 3rd branch include the first shifting being connected between frame and moving platform the most successively Dynamic pair, the first revolute pair, first connecting rod and ball pivot;Described second branch and the 4th branch wrap the most successively Include the second moving sets, the second revolute pair, second connecting rod and the universal hinge being connected between frame and moving platform; The first moving sets axis in described first branch, the 3rd branch and second in the second branch, the 4th branch Moving sets axis is parallel to each other;In described first branch, the 3rd branch, the first revolute pair axis is parallel to each other, And it is perpendicular to the first moving sets axis;In described second branch, the 4th branch, the second revolute pair axis is mutual Parallel, and it is perpendicular to the second moving sets axis, also with the first revolute pair axis and the 3rd in the first branch The first revolute pair axis in branch is orthogonal;In described second branch and the 4th branch one article of universal hinge Axis lies mutually in line, and another axis is parallel to the second revolute pair.
The ball screw framework that the drive mechanism of described parallel institution is servomotor, driven by servomotor with And ball screw framework drives the first moving sets.
A kind of agitating friction weldering parallel robot of redundant drive, it is characterised in that: this parallel institution includes moving Platform, frame and four branches being connected between frame and moving platform, wherein the first branch and Three branches are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform and arrange, the first branch, Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform Between arrange in 90 ° of deciles;
Described first branch and the 3rd branch include first turn be connected between frame and moving platform the most successively Dynamic pair, the first moving sets, the first guide rod and ball pivot;Described second branch and the 4th branch wrap the most successively Include the second revolute pair, the second moving sets, the second guide rod and the universal hinge being connected between frame and moving platform; In described first branch, the 3rd branch, the first revolute pair axis is parallel to each other and mutual with the first moving sets axis Perpendicular;Second branch is with the 4th branch, and the second revolute pair axis is parallel to each other and moves countershaft with second Line is orthogonal, also with the first revolute pair axis in the first branch and the first revolute pair in the 3rd branch Axis is orthogonal;In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, another Axis is parallel to the second revolute pair.
The ball screw framework that the drive mechanism of described parallel institution is servomotor, driven by servomotor with And ball screw framework drives the first moving sets.
A kind of agitating friction weldering parallel robot of redundant drive, it is characterised in that: this parallel institution includes moving Platform, frame and four branches being connected between frame and moving platform, wherein the first branch and Three branches are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform and arrange, the first branch, Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform Between arrange in 90 ° of deciles;
Described first branch and the 3rd branch include the 3rd turn be connected between frame and moving platform the most successively Dynamic pair, third connecting rod, the 4th revolute pair, fourth link and ball pivot;Described second branch and the 4th branch The 5th revolute pair that includes the most successively being connected between frame and moving platform, the 5th connecting rod, the 6th revolute pair, Six-bar linkage and universal hinge;In described first branch, the 3rd branch, the 3rd revolute pair and the 4th revolute pair Axis is parallel to each other;In second branch, the 4th branch, the 5th revolute pair is put down mutually with the 6th revolute pair axis OK, and orthogonal with the 3rd revolute pair in the first branch, the 3rd branch and the 4th revolute pair axis; In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, and another axis is parallel to the 5th Revolute pair.
The drive mechanism of described parallel institution be servomotor and by the 3rd revolute pair of driven by servomotor with And the 5th revolute pair.
The invention has the beneficial effects as follows:
The present invention can realize two rotational freedoms in space and an one-movement-freedom-degree.Owing to this mechanism exists Four drive pair, and the type of drive of its redundancy improves parallel institution rigidity and precision property.This mechanism has It is easy and easily controllable etc. that machining accuracy is high, rigidity high, associated movement is simple, simple in construction, processing assemble Advantage, can meet the job requirement of agitating friction weldering.Coordinate other device can realize some complex parts Processing.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention 1.
Fig. 2 is the perspective view of the embodiment of the present invention 2.
Fig. 3 is the perspective view of the embodiment of the present invention 3.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following Embodiment.
Embodiment one
As shown in Figure 1: a kind of 3DOF parallel institution for agitating friction weldering, including frame 11, move Platform 5, four branches between stirring-head 6 and connection frame and moving platform;Wherein stirring for processing Mix head to be fixed on moving platform;First branch (this branches into PRS type movement branched chain) and the 3rd branch are symmetrical Arrange in moving platform;Second branch (this branches into PRU type movement branched chain) and the 4th branch are symmetrical in dynamic flat The tablecloth is put;First branch, the second branch, the 3rd branch and the 4th branch and the hinged central point ring of moving platform Uniform around moving platform and arrange in 90 ° of deciles each other;Described first branch and the 3rd branch are the most successively (include slide block 12 including the first moving sets 1P being connected between frame 11 and moving platform and be fixed on frame Guide rod on 11), the first revolute pair 1R, first connecting rod 13, ball pivot 1S;Described second branch and the 4th Branch includes that the second moving sets 2P being connected between frame 11 and moving platform (includes slide block 22 the most successively With the guide rod in frame 11), the second revolute pair 2R, second connecting rod 23, universal hinge 2U;Described first point , the first moving sets axis in the 3rd branch and the second moving sets axis in the second branch, the 4th branch Parallel to each other;Described first branch is with the 3rd branch, and the first revolute pair axis is parallel to each other, and is perpendicular to First moving sets axis;Described second branch is with the 4th branch, and the second revolute pair axis is parallel to each other, and It is perpendicular to the second moving sets axis, also hangs down mutually with the first revolute pair axis in the 3rd branch with the first branch Directly.In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, and another axis is parallel to Second revolute pair.
In the present embodiment, driving pair is the moving sets in each branch, and type of drive is driven by servomotor Ball screw framework (omits in figure);When driving secondary motion, mechanism makees two turn one and moves 3DOF motion.
Embodiment two, as shown in Figure 2: a kind of 3DOF parallel institution for agitating friction weldering, including Frame 11, moving platform 5, four branches between stirring-head 6 and connection frame and moving platform;Wherein use Stirring-head in processing is fixed on moving platform;First branch (this branches into RPS type movement branched chain) and Three branches are symmetrical in moving platform and arrange;Second branch and the 4th branch are symmetrical in moving platform and arrange;First branch, Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform Between arrange in 90 ° of deciles;Described first branch and the 3rd branch include being connected to frame 11 He the most successively The first revolute pair 1R between moving platform, the first moving sets 1P (including slide block 12 and the first guide rod 15), First guide rod 15 and ball pivot 1S;Described second branch and the 4th branch include being connected to frame the most successively The second revolute pair 2R between 11 and moving platform, the second moving sets 2P (including slide block 26 and the second guide rod 25), Second guide rod 25 and universal hinge 2U;In described first branch, the 3rd branch, the first revolute pair axis is mutual Parallel and orthogonal with the first moving sets axis;In second branch, the 4th branch, the second revolute pair axis Parallel to each other and orthogonal with the second moving sets axis, also with the first branch, the first rotation of the 3rd branch Secondary axis is orthogonal;In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, separately One axis is parallel to the second revolute pair.
In the present embodiment, driving pair is the moving sets in each branch, and type of drive is driven by servomotor Ball screw framework (omits in figure);When driving secondary motion, mechanism makees two turn one and moves 3DOF motion.
Embodiment three, as shown in Figure 3: a kind of 3DOF parallel institution for agitating friction weldering, including Frame 11, moving platform 5, four branches between stirring-head 6 and connection frame and moving platform;Wherein use Stirring-head in processing is fixed on moving platform;First branch (this branches into RRS type movement branched chain) and Three branches are symmetrical in moving platform and arrange;Second branch and the 4th branch are symmetrical in moving platform and arrange;First branch, Second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are uniform and mutual around moving platform Between arrange in 90 ° of deciles;Described first branch and the 3rd branch include being connected to frame 11 He the most successively The 3rd revolute pair 1R between moving platform1, third connecting rod the 17, the 4th revolute pair 1R2, fourth link 18 with And ball pivot 1S;Described second branch and the 4th branch include being connected between frame 11 and moving platform the most successively The 5th revolute pair 2R1, the 5th connecting rod the 27, the 6th revolute pair 2R2, six-bar linkage 28 and universal hinge 2U; In described first branch, the 3rd branch, the 3rd revolute pair is parallel to each other with the 4th revolute pair axis;Second point In Zhi Yu tetra-branch, the 5th revolute pair is parallel to each other with the 6th revolute pair axis, and with the first branch, The 3rd revolute pair and the 4th revolute pair axis in 3rd branch are orthogonal;Described second branch and the 4th point In Zhi, an axis of universal hinge lies mutually in line, and another axis is parallel to the 5th revolute pair.
In the present embodiment, driving pair is the revolute pair that each branch is connected with fixed platform, and type of drive is servo electricity Machine (omitting in figure) drives;When driving secondary motion, mechanism makees two turn one and moves 3DOF motion.

Claims (6)

1. the agitating friction weldering parallel robot of a redundant drive, it is characterised in that: this parallel institution includes Moving platform (5), frame (11) and four branches being connected between frame and moving platform, wherein First branch and the 3rd branch are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform cloth Putting, the first branch, the second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are around dynamic Platform is uniform and arranges in 90 ° of deciles each other;
Described first branch and the 3rd branch include the first shifting being connected between frame and moving platform the most successively Dynamic secondary (1P), the first revolute pair (1R), first connecting rod (13) and ball pivot (1S);Described second branch And the 4th branch include the most successively being connected between frame and moving platform the second moving sets (2P), second turn Dynamic secondary (2R), second connecting rod (23) and universal hinge (2U);In described first branch, the 3rd branch The second moving sets axis in first moving sets axis and the second branch, the 4th branch is parallel to each other;Described In one branch, the 3rd branch, the first revolute pair axis is parallel to each other, and is perpendicular to the first moving sets axis;Institute Stating in the second branch, the 4th branch, the second revolute pair axis is parallel to each other, and is perpendicular to the second moving sets axis, Also hang down mutually with the first revolute pair axis in the first branch and the first revolute pair axis in the 3rd branch Directly;In described second branch and the 4th branch, one article of axis of universal hinge lies mutually in line, and another axis is parallel to Second revolute pair.
The agitating friction weldering parallel robot of redundant drive the most according to claim 1, it is characterised in that: The drive mechanism of described parallel institution is servomotor, the servomotor ball screw framework driven and rolling Screw mechanism drives the first moving sets.
3. the agitating friction weldering parallel robot of a redundant drive, it is characterised in that: this parallel institution includes Moving platform (5), frame (11) and four branches being connected between frame and moving platform, wherein First branch and the 3rd branch are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform cloth Putting, the first branch, the second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are around dynamic Platform is uniform and arranges in 90 ° of deciles each other;
Described first branch and the 3rd branch include first turn be connected between frame and moving platform the most successively Dynamic secondary (1R), the first moving sets (1P), the first guide rod (15) and ball pivot (1S);Described second branch And the 4th branch include the most successively being connected between frame and moving platform the second revolute pair (2R), second move Dynamic secondary (2P), the second guide rod (25) and universal hinge (2U);In described first branch, the 3rd branch, First revolute pair axis is parallel to each other and orthogonal with the first moving sets axis;Second branch and the 4th branch In, the second revolute pair axis is parallel to each other and orthogonal with the second moving sets axis, also with in the first branch The first revolute pair axis and the 3rd branch in the first revolute pair axis orthogonal;Described second branch Lying mutually in line with one article of axis of universal hinge in the 4th branch, another axis is parallel to the second revolute pair.
The agitating friction weldering parallel robot of redundant drive the most according to claim 3, it is characterised in that: The drive mechanism of described parallel institution is servomotor, the servomotor ball screw framework driven and rolling Screw mechanism drives the first moving sets.
5. the agitating friction weldering parallel robot of a redundant drive, it is characterised in that: this parallel institution includes Moving platform (5), frame (11) and four branches being connected between frame and moving platform, wherein First branch and the 3rd branch are symmetrical in moving platform and arrange, the second branch and the 4th branch are symmetrical in moving platform cloth Putting, the first branch, the second branch, the 3rd branch and the 4th branch and the hinged central point of moving platform are around dynamic Platform is uniform and arranges in 90 ° of deciles each other;
Described first branch and the 3rd branch include the 3rd turn be connected between frame and moving platform the most successively Dynamic secondary (1R1), third connecting rod (17), the 4th revolute pair (1R2), fourth link (18) and ball pivot (1S); Described second branch and the 4th branch include the 5th revolute pair being connected between frame and moving platform the most successively (2R1), the 5th connecting rod (27), the 6th revolute pair (2R2), six-bar linkage (28) and universal hinge (2U); In described first branch, the 3rd branch, the 3rd revolute pair is parallel to each other with the 4th revolute pair axis;Second point , in the 4th branch, the 5th revolute pair is parallel to each other with the 6th revolute pair axis, and with the first branch, The 3rd revolute pair and the 4th revolute pair axis in 3rd branch are orthogonal;Described second branch and the 4th point In Zhi, an axis of universal hinge lies mutually in line, and another axis is parallel to the 5th revolute pair.
The agitating friction weldering parallel robot of redundant drive the most according to claim 5, it is characterised in that: The drive mechanism of described parallel institution is servomotor and by the 3rd revolute pair and of driven by servomotor Five revolute pairs.
CN201610289804.7A 2016-05-03 2016-05-03 Redundant-driven friction stir welding parallel robot Pending CN105834576A (en)

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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
CN109623793A (en) * 2019-02-12 2019-04-16 中国民航大学 A kind of three freedom redundancy parallel robot of space symmetr
WO2019101253A1 (en) * 2017-11-27 2019-05-31 Grenzebach Maschinenbau Gmbh Device and method for changing the welding direction of the welding shoulder of a system for a friction stir welding process virtually without delay
CN111496765A (en) * 2020-04-28 2020-08-07 清华大学 Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism
CN112548318A (en) * 2020-12-18 2021-03-26 清华大学 Friction stir welding device
CN106891089B (en) * 2017-03-27 2022-06-03 宁波海天精工股份有限公司 Multipurpose main shaft structure

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Publication number Priority date Publication date Assignee Title
CN106891089B (en) * 2017-03-27 2022-06-03 宁波海天精工股份有限公司 Multipurpose main shaft structure
WO2019101253A1 (en) * 2017-11-27 2019-05-31 Grenzebach Maschinenbau Gmbh Device and method for changing the welding direction of the welding shoulder of a system for a friction stir welding process virtually without delay
CN111372713A (en) * 2017-11-27 2020-07-03 格林策巴赫机械制造有限公司 Apparatus and method for virtually changing welding direction of system weld shoulder in friction stir welding method without delay
CN111372713B (en) * 2017-11-27 2022-04-01 格林策巴赫机械制造有限公司 Apparatus and method for changing weld shoulder welding direction for friction stir welding system
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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
CN109623793A (en) * 2019-02-12 2019-04-16 中国民航大学 A kind of three freedom redundancy parallel robot of space symmetr
CN111496765A (en) * 2020-04-28 2020-08-07 清华大学 Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism
CN112548318A (en) * 2020-12-18 2021-03-26 清华大学 Friction stir welding device
CN112548318B (en) * 2020-12-18 2021-12-21 清华大学 Friction stir welding device

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Application publication date: 20160810