CN106001898B - The agitating friction soldering set of multi-parameter feedback - Google Patents
The agitating friction soldering set of multi-parameter feedback Download PDFInfo
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- CN106001898B CN106001898B CN201610439334.8A CN201610439334A CN106001898B CN 106001898 B CN106001898 B CN 106001898B CN 201610439334 A CN201610439334 A CN 201610439334A CN 106001898 B CN106001898 B CN 106001898B
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- pumpback
- support plate
- central shaft
- mixing needle
- welding machine
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- 238000005476 soldering Methods 0.000 title claims abstract description 22
- 238000003466 welding Methods 0.000 claims abstract description 42
- 239000002775 capsule Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
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
- B23K20/123—Controlling or monitoring the welding process
-
- 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
- B23K20/1245—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 characterised by the apparatus
Abstract
The invention discloses a kind of agitating friction soldering sets of multi-parameter feedback, including hollow welding machine shell, the main motor and torque sensor being set in welding machine shell, the hollow center shaft for extending in welding machine shell and being connect with torque sensor, the mixing needle being sheathed in central shaft, and mixing needle pumpback device that mixing needle can be made to be moved axially along central shaft.Pumpback when mixing needle high speed rotation can be smoothly realized by pumpback device, broken conventional boding tool pumpback device can not the high-speed rotating mixing needle of pumpback limitation, successfully solve the problems, such as " keyhole " of weld seam tail portion, improve welding quality.
Description
Technical field
The present invention relates to non-ferrous metal welding processing technology, especially a kind of agitating friction soldering set of multi-parameter feedback.
Background technology
Since Britain's institute of welding has invented friction stir welding method, this technology is small, residual because of its welding deformation
Residue stress is small, is not necessarily to protective gas and packing material, can eliminate stomata, be mingled with, the weld defects such as crackle, and not generate arc
Light, flue dust, noise pollution etc., while can significantly reduce cost, saving material, optimization structure, the construction weight for mitigating aircraft
The features such as paid close attention to by scientific research institution of various countries.Since this technology has the distinguishing feature not available for a lot of other methods,
It is used for space industry soon, and the welding of new generation's carrier rocket core grade tank cylinder section longitudinal joint is exactly to select in this way.
Although the welding point of high quality can be obtained using friction stir welding method, in engineering practical operation, often
There are weld defect and weld seam tail portion " keyhole " occur.
Fast-developing with the supplementary means of welding technique, robotics development reaches its maturity, but existing agitating friction
Welding equipment does not have Measurement and Control System, can not be to the displacement of welding process, pressure, mixing needle torque and agitating friction welding machine
The suitable control of vibration progress and detection, such as existing PID pressure control strategies can cause stress excessive, initiation excessive Flash,
Larger time lag is existed simultaneously, it is ineffective；Meanwhile the equipment volume and weight of existing agitating friction welding are generally larger, it is difficult
To be directly mounted at the end of robot arm.
Invention content
Goal of the invention：The agitating friction soldering set that a kind of multi-parameter feedback is provided, to solve of the existing technology above-mentioned ask
Topic.
The technical scheme is that：A kind of agitating friction soldering set of multi-parameter feedback, including hollow welding machine shell, if
The main motor and torque sensor being placed in welding machine shell, extend in welding machine shell and connect with torque sensor it is hollow in
Mandrel, the mixing needle being sheathed in central shaft, and mixing needle pumpback device that mixing needle can be made to be moved axially along central shaft.
Preferably, the mixing needle pumpback device include pumpback motor, the pumpback that is fixedly connected with pumpback motor output shaft
Sliding block and on the inside of pumpback sliding block and the revolving sleeve that is connect with pumpback sliding block by the first spring bearing；The revolving sleeve
It is correspondingly arranged on mounting hole with the side of pumpback sliding block.It is fixedly connected with the first support plate and second on the inside of the welding machine shell
The open end of support plate, welding machine shell is fixedly connected with third support plate, the first support plate, the second support plate and third support plate
Welding machine shell is divided into three accommodating spaces, main motor is installed in the first support plate, and torque sensor is located at the second support plate
Top and be fixedly connected with main motor.The pumpback motor is fixed in third support plate, fixed in the third support plate
To be connected to attitude transducer.
Preferably, the side wall of the central shaft is provided with axially extending through-hole, position and revolving sleeve and the pumpback of the through-hole
Lead to the hole site on sliding block corresponds to.
In a further embodiment, the soldering set further includes that chamber enclosure and the pressure in support chamber enclosure is supported to pass
Sensing system, the pressure capsule system include the hollow inner shaft being sheathed in central shaft expanding section, are set to hollow interior shaft end
Pressure sensor, the collector ring on the outside of central shaft is fixed on by sleeve, passes through first between central shaft and support chamber enclosure
Spring bearing is rotatablely connected.
Preferably, the edge of the central shaft extends outwardly, and forms annular convex platform, and one end of the hollow inner shaft is to extension
It stretches, forms lug boss, a guide rail for being socketed with spring is fixed on boss after passing through the through-hole on lug boss.It is set in the supported chamber
It is equipped with annular retaining ring.
Compared with prior art the advantages of is：Pumpback when mixing needle high speed rotation can be smoothly realized by pumpback device,
Broken conventional boding tool pumpback device can not the high-speed rotating mixing needle of pumpback limitation, successfully solve the " spoon of weld seam tail portion
Hole " problem improves welding quality.Incline in addition, the present invention can detect torque, axial compressive force and soldering set in real time in the welding process
Horn shape state simultaneously outputs signal to the outside, and the final Detection ＆ Controling for realizing welding process key parameter farthest improve weldering
Connect quality.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of pumpback device.
Fig. 3 is the structural schematic diagram of supported chamber.
Specific implementation mode
Applicant researchs and analyses existing patent and paper.For example, the prior art 1 proposes an agitating friction
Welder, but specific method is not proposed to how to measure stirring-head depression depths and tilt angle in real time.The prior art 2
A kind of agitating friction welder is proposed, torque motor stator is fixedly mounted in the endoporus of main shaft so that whole device body
Product is bigger than normal, in addition for welding during the adjustment of welding parameters do not propose specific foundation.And use pid algorithm
There are larger time lag and overshoot for technical solution, it may appear that many problems.In addition, existing each scheme is not involved with one
There is deviation in a major issue, i.e. pressure, vibration and torque measurement and actual value, therefore also do not provide solution party
Case.
Based on above-mentioned cognition, applicant thinks that designing one kind both having had traditional agitating friction head welding function, while energy
Farthest avoid the stirring-head and its application method of weld seam tunnel defect, can also detect in real time the soldering set of objective parameter at
For an extremely urgent vital task.
As shown in Figure 1, major part/component/mechanism of the agitating friction soldering set of multi-parameter feedback proposed by the present invention is：
Power chamber enclosure 1, pumpback chamber enclosure 2, support chamber enclosure 3, mixing needle 4, central shaft 5, spring 6, the stirring-head shaft shoulder 7, inner shaft 8,
Circular guideway 9, collector ring 10, pressure sensor 11, circular collar 12, pumpback sliding block 13, mounting hole 14, attitude transducer 15,
Electric rotating machine 16, dynamic torque sensor 17 and main motor 18.
Wherein, welding machine shell（Power chamber enclosure）It is hollow, is internally provided with the first support plate 1a, the second support plate
The open end of 1b, shell are fixedly connected with third support plate 1c.The side wall of welding machine shell is provided with through-hole or threaded hole, the first support
Plate, the end of the second support plate and third support plate or side are provided with threaded hole, are fixed each support plate with side wall by screw
Connection.Main motor is fixed in the first support plate, and torsion sensor is located in the second support plate, torsion sensor and main motor
Output shaft is fixedly connected.Electric rotating machine（Pumpback motor）It is installed in third support plate with attitude transducer, attitude transducer is used
In in real time detection welding process in soldering set tilt condition and outwardly export the inclination angle size.
The structure of pumpback chamber enclosure and pumpback device is then described.Coaxially fixation connects pumpback chamber enclosure with power chamber enclosure
It connects.Pumpback device is set in the shell of pumpback room.As shown in the middle part of Fig. 1 and Fig. 2.Pumpback device is by pumpback sliding block, first
Spring bearing 20,22 composition of synchronous revolving set；Central shaft is passed through from hollow cavity 19, and synchronous revolving covers 22 sets on center shaft, leads to
The first spring bearing 20 is crossed with pumpback sliding block to be connected；Pumpback sliding block is fastened with spin motor shaft 25 using bolt；Spin motor shaft
Pumpback sliding block is adjusted in axial displacement, to drive position of the mixing needle relative to central shaft in 25 spinning movement.Revolution
Sliding block and synchronous revolving, which are put on, is provided with radial screw hole 21.In this embodiment, central shaft has an axially extending a distance
Through-hole, for the movement of mixing needle.When mounted, support chamber enclosure, pumpback sliding block, synchronization are passed through with radial trip bolt
Through-hole on revolving sleeve and central shaft, the position of fixed mixing needle.The end of trip bolt is located in synchronous revolving set, when main electricity
When machine rotates, central shaft drives the rotation of the elements such as mixing needle, revolving sleeve, due to being provided with axis between revolving sleeve and pumpback sliding block
It holds, then can be relatively rotated between revolving sleeve and pumpback sliding block.Meanwhile when needing pumpback mixing needle, pumpback motor（Electric rotating
Machine）Start, pumpback sliding block is driven to move up and down.
As shown in the lower section of Fig. 1 and Fig. 3, the structure of supported chamber and pressure detecting system is described in detail.Supported chamber mainly wraps
Include support chamber enclosure, mixing needle, central shaft, spring, the stirring-head shaft shoulder, inner shaft, circular guideway, collector ring, pressure sensor, circle
Shape baffle ring, the second spring bearing and sleeve.Axial pressure detection device is made of pressure sensor and collector ring, wherein pressure sensing
There is circular hole, the circular hole to be used for across mixing needle at device center；Pressure sensor is installed in support chamber enclosure, in axial direction by center
Axis is held out against with inner shaft；Collector ring covers on center shaft；Attitude transducer is horizontally installed to power house bottom.Pressure sensor is located at
In the central shaft of supported chamber, with central shaft high speed rotation when welding, and work in welding process is exported outward by collector ring
Axial reaction force signal of the part to the stirring-head shaft shoulder.
Central axle sleeve is outside inner shaft, and two axis bottoms are fixed using circular guideway and spring, and the gap between two axis is equipped with
Pressure sensor；Mixing needle runs through inner shaft, central shaft and the stirring-head of the bottom shaft shoulder from top to bottom；Collector ring is sleeved on central shaft
On, upper and lower ends are fixed by sleeve 24 and the second spring bearing 23 respectively；The top of second spring bearing is fixed by circular collar
On support chamber enclosure.In above-mentioned component, spring has following effect：The dead weight for supporting inner shaft and pressure sensor, enables inner shaft
It is enough to hold out against pressure sensor, it is allowed to not in axial play；For the oscillation phenomenon in welding process, made using the buffering of spring
With to a degree of smoothing effect of axial force output signal.
In above-mentioned component, spring can be selected common spring steel be made, power chamber enclosure, pumpback chamber enclosure, support chamber enclosure,
Central shaft, inner shaft, circular guideway, circular collar and pumpback sliding block may be used straight carbon steel and be made；Market can be used in main motor
Upper common pot motor；Dynamic torque sensor can also use common product on the market；Pressure sensor can then be adopted
With circular ring type pressure sensor on the market；The stirring-head shaft shoulder can then select high-temperature alloy steel to be made.
Above-described embodiment is preferred embodiment, can also use other modes, although there may be some to lack for these modes
Point, but can also realize the function of the present invention.For example, central shaft is the independent hollow body in both ends, round reinforcement welding or spiral shell
Fixation is connect, one section of space axially extended is reserved at the position of connection.Or both ends central shaft respectively with synchronous revolving
The upper and lower ends of set are fixedly connected, the space between the central shaft of both ends for mixing needle and pumpback mechanism movement.Equally, it supports
Chamber enclosure, pumpback sliding block and through-hole on spiral revolving sleeve or screw hole can also be replaced, for example use engraved structure, not only can be with
Mitigate weight, can also realize same function, dust preventing component is set up between pumpback sliding block and spiral revolving sleeve.Equally,
The shape, connection type of other components and position are adjusted also according to actual conditions in above-described embodiment, and are only limitted to using above-mentioned
Structure or construction.
It was found from above-described embodiment：The present invention using concentric type design, i.e., each critical piece on the same axis, mainly
Component is installed on power house, pumpback room, supported chamber's composition；Power house upper cover is smooth, can be used for the end method with robot arm
Orchid is connected；Each critical piece includes main motor, pumpback device, support device, torque detecting apparatus, spring buffer-type axially pressure
Force checking device, soldering set Attitute detecting device and stirring-head.
Above-mentioned soldering set, workflow before welding：
Step1：Entire soldering set is installed on to the head of welding machine；
Step2：The tightness for adjusting spring makes pressure sensor obtain initial idle pressure；
Step3：The stirring-head shaft shoulder is installed in inner shaft；
Step4：Start electric rotating machine, adjusts the extension elongation of mixing needle；
Step5：Start main motor, starts to weld.
In short, in the present invention, which is made of power house, pumpback room and supported chamber etc., and power house upper cover can be used for
It is connected with the end flange of robot arm；Each device such as spring buffer formula axial compressive force detection device, main motor, pumpback dress
Set, support device, torque detecting apparatus and stirring-head are all made of concentric type design, i.e., installed each along soldering set axis；The soldering set
The spatial attitude of detectable stirring-head, and axial compressive force suffered by welding torque, stirring-head can be detected in real time.
Pumpback sliding block covers synchronizing moving with synchronous revolving, and probe is moved up and down along the through-hole on central shaft, to realize
The pumpback and removal of probe.Pumpback device is located in pumpback room, connects electric rotating machine and central shaft by pumpback sliding block, makes center
Axis drives mixing needle to make axial displacement movement, the axial displacement for adjusting mixing needle.
The soldering set of simple structure and strong practicability；Its main motor, pumpback device, support device, torque detecting apparatus, axial direction
Pressure-detecting device and stirring-head are designed using concentric type, are installed each along soldering set axis, and existing agitating friction weldering is overcome to be hinged with
Set that volume and weight is universal larger and there are centers of gravity not on central axis, it is difficult to be directly mounted at the difficulty of robot arm end
Topic.
As described above, although the present invention has been indicated and described with reference to specific preferred embodiment, must not explain
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
Various changes can be made in the form and details for it.
Claims (4)
1. a kind of agitating friction soldering set of multi-parameter feedback, which is characterized in that including hollow welding machine shell, be set to outside welding machine
Main motor in shell and torque sensor, the hollow center shaft for extending in welding machine shell and being connect with torque sensor, are arranged
In the mixing needle in central shaft, and mixing needle pumpback device that mixing needle can be made to be moved axially along central shaft；
The mixing needle pumpback device includes pumpback motor, the pumpback sliding block, the Yi Jiwei that are fixedly connected with pumpback motor output shaft
The revolving sleeve being connect on the inside of pumpback sliding block and with pumpback sliding block by the first spring bearing；The revolving sleeve and pumpback sliding block
Side is correspondingly arranged on mounting hole；
The side wall of the central shaft is provided with axially extending through-hole, position and the through-hole on revolving sleeve and pumpback sliding block of the through-hole
Position corresponds to；
Further include supporting chamber enclosure and the pressure capsule system in support chamber enclosure, the pressure capsule system includes being arranged
In the hollow inner shaft in central shaft expanding section, it is set to the pressure sensor of hollow interior shaft end, center is fixed on by sleeve
Collector ring on the outside of axis is rotatablely connected between central shaft and support chamber enclosure by the second spring bearing；
The edge of the central shaft extends outwardly, and forms annular convex platform, and one end of the hollow inner shaft extends outwardly, and forms protrusion
Portion, a guide rail for being socketed with spring are fixed on boss after passing through the through-hole on lug boss.
2. the agitating friction soldering set of multi-parameter according to claim 1 feedback, which is characterized in that the welding machine shell it is interior
Side is fixedly connected with the first support plate and the second support plate, and the open end of welding machine shell is fixedly connected with third support plate, and first
Welding machine shell is divided into three accommodating spaces by support plate, the second support plate and third support plate, and main motor is installed on the first support
On plate, torque sensor is located at the top of the second support plate and is fixedly connected with main motor.
3. the agitating friction soldering set of multi-parameter feedback according to claim 2, which is characterized in that the pumpback motor is fixed
In in third support plate, attitude transducer is fixedly connected in the third support plate.
4. the agitating friction soldering set of multi-parameter feedback according to claim 1, which is characterized in that be arranged in the supported chamber
There is annular retaining ring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610439334.8A CN106001898B (en) | 2016-06-20 | 2016-06-20 | The agitating friction soldering set of multi-parameter feedback |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439334.8A CN106001898B (en) | 2016-06-20 | 2016-06-20 | The agitating friction soldering set of multi-parameter feedback |
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| CN106001898A CN106001898A (en) | 2016-10-12 |
| CN106001898B true CN106001898B (en) | 2018-09-04 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138848A (en) * | 2017-05-09 | 2017-09-08 | 沈阳理工大学 | Pressure and moment of torsion On-line sampling system device for agitating friction weldering |
| CN111421219A (en) * | 2019-01-09 | 2020-07-17 | 上海常衡电子科技有限公司 | Constant pressure welding device |
| CN110146212A (en) * | 2019-05-15 | 2019-08-20 | 南京邮电大学 | Joint of mechanical arm torque posture wireless sensor |
| CN111545891B (en) * | 2020-04-14 | 2021-11-30 | 首都航天机械有限公司 | Hydraulically-driven constant-pressure constant-displacement friction stir welding spindle unit |
| KR102265585B1 (en) * | 2020-06-30 | 2021-06-15 | 안동대학교 산학협력단 | Friction Stir Welding(FSW) Tool with Adjustable Probe Length and Depth of Shoulder Groove |
| CN112548317B (en) * | 2020-12-09 | 2022-04-22 | 江苏科技大学 | High-rotation-speed stirring friction adjusting method with adjustable axial force of stirring pin and welding tool |
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| CN106001898A (en) | 2016-10-12 |
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