CN109570731B

CN109570731B - Integrated friction plug repair welding spindle head device

Info

Publication number: CN109570731B
Application number: CN201811621155.1A
Authority: CN
Inventors: 崔雷; 卢鹏; 王东坡; 陈永亮
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2021-09-28
Anticipated expiration: 2038-12-28
Also published as: CN109570731A

Abstract

The invention discloses an integrated friction plug repair welding spindle head device, which comprises a rotating shaft and an oil cylinder; the oil cylinder comprises an outer shell, a rear big cover and an inner shell; a first oil port and a second oil port are respectively arranged on the outer shell and the rear big cover; the inner shell is arranged in the outer shell, axially moves along the outer shell under the action of oil inlet and outlet of the first oil port and the second oil port, and controls the welding axial load by adjusting the pressure difference between the first oil port and the second oil port; the rear end of the inner shell is connected with a rear cover positioned in the rear big cover, and the rear cover and the rear big cover are respectively provided with a guide rail sliding block and an axial stroke limiting groove which are matched with each other; the rotating shaft is arranged in the inner shell and is matched with the inner shell through a bearing group; the front end of the rotating shaft is connected with the stopper rod, and the rear end of the rotating shaft is connected with the hydraulic motor. The invention has the characteristics of high integration, small size, light weight, convenient disassembly and the like, and can be arranged on a mechanical arm to finish in-situ repair of structural defects, repair welding of keyhole of friction stir welding and the like.

Description

Integrated friction plug repair welding spindle head device

Technical Field

The invention relates to a welding manufacturing technology, in particular to a friction plug welding main shaft head device mainly used for in-situ repair of welding defects of an aluminum alloy structure and repair of a friction stir welding keyhole.

Background

The repair welding of the friction plug is a solid phase connection technology, has the advantages of low welding temperature, small residual stress and deformation and the like, has wide application prospect, and particularly belongs to the fields of aerospace, automobiles, ocean engineering and the like. The basic process of friction plug welding can be described as: the stopper rod (consumable material) is driven by the drive means to be axially fed while rotating at high speed and is subjected to a certain axial load during this process. After the stopper rod is contacted with the stopper hole, a large amount of welding heat input is generated due to friction, a workpiece to be welded is changed into a thermoplastic state, the stopper rod stops rotating after the material flows fully, and then axial force is applied immediately, so that the stopper rod and the workpiece are metallurgically connected.

The repair welding of the friction plug can be classified into upset type friction plug welding and draw type friction plug welding according to the difference of the applied load direction. The upset forging type friction plug repair welding is a solid phase repair welding technology with relatively mature technical development and relatively high reliability, but a rigid supporting mechanism needs to be provided at the back of a welded workpiece when a large-scale closed structure (such as a rocket storage tank) is subjected to repair welding, and the realization difficulty in actual production is relatively high. The draw forging type plug repair welding plug rod-workpiece-back supporting mechanism form system internal force, a back supporting device is not needed during welding, the cost is low, the efficiency is high, and the advantages in repair welding of point defects of closed welding structures such as a storage tank and the like and repair of key holes in friction stir welding are outstanding. At present, domestic forge-drawing type friction plug repair welding equipment and corresponding welding technology are not developed completely, and certain limitations are still provided in the aspects of welding technological process, welding processing efficiency, weld joint quality control and the like. The spindle head is a core component of the friction plug repair welding equipment and is the key for realizing the welding process and stably controlling the welding quality.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an integrated friction plug repair welding spindle head device, which can integrate the spindle rotation function required by welding with the axial pressure application process and has the process parameter acquisition function.

The technical scheme adopted by the invention is as follows: an integrated friction plug repair welding spindle head device comprises a spindle head, wherein the spindle head comprises a rotating shaft and an oil cylinder;

the oil cylinder comprises an outer shell and a rear big cover which are coaxially connected, and an inner shell arranged in the outer shell; a first oil port and a second oil port are respectively arranged on the outer shell and the rear big cover; the inner shell is arranged in the outer shell, axially moves along the outer shell under the action of oil inlet and outlet of the first oil port and the second oil port, and controls the welding axial load by adjusting the pressure difference between the first oil port and the second oil port; the rear end of the inner shell is connected with a rear cover positioned in the rear big cover, and the rear cover and the rear big cover are respectively provided with a guide rail sliding block and an axial stroke limiting groove which are matched with each other;

the rotating shaft is arranged in the inner shell and is matched with the inner shell through a bearing group, the outer ring of the bearing group is fixedly connected with the inner shell, and the inner ring of the bearing group is fixedly connected with the rotating shaft; the front end of the rotating shaft is connected with the stopper rod through the adapter, and the rear end of the rotating shaft is connected with the hydraulic motor through the coupler.

Furthermore, the bearing set comprises four groups of angular contact ball bearings arranged at the front part of the rotating shaft and the inner shell and used for bearing pressure and tension and two groups of angular contact ball bearings arranged at the rear part of the rotating shaft and the inner shell and used for auxiliary bearing, and an inner spacer is adopted between the four groups of angular contact ball bearings at the front part and the two groups of angular contact ball bearings at the rear part for positioning; the front end of the bearing group is provided with an inner sealing ring and an outer sealing ring, and the rear end of the bearing group is fixed by a locking nut.

Further, the stopper rod is connected with the adapter through threads, and the adapter is connected with a front end flange of the inner shell through a bolt; the hole bottom of adapter is provided with locating surface, internal thread rear end circumference and is provided with the locating surface, and the back be provided with pivot tip cross recess matched with cross flower structure.

Furthermore, the integrated friction plug repair welding spindle head device further comprises an auxiliary supporting mechanism, wherein the auxiliary supporting mechanism comprises a supporting seat, and the supporting seat is connected with a front end flange of the outer shell through a bolt; the side of supporting seat is provided with the work window, the shaping ring that can dismantle has been inlayed to the preceding terminal surface center department of supporting seat, the stopper rod passes the center of shaping ring stretches out to outside the supporting seat.

The center of the forming ring is provided with a tapered hole which provides a stressed fulcrum for the pressure of the stopper rod; the outer surfaces of the forming ring and the supporting seat are of cambered surface structures, so that the supporting seat is fully attached to the aluminum alloy storage tank to be welded, and the stability of the welding process is guaranteed.

Furthermore, the integrated friction plug repair welding spindle head device further comprises a control system; the control system comprises a pressure sensor, a rotating speed sensor and a displacement sensor; the pressure sensors are respectively arranged on two oil ports of the hydraulic motor and a first oil port and a second oil port of the oil cylinder; the rotating speed sensor is arranged at the joint of the rotating shaft and the coupler; the displacement sensor comprises a grating ruler, a grating ruler seat and a grating ruler reading head seat comprising a grating ruler reading head, the grating ruler seat and the grating ruler reading head seat are respectively fixed on the rear big cover and the rear cover, and the grating ruler is respectively connected with the grating ruler seat and the grating ruler reading head seat through bolts and jackscrews.

The invention has the beneficial effects that:

the integrated spindle head device provided by the invention has a simple and compact structure, integrates the high-speed rotation of the spindle, the axial feeding and returning of the oil cylinder and the loading function of the pressure of the oil cylinder, and separates the rotation of the spindle and the axial movement of the inner shell without influencing each other. The higher integration thereof with guaranteed welding requirements leads to a substantial reduction in the size and weight of the device.

In summary, the following advantages can be obtained by using the integrated spindle head device of the present invention:

(1) the main shaft head device adopts the hydraulic motor to drive the main shaft to rotate at a high speed, and compared with the traditional servo motor drive, the main shaft head device has the advantages of higher rotating speed, larger torque, higher hydraulic control precision and higher response speed, and can realize the process of maintaining constant pressure welding during the high-speed rotation of the stopper rod.

(2) The spindle head device can realize the rotation speed range of 0-8000rpm, can bear axial load of 30kN in both directions of tension and compression, and has the axial movement range of 0-60 mm. The device has wide welding process parameter range, and welding quality and stability are easier to control.

(3) The spindle head device is provided with the pressure sensor, the displacement sensor and the rotating speed sensor, can collect and monitor pressure, torque, displacement and rotating speed signals in the welding process in real time, and can realize analysis of the welding process and optimization of welding process parameters.

(4) The axial stroke limiting grooves are respectively arranged on two sides of the rear large cover of the spindle head device, the rear end of the inner shell is connected with the rear cover, the rear cover is provided with the guide rail sliding block and the grating ruler reading head seat, the inner shell realizes axial feeding and returning of the oil cylinder under the hydraulic action, the axial movement of the stopper rod is driven, and meanwhile, the displacement of the oil cylinder is recorded, so that the spindle head device is simple in working principle and easy to realize.

(5) The angular contact ball bearings are selected from the inner shell of the spindle head device, the arrangement mode of 'front four to back two' is adopted, the front 2 angular contact ball bearings at the front end can bear pressure, the rear 2 angular contact ball bearings at the front end can bear tension, and the rear 2 angular contact ball bearings at the rear end can bear auxiliary load.

(6) During welding, the stopper rod is under tension rather than under pressure during high-speed rotation, so that the stopper rod and the rotating shaft are connected in a manner that the stopper rod can be still reliably connected with the rotating shaft at high rotating speed and high load. The stopper rod and the adapter are in threaded connection, the adapter is connected with the rotating shaft flange through the cross-shaped structure at the back of the bolt and the adapter, the structure can greatly improve the connection reliability of the adapter and the rotating shaft, and the welded disassembly is easy.

(7) The support seat in the spindle head device is a main stressed part during welding, and in order to meet the requirements of replacing the adapter without disassembling the support seat and fully reducing the weight, 4 working windows are designed on the side surface of the support seat, so that the working strength is greatly reduced, and the working efficiency is improved. The shaping ring of supporting seat center embedding is showing to weld back shaping influence, is equipped with the bell mouth at shaping ring center, can provide the atress fulcrum for the pressure of stopper rod, and the shaping ring of this device is detachable construction with the supporting seat, and the convenience is changed the shaping ring of isostructure with it cooperation to the stopper rod of different diameters, structure. After the forming ring is installed in the supporting seat, a cambered surface is cut in an online mode, the supporting seat is guaranteed to be fully attached to the aluminum alloy storage tank to be welded, and stability of the welding process is guaranteed.

Drawings

FIG. 1: the invention discloses an internal structure schematic diagram of an integrated friction plug repair welding main shaft head device;

FIG. 2: the invention discloses an external structure schematic diagram of an integrated friction plug repair welding main shaft head device; (ii) a

FIG. 3: the invention discloses a schematic installation diagram of a stopper rod, a rotary joint and a rotary shaft;

FIG. 4: the invention discloses a schematic mounting diagram of a supporting seat and a forming ring.

The attached drawings are marked as follows: 1. a hydraulic motor; 2. a grating scale; 3. a rear big cover; 4. a rear cover; 5. a reading head seat of the grating ruler; 6. a grating ruler base; 7. a base ring; 8. an outer housing; 9, an O-shaped ring; 10. an inner housing; 11. a front cover; 12. an adapter; 13. a supporting seat; 14. a stopper rod; 15. forming a ring; 16. a rotating shaft; 17. an inner seal ring; 18. an outer seal ring; 19. a bearing set; 20. an inner spacer; 21. a base plate; 22. locking the nut; 23. a rotational speed sensor; 24. a coupling extension rod; 25. a coupling elastomer; 26. a coupling spline housing; 27. a guide rail slide block.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:

as shown in fig. 1 to 4, an integrated friction plug repair welding spindle head device includes a spindle head, an auxiliary support mechanism and a control system.

The spindle head includes a rotating shaft 16 responsible for rotation and an oil cylinder responsible for axial movement. The oil cylinder comprises an outer shell 8 and a rear big cover 3 which are coaxially connected, and an inner shell 10 arranged in the outer shell 8. O-shaped rings 9 are respectively arranged between the inner shell 10 and the outer shell 8 and between the inner shell 10 and the rear big cover 3, so that hydraulic oil leakage is prevented. The inner cavity of the outer shell 8 is an oil cylinder front cavity, and the inner cavity of the rear big cover 3 is an oil cylinder rear cavity; the outer shell 8 and the rear big cover 3, namely, the oil cylinder front cavity and the oil cylinder rear cavity are respectively provided with a first oil port and a second oil port. The interior casing 10 sets up in the shell body 8, through the oil of advancing of first hydraulic fluid port, second hydraulic fluid port (promptly, the cavity before the hydro-cylinder with the cavity advances out of oil behind the hydro-cylinder) realize interior casing 10 is followed 8 axial motion of shell body to through adjusting the control of welding axial load is realized to the pressure differential between first hydraulic fluid port and the second hydraulic fluid port (promptly, control the internal oil pressure of cavity).

The forge-drawing friction plug welding requires that the plug 14 be combined with the base material under the combined action of high-speed rotation and axial pressure, which requires that the spindle head can provide high rotation speed and simultaneously can realize axial movement, loading and unloading, which is an important design requirement of the spindle head. In the present device, the shaft 16 is arranged inside the inner housing 10, ensuring that it can rotate inside the housing, but remains stationary relative to the inner housing 10 in the axial direction. The device is provided with a first oil port and a second oil port at the front cavity and the rear cavity of the oil cylinder, namely the outer shell 8 and the rear big cover 3. When the first oil port of the front cavity of the oil cylinder takes oil, the inner shell 10 retreats under the action of hydraulic pressure, the spindle head can realize axial return motion, and at the moment, the second oil port of the rear cavity of the oil cylinder takes oil out. When the second oil port of the rear cavity of the oil cylinder is filled with oil, the inner shell 10 moves forward under the action of hydraulic pressure, the spindle head can realize axial feeding movement, and the first oil port of the front cavity of the oil cylinder is filled with oil at the moment. When the main shaft is axially loaded or certain axial welding pressure needs to be applied, the axial welding pressure can be realized by adjusting the pressure difference delta P between the first oil port and the second oil port. In order to drive the spindle head to move axially and accurately apply and control the axial welding pressure, pressure sensors are respectively arranged on a first oil port and a second oil port of the front cavity and the rear cavity of the oil cylinder, so that the pressure is monitored and controlled.

The rotating shaft 16 is arranged in the inner shell 10 and is matched with the inner shell 10 through a bearing group 19, and an outer ring of the bearing group 19 is fixedly connected with the inner shell 10, and an inner ring of the bearing group is fixedly connected with the rotating shaft 16. During the welding process, the rotating shaft 16 is simultaneously acted by axial pressure and torque; the axial pressure is absorbed axially by the bearing assembly 19, while the torque is transmitted via the shaft 16 to the coupling described below and further to the hydraulic motor 1. Thus, the bearings are selected to withstand the required axial loads while rotating at high speeds, and the coupling is selected to withstand the required torque. The rotating shaft 16 and the inner shell 10 are matched by adopting angular contact ball bearings, and an arrangement mode of 'four front groups and two rear groups' is adopted, the arrangement mode comprises four groups of angular contact ball bearings arranged at the front parts of the rotating shaft 16 and the inner shell 10 and two groups of angular contact ball bearings arranged at the rear parts of the rotating shaft 16 and the inner shell 10, the front two groups of the four groups of angular contact ball bearings at the front parts can bear pressure, the rear two groups of the four groups of angular contact ball bearings at the rear parts can bear tension, and the two groups of angular contact ball bearings at the rear parts can bear the tension in an auxiliary mode, so that the arrangement mode can meet the use requirement of tension and compression bidirectional loads; the four groups of angular contact ball bearings positioned at the front part and the two groups of angular contact ball bearings positioned at the rear part are positioned by adopting an inner spacer 20; the front end of the bearing set 19 is provided with an inner sealing ring 17 and an outer sealing ring 18, so that lubricating oil is prevented from leaking from the front end of the bearing set 19; the rear end of the bearing set 19 is fixed by a locking nut 22.

The front end of the inner housing 10 is provided with a front cover 11. The rear end of the inner shell 10 is connected with a rear cover 4 positioned in the rear big cover 3, and the rear cover 4 and the rear big cover 3 are respectively provided with a guide rail slide block 27 and an axial stroke limit groove which are matched with each other. Meanwhile, a displacement sensor is arranged between the rear big cover 3 and the rear cover 4, the displacement sensor comprises a grating ruler 2, a grating ruler seat 6 and a grating ruler reading head seat 5 comprising a grating ruler reading head, the grating ruler seat 6 and the grating ruler reading head seat 5 are respectively fixed on the rear big cover 3 and the rear cover 4, and the grating ruler 2 is respectively connected with the grating ruler seat 6 and the grating ruler reading head seat 5 through bolts and jackscrews. The inner shell 10 drives the reading head seat 5 of the grating ruler and the guide rail slide block 27 fixed on the rear cover 4 to move in the axial stroke limit groove while realizing the axial feeding and returning of the spindle head under the hydraulic action, so as to obtain the real-time displacement of the spindle head. Through setting up displacement sensor and axial stroke spacing groove, can accurately gather the relative position of main shaft head and in time feed back its data, help accurately controlling the welding feed volume and guarantee welding process safety.

The outer housing 8 is supported by a base ring 7, the base ring 7 being fixed to a pad 21, the pad 21 being mountable on an industrial robot arm.

The front end of the rotating shaft 16 is connected with the stopper rod 14 through the adapter 12, and the matching schematic diagram of the stopper rod 14, the adapter 12 and the rotating shaft 16 is shown in fig. 3. In order to guarantee the stopper rod 14 still can with under high rotational speed and the high load the pivot 16 keeps reliable connection, in this device the stopper rod 14 with adapter 12 adopts threaded connection, the hole bottom and the internal thread rear end circumference of adapter 12 are equipped with the locating surface, guarantee to reach the stopper rod 14 with the axiality requirement of adapter 12. The adapter 12 with 16 flanges of pivot pass through bolted connection, and the back of adapter 12 is equipped with the cross flower structure, with the cooperation of the tip cross recess of pivot 16 is fixed a position. Under this kind of structure, great moment of torsion in the welding process will be born by the cross flower structure, and the bolt only receives axial tension in the welding process, does not bear the moment of torsion, has improved the reliability that switching and main shaft are connected greatly, and the dismantlement after welding is comparatively easy.

The rear end of the rotating shaft 16 is connected with the hydraulic motor 1 through a coupler, the hydraulic motor 1 provides rotating power, and the coupler is connected through a direct-connection type key, so that the three parts cannot rotate relatively; wherein, the shaft coupling includes shaft coupling extension rod 24, shaft coupling elastomer 25 and shaft coupling spline housing 26, shaft coupling extension rod 24 with pivot 16 passes through the bolt fastening, and the pine takes off when preventing pivot 16 to bear the weight of. In the welding process, the high rotating speed and the large torque generated by the hydraulic motor 1 can be transmitted to the rotating shaft 16 through the coupling extension rod 24, the coupling elastic body 25 and the coupling spline housing 26, and finally transmitted to the stopper rod 14 through the adapter 12, so that the stopper rod 14 rotates. In order to accurately control the speed of the rotating shaft in the welding process, the lower end of the connecting part of the rotating shaft 16 and the connecting rod 24 of the coupler is provided with a rotating speed sensor 23, so that the rotating speed monitoring and control are realized. In order to monitor the main shaft torque in the welding process, pressure sensors are respectively arranged on two oil ports of the hydraulic motor, and the main shaft torque can be indirectly calculated by calculating the pressure difference delta P' of the two oil ports of the hydraulic motor.

The auxiliary supporting mechanism comprises a supporting seat 13 with an arc surface, an adapter 12 and a forming ring 15, and the supporting seat, the adapter and the forming ring are coaxial. The supporting seat 13 is connected with a front end flange of the outer shell 8 through bolts; the side of supporting seat 13 is provided with 4 work windows, the shaping ring 15 that can dismantle is inlayed at the preceding terminal surface center department of supporting seat 13, stopper rod 14 passes the center of shaping ring 15 stretches out to outside the supporting seat 13. The supporting seat 13-forming ring 15 are shown in fig. 4. The supporting seat 13 in the device is the main stress part during welding, and in the welding process, the welding pressure is transmitted to the supporting seat 13 through the stopper rod 14, so that the supporting seat 13 is required to have enough strength to bear the welding pressure. In the actual welding process, adapter 12 needs more frequent change, but 13 size of support seat is great, and difficult dismantlement is consequently 13 side design 4 work windows of support seat, work window significantly reduced working strength, improved work efficiency. The shaping ring 15 of the embedding in support seat 13 center is showing to the shaping influence in weld back shaping ring 15 center is equipped with the bell mouth, can for stopper rod 14's pressure provides the atress fulcrum, and the shaping ring 15 of this device is detachable construction with support seat 13, and the convenient shaping ring 15 that changes different structures to the stopper rod 14 of different diameters, structure cooperates with it. The forming ring 15 is arranged in the supporting seat 13 and then is cut into a cambered surface together in an online mode, so that the supporting seat 13 is fully attached to the aluminum alloy storage tank to be welded, and the stability of the welding process is guaranteed.

The pressure sensor, the rotating speed sensor 23 and the displacement sensor form a control system of the device.

Compared with the structure of the main shaft used in the prior friction plug welding equipment, the main shaft head device provided by the invention has the characteristics of high integration, small size, light weight, convenience in disassembly and the like, and can be arranged on a mechanical arm to finish in-situ repair of structural defects, repair welding of key holes in friction stir welding and the like.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An integrated friction plug repair welding spindle head device comprises a spindle head, and is characterized in that the spindle head comprises a rotating shaft (16), an oil cylinder and an auxiliary supporting mechanism;

the oil cylinder comprises an outer shell (8) and a rear big cover (3) which are coaxially connected, and an inner shell (10) arranged in the outer shell (8); a first oil port and a second oil port are respectively arranged on the outer shell (8) and the rear big cover (3); the inner shell (10) is arranged in the outer shell (8), axially moves along the outer shell (8) under the oil inlet and outlet effects of the first oil port and the second oil port, and controls the axial welding load by adjusting the pressure difference between the first oil port and the second oil port; the rear end of the inner shell (10) is connected with a rear cover (4) positioned in the rear big cover (3), and the rear cover (4) and the rear big cover (3) are respectively provided with a guide rail sliding block (27) and an axial stroke limiting groove which are matched with each other;

the rotating shaft (16) is arranged in the inner shell (10) and is matched with the inner shell (10) through a bearing group (19), the outer ring of the bearing group (19) is fixedly connected with the inner shell (10), and the inner ring of the bearing group (19) is fixedly connected with the rotating shaft (16); the front end of the rotating shaft (16) is connected with the stopper rod (14) through the adapter (12), and the rear end of the rotating shaft is connected with the hydraulic motor (1) through the coupler;

the auxiliary supporting mechanism comprises a supporting seat (13), and the supporting seat (13) is connected with a front end flange of the outer shell (8) through a bolt; the side of supporting seat (13) is provided with the work window, the shaping ring (15) that can dismantle have been inlayed to the preceding terminal surface center department of supporting seat (13), stopper rod (14) pass the center of shaping ring (15) stretches out to outside supporting seat (13).

2. An integrated friction plug repair welding spindle head device according to claim 1, characterized in that the bearing set (19) comprises four groups of angular contact ball bearings arranged at the front part of the rotating shaft (16) and the inner shell (10) and used for bearing pressure and tensile force, and two groups of angular contact ball bearings arranged at the rear part of the rotating shaft (16) and the inner shell (10) and used for auxiliary bearing, and an inner spacer (20) is adopted between the four groups of angular contact ball bearings at the front part and the two groups of angular contact ball bearings at the rear part for positioning; the front end of the bearing group (19) is provided with an inner sealing ring (17) and an outer sealing ring (18), and the rear end of the bearing group is fixed by a locking nut (22).

3. An integrated friction plug repair welding spindle head assembly according to claim 1, characterized in that the plug rod (14) is connected with the adapter (12) by screw threads, and the adapter (12) is connected with a front flange of the inner shell (10) by bolts; the hole bottom of adapter (12) is provided with locating surface, internal thread rear end circumference and is provided with the locating surface, and the back be provided with pivot (16) tip cross recess matched with cross flower structure.

4. An integrated friction plug repair welding spindle head device according to claim 1, characterized in that the centre of the forming ring (15) is provided with a conical hole to provide a stressed fulcrum for the pressure of the plug rod (14); the outer surfaces of the forming ring (15) and the supporting seat (13) are of cambered surface structures, so that the supporting seat (13) is fully attached to the aluminum alloy storage tank to be welded, and the stability of the welding process is guaranteed.

5. An integrated friction plug repair weld spindle head assembly according to claim 1, further comprising a control system; the control system comprises a pressure sensor, a rotating speed sensor (23) and a displacement sensor; the pressure sensors are respectively arranged on two oil ports of the hydraulic motor (1) and a first oil port and a second oil port of the oil cylinder; the rotating speed sensor (23) is arranged at the joint of the rotating shaft (16) and the coupler; the displacement sensor comprises a grating ruler (2), a grating ruler seat (6) and a grating ruler reading head seat (5) comprising a grating ruler reading head, wherein the grating ruler seat (6) and the grating ruler reading head seat (5) are respectively fixed on the rear big cover (3) and the rear cover (4), and the grating ruler (2) is respectively connected with the grating ruler seat (6) and the grating ruler reading head seat (5) through bolts and jackscrews.