CN109648188B - Series-parallel heavy-load friction stir welding robot - Google Patents
Series-parallel heavy-load friction stir welding robot Download PDFInfo
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- CN109648188B CN109648188B CN201910119053.8A CN201910119053A CN109648188B CN 109648188 B CN109648188 B CN 109648188B CN 201910119053 A CN201910119053 A CN 201910119053A CN 109648188 B CN109648188 B CN 109648188B
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- 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
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- 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
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- 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
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- 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
Abstract
The invention discloses a series-parallel heavy-duty friction stir welding robot which comprises a base, a rotary table, a lifting device, a switching platform, a parallel working arm, a two-degree-of-freedom gesture adjusting mechanism and a friction stir welding machine head. The rotary table and the lifting device are respectively used for adjusting the rotation angle and the height of the stirring head in the friction stir welding machine head, the parallel working arms can adjust the front-back telescopic displacement and the pitching angle of the stirring head, the two-degree-of-freedom gesture adjusting mechanism can adjust the left-right swinging angle and the pitching angle of the stirring head, and the base can be further arranged on the horizontal guide rail to realize horizontal transverse movement. The invention has six degrees of freedom of movement, has the remarkable characteristics of large working space, large working load, high precision, low energy consumption and the like, and can meet the requirements of friction stir welding of large-size space complex curved surface components. The invention also has the advantages of compact structure, small occupied space of equipment, low cost, high safety, simple and convenient operation and maintenance, and the like.
Description
Technical Field
The invention belongs to the technical field of automatic welding equipment, and particularly relates to a series-parallel heavy-load friction stir welding robot.
Background
The friction stir welding technology is a solid phase connection technology invented in 1991 in the United kingdom, has the remarkable advantages of less joint defects, high quality, small deformation, green and pollution-free welding process and the like compared with the traditional fusion welding, and has wide application prospect in the industrial manufacturing fields of aerospace, ships, nuclear industry, transportation and the like.
The friction stir welding robot system can shield human interference, and effectively improves the intelligent degree, production efficiency and quality stability of friction stir welding. At present, the friction stir welding equipment is widely adopted and mainly comprises gantry type, cantilever type and C type friction stir welding equipment, the requirements of linear or planar two-dimensional welding are mainly met, the processing range is very limited, and the friction stir welding equipment cannot be suitable for friction stir welding of large-scale space complex curved structural members. Therefore, the structure of the conventional friction stir welding equipment needs to be changed, so that the working space is increased under the requirements of maintaining the bearing capacity and the precision.
Based on the characteristics of friction stir welding, welding equipment mainly bears welding upsetting force and advancing resistance in the welding process, so that the friction stir welding equipment is required to have the characteristics of high rigidity and high bearing torque. At present, the friction stir welding of the robot is still limited to the mode of adding the friction stir welding end effector on the traditional serial robot, however, the rigidity is lower, and the serial robot lacks stability under the welding force of the friction stir welding, so that the weldability thickness and the welding precision of the friction stir welding of the robot are limited, and the industrial application of the robot is limited. In addition, although the parallel friction stir welding robot has high rigidity and precision, the flexibility is low, the working space is small, and the welding requirement of a large complex structure cannot be met. For friction stir welding of large-size, large-thickness, complex structural members, neither tandem nor parallel robots can ideally meet the welding work requirements.
The friction stir welding of large-scale space complex curved surface structural members, especially thicker workpieces, requires that the welding equipment has the characteristics of high rigidity, high bearing capacity, high precision, high flexibility, large working space and the like. The existing robot structure can not meet the requirements of friction stir welding work, and the application of the friction stir welding technology on large-scale space complex curved surface structural members is limited, so that development of a novel friction stir welding robot with a series-parallel connection structure is urgently needed.
Aiming at some technical problems existing in the existing friction stir welding equipment, some researchers propose some solutions. The Chinese patent application No. 201710859622.3 discloses a heavy-load friction stir welding robot, which is formed by connecting more than two parallel robots in series step by step to form a series-parallel robot with the characteristics of series connection and parallel connection. The series-parallel robot in the technical scheme has the advantages of high flexibility, large working space, high rigidity, high precision, strong bearing capacity and good stability of the series-parallel robot, but has the advantages of excessively complex structure, difficult control and higher energy consumption and cost. The invention patent in China with the application number of 201810059766.5 discloses a friction stir welding device, which comprises a frame, a movable platform and a parallel mechanism consisting of three branch mechanisms, wherein the parallel mechanism is of a 3PRS structure, and the parallel mechanism is further arranged on a horizontally arranged sliding rail in series, so that the friction stir welding device has four degrees of freedom of movement of space, two translation and two rotation, and is mainly suitable for circular seam welding of a large rocket fuel storage tank section. The invention patent in China with application number 201810515617.5 discloses a rigid-flexible cooperation friction stir welding device, which comprises a welding robot, a stirring head arranged at the bottom of the welding robot, a working platform and three groups of flexible rope mechanisms uniformly arranged around the working platform at an angle of 120 degrees, wherein the position of the welding robot is adjusted by adjusting the flexible rope mechanisms, the welding robot has higher rigidity and processing precision, the requirement of heavy-load operation cannot be met, the control of the welding robot needs to rely on the three groups of flexible rope mechanisms, the flexibility of the welding operation is reduced, and the operation space is limited. The Chinese patent application number 201810090007.5 proposes a friction stir welding device for large plates, which comprises a reference mechanism, a left longitudinal frame, a right longitudinal frame, a left compression mechanism, a right compression mechanism, a longitudinal frame, a lifting frame, a friction stir welding head and the like, and positions a workpiece through the reference plate, so that the friction stir welding device is only suitable for friction stir welding of the large plates, and cannot meet the welding requirements of other complex structural members. The three-degree-of-freedom parallel friction stir welding robot with the 2UPR-UPS structure is designed by Cheng, zheng Kuijing of Yanshan university and the like, has three degrees of freedom of movement of two spaces, one rotation and the like, solves the problems of poor structural rigidity and low precision of welding equipment, but has few degrees of freedom of movement, small working space and limited application occasions.
When the thick structural member is welded by friction stir welding, a large moment is generated due to friction force between the stirring head and the welding material in the welding process, and the structural rigidity of the traditional serial robot is insufficient, so that elastic deformation can be generated in the welding process, and the welding track precision is affected. Simply increasing the stiffness of the tandem robots necessarily increases the tonnage of the robots, resulting in a significant increase in the weight of the overall welding system. Meanwhile, the traditional serial robot structure can accumulate errors of all kinematic pairs, the errors cannot be eliminated, and the welding precision of the welding robot can be affected. The existing parallel mechanism cannot be directly used because of limited working space. Therefore, a series-parallel heavy-load friction stir welding robot needs to be developed according to the actual requirements of friction stir welding.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a series-parallel heavy-load friction stir welding robot which can adapt to the friction stir welding requirements of large-scale space complex curved surface structural members, especially thicker workpieces, has better stability, meets the requirements of smaller space on equipment flexibility, improves the precision and reliability of friction stir welding, reduces the manufacturing and using cost of equipment, and can overcome the defects of the prior art.
The technical problems to be solved by the invention are realized by adopting the following technical scheme.
A series-parallel heavy-load friction stir welding robot comprises a base, a rotary table, a lifting device, a switching platform, a parallel working arm, a two-degree-of-freedom gesture adjusting mechanism and a friction stir welding machine head. The bottom of the rotary table is fixedly arranged on the base, the bottom of the lifting device is fixedly arranged at the top of the rotary table, the top of the lifting device is fixedly connected with the bottom of the switching platform, the rear ends of the parallel working arms are fixedly arranged on the switching platform, the two-degree-of-freedom gesture adjusting mechanism is fixedly arranged at the front ends of the parallel working arms, and the friction stir welding machine head is connected with the parallel working arms through the two-degree-of-freedom gesture adjusting mechanism.
The rotary table is used for realizing the rotary motion of the lifting device, the switching platform and the parallel working arm and comprises a rotary seat, a rotary body, an annular gear, a driving gear and a rotary motor. The bottom of the rotary seat is fixedly arranged at the top of the base through a screw and is used for installing and supporting the rotary body and the rotary motor; the revolving body is used for fixedly mounting the lifting device and outputting the revolving motion of the revolving platform, and the revolving body is connected with the revolving platform through a thrust bearing and a radial bearing; the inner gear ring is fixedly arranged in the revolving body through screws, and is in inner engagement with the driving gear and used for transmitting the rotation of the driving gear and the revolving motor to the revolving body; the rotary motor is fixedly arranged in the rotary seat through a screw to provide power for the rotation of the rotary body; the driving gear is fixedly arranged on the output shaft of the rotary motor and is connected with the output shaft of the rotary motor through a flat key.
The lifting device is used for driving the switching platform and the parallel working arm to lift, so as to adjust the working height of the friction stir welding machine head. The lifting device comprises a first lifting upright post, a first guide post, a second lifting upright post, a second guide post and a middle connecting plate. The first lifting upright post and the second lifting upright post are lifting motion driving elements of the lifting device and are used for driving the switching platform to lift; the first guide column and the second guide column are non-driving elements and only play a role in improving the structural rigidity and stability of the lifting device; the first lifting upright post, the first guide post, the second lifting upright post and the second guide post are symmetrically arranged at the top of the revolving body, and the bottoms of the first lifting upright post, the first guide post, the second lifting upright post and the second guide post are connected with the revolving body through screws; the middle connecting plate is fixedly arranged in the middle of the first lifting upright post, the first guide post, the second lifting upright post and the second guide post, and is connected with the first lifting upright post, the first guide post, the second lifting upright post and the second guide post through screws. The first guide post comprises a guide sleeve and a guide rod, and the guide rod is connected with the guide sleeve through a cylindrical pair; the second guide post has the same structure as the first guide post. The first lifting upright post and the second lifting upright post adopt a double-acting servo hydraulic cylinder or a direct-current servo electric push rod.
The switching platform comprises a horizontal mounting seat, an inclined mounting seat and a U-shaped beam, and is used for supporting and mounting the parallel working arms. The bottom of horizontal mount pad be equipped with four symmetrical arrangement's cylindric connecting seat the bottom rear of horizontal mount pad still be equipped with two symmetrical arrangement's lower ear seat the top of slope mount pad be equipped with two symmetrical arrangement's last ear seat, U type roof beam be located the top of slope mount pad, and be connected through the screw between the last ear seat with the slope mount pad. The four cylindrical connecting seats are fixedly connected with the tops of the first lifting upright post, the first guide post, the second lifting upright post and the second guide post respectively.
The parallel working arm is a main supporting mechanism of the friction stir welding machine head and is used for driving the friction stir welding machine head to realize front-back expansion and pitching swinging. The parallel working arm comprises a first linear sliding table, a second linear sliding table, a third linear sliding table, a duplex rotating seat, a lower rotating seat and a tail end moving platform. The sliding blocks of the first linear sliding table and the second linear sliding table are connected with the duplex rotating seat through a first rear hinge and a second rear hinge respectively; the front end of the third linear sliding table is connected with the tail end movable platform through a third front hinge, and the sliding block of the third linear sliding table is connected with the lower rotating seat through a third rear hinge; the double rotating seat is arranged at the top of the inclined mounting seat, and two ends of the double rotating seat are connected with an upper lug seat of the inclined mounting seat through an upper swing hinge; the lower rotating seat is arranged at the lower end of the horizontal installation seat, and the two ends of the lower rotating seat are connected with the lower ear seat of the horizontal installation seat through a lower swing hinge. The axes of the first front hinge, the second front hinge, the first rear hinge and the second rear hinge are parallel to each other and are perpendicular to the axis of the upper swing hinge; the axes of the third front hinge and the lower swing hinge are parallel to each other 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. The first driving motor, the second driving motor and the third driving motor are respectively and fixedly arranged at the rear ends of the first linear sliding table, the second linear sliding table and the third linear sliding table and respectively provide power for the linear reciprocating movement of the first linear sliding table, the second linear sliding table and the third linear sliding table.
The two-degree-of-freedom gesture adjusting mechanism is a two-degree-of-freedom serial mechanism with space two-dimensional rotation, and can drive the friction stir welding machine head to realize rotation and pitching swinging around a horizontal axis. The two-degree-of-freedom gesture adjusting mechanism comprises a horizontal swinging motor, a U-shaped bracket and a pitching push rod. The horizontal swing motor is fixedly arranged on the rear end face of the tail end movable platform through a screw and provides power for rotation of the U-shaped bracket and the friction stir welding machine head around a horizontal axis; the rear end of the U-shaped bracket is fixedly arranged on an output flange of the horizontal swing motor through a screw and is used for supporting and installing a friction stir welding machine head and a pitching push rod; the friction stir welding machine head is fixedly arranged at the front end of the U-shaped bracket and is connected with the U-shaped bracket through a first end hinge; the pitching push rod is arranged in the U-shaped bracket and used for driving the friction stir welding machine head to realize pitching swinging, the middle part of the pitching push rod is connected with the U-shaped bracket through a second end hinge, and the upper end of the pitching push rod is connected with the rear end of the friction stir welding machine head through a third end hinge.
The friction stir welding machine head is an end execution device for executing a friction stir welding task by a friction stir welding robot, and comprises a high-speed electric spindle and a stirring head. The lower end of the high-speed electric spindle is connected with the U-shaped bracket through a first end hinge, and the rear end of the high-speed electric spindle is connected with the upper end of the pitching push rod through a third end hinge; the stirring head is fixedly arranged at the output end of the high-speed motorized spindle.
More preferably, when the horizontal size of the welding line on the welded workpiece is larger, the base of the invention can be arranged on the horizontal guide rail, and the horizontal driving motor and the gear rack mechanism are arranged in the base, and the horizontal driving motor drives the base to reciprocate along the horizontal guide rail through the gear rack mechanism, so that the invention has the function of transversely moving for a long distance so as to meet the requirement of welding the welding line in the horizontal direction.
From the mechanical perspective, the parallel working arm and the switching platform form a parallel mechanism with a 3UPR structure, and the parallel working arm and the switching platform have two degrees of freedom of movement of forward and backward movement and pitching swinging movement. Compared with a parallel mechanism of a 3UPS or 2UPR-UPS structure, the parallel working arm has larger structural rigidity and good stability, and is more suitable for the requirement of heavy-load friction stir welding work. The parallel working arm of the parallel structure is connected with the rotary table, the lifting device, the two-degree-of-freedom gesture adjusting mechanism and the horizontal guide rail in series to form a six-degree-of-freedom series-parallel mechanism with redundant degrees of freedom, and the redundant degrees of freedom are mainly pitching and swinging of the stirring head, so that the flexibility of the stirring head during working is improved.
When the welding machine is used, a welded workpiece is fixed, and then whether the base needs to be driven to reciprocate on the horizontal guide rail is selected according to the size of a transverse welding seam of the welded workpiece; the height of the switching platform is adjusted according to the height of the welded workpiece, and the height of the switching platform is adjusted by adjusting the expansion and contraction amounts of the first lifting upright post and the second lifting upright post; and adjusting the gesture in the parallel working arms according to the size of the welding seam in the front-back direction of the welded workpiece, and adjusting the gesture of the tail end movable platform by driving the first driving motor, the second driving motor and the third driving motor. The left-right swinging angle of the stirring friction welding machine head is adjusted through a horizontal swinging motor in the two-degree-of-freedom gesture adjusting mechanism, and the inclination angle of the stirring head is adjusted through a pitching push rod. The whole angle of the parallel working arms and the friction stir welding machine head can be adjusted through the rotary table. The rotary table, the lifting device, the parallel working arm and the two-degree-of-freedom gesture adjusting mechanism are cooperatively adjusted to determine the final gesture of the stirring head.
Compared with the prior art, the stirring head has more motion degrees of freedom, six spatial motion degrees of freedom and large working space, and can meet the requirements of friction stir welding of large-size space complex curved surface components; compared with the traditional friction stir welding equipment with a serial structure, the device has the remarkable characteristics of large work load, high precision, low energy consumption and the like. In addition, the invention has the advantages of compact structure, small occupied space of equipment, low cost, high safety, simple and convenient operation and maintenance and the like, and can overcome the defects of the prior art.
Drawings
FIG. 1 is a schematic view of the general structure of the present invention (without horizontal guide rails);
FIG. 2 is a schematic view of a turntable according to the present invention;
FIG. 3 is a schematic view of a switching platform according to the present invention;
FIG. 4 is a schematic diagram of the parallel working arms of the present invention;
FIG. 5 is a schematic diagram showing the assembly relationship between a stirring head and a two-degree-of-freedom gesture adjusting mechanism;
fig. 6 is a schematic view of the working state of the present invention.
Detailed Description
The invention is further described below with reference to specific embodiments and illustrations in order to make the technical means, the creation features, the achievement of the purpose and the effect achieved by the invention easy to understand.
As shown in fig. 1, 4 and 6, the series-parallel heavy-duty friction stir welding robot comprises a base 1, a rotary table 2, a lifting device 3, a switching platform 4, a parallel working arm 5, a two-degree-of-freedom gesture adjusting mechanism 6 and a friction stir welding machine head 7. The bottom of the rotary table 2 is fixedly arranged on the base 1, the bottom of the lifting device 3 is fixedly arranged at the top of the rotary table 2, the top of the lifting device 3 is fixedly connected with the bottom of the switching platform 4, the rear end of the parallel working arm 5 is fixedly arranged on the switching platform 4, the two-degree-of-freedom gesture adjusting mechanism 6 is fixedly arranged at the front end of the parallel working arm 5, and the friction stir welding machine head 7 is connected with the parallel working arm 5 through the two-degree-of-freedom gesture adjusting mechanism 6.
As shown in fig. 1, 2 and 6, the rotary table 2 is used for realizing the rotary motion of the lifting device 3, the switching platform 4 and the parallel working arm 5, and the rotary table 2 comprises a rotary seat 21, a rotary body 22, an annular gear 25, a driving gear 26 and a rotary motor 27. Wherein, the bottom of the rotary seat 21 is fixedly arranged at the top of the base 1 by bolts and is used for installing and supporting the rotary body 22 and the rotary motor 27; the revolving body 22 is used for fixedly mounting the lifting device 3 and outputting the revolving motion of the revolving platform 2, and the revolving body 22 is connected with the revolving seat 21 through a thrust bearing 23 and a radial bearing 24; the inner gear ring 25 is fixedly arranged in the revolving body 22 through screws, and the inner gear ring 25 is in inner engagement with the driving gear 26 and is used for transmitting the rotation of the driving gear 26 and the revolving motor 27 to the revolving body 22; the rotary motor 27 is fixedly arranged in the rotary seat 21 through screws and provides power for the rotation of the rotary body 22; the driving gear 26 is fixedly arranged on the output shaft of the rotary motor 27 and is connected with the output shaft of the rotary motor 27 through a flat key.
As shown in fig. 1 and 6, the lifting device 3 is used for driving the switching platform 4 and the parallel working arm 5 to lift, so as to adjust the working height of the friction stir welding machine head 7. The lifting device 3 comprises a first lifting upright 31, a first guide post 32, a second lifting upright 33, a second guide post 34 and a middle connecting plate 35. The first lifting upright 31 and the second lifting upright 33 are lifting motion driving elements of the lifting device 3 and are used for driving the switching platform 4 to lift; the first guide post 32 and the second guide post 34 are non-driving elements, and only play a role in improving the structural rigidity and stability of the lifting device 3; the first lifting column 31, the first guide column 32, the second lifting column 33 and the second guide column 34 are symmetrically arranged at the top of the revolving body 22, and the bottoms of the first lifting column 31, the second guide column 33 and the second guide column 34 are connected with the revolving body 22 through screws; the middle connecting plate 35 is fixedly installed in the middle of the first lifting upright 31, the first guide post 32, the second lifting upright 33 and the second guide post 34, and is connected with the first lifting upright 31, the first guide post 32, the second lifting upright 33 and the second guide post 34 through screws. The first guide post 32 comprises a guide sleeve 321 and a guide rod 322, and the guide rod 322 is connected with the guide sleeve 321 through a cylindrical pair; the second guide post 34 is identical in structure to the first guide post 32. The first lifting upright 31 and the second lifting upright 33 are both double-acting servo hydraulic cylinders or direct-current servo electric push rods.
As shown in fig. 1, 3 and 6, the switching platform 4 includes a horizontal mounting seat 41, an inclined mounting seat 42 and a U-shaped beam 43, and is used for supporting and mounting the parallel working arm 5. The bottom of the horizontal installation seat 41 is provided with four cylindrical connecting seats 411 which are symmetrically arranged, two lower ear seats 412 which are symmetrically arranged are also arranged behind the bottom of the horizontal installation seat 41, the top of the inclined installation seat 42 is provided with two upper ear seats 421 which are symmetrically arranged, and the U-shaped beam 43 is positioned at the top of the inclined installation seat 42 and is connected with the upper ear seats 421 of the inclined installation seat 42 through screws. The four cylindrical connecting seats 411 are fixedly connected with the tops of the first lifting upright 31, the first guide column 32, the second lifting upright 33 and the second guide column 34 respectively. The included angle between the inclined mounting seat 42 and the horizontal mounting seat 41 is 30-60 deg
As shown in fig. 1, 3, 4 and 6, the parallel working arm 5 is a main supporting mechanism of the friction stir welding head 7, and is used for driving the friction stir welding head 7 to realize back and forth expansion and pitching oscillation. The parallel working arm 5 comprises a first linear sliding table 51, a second linear sliding table 52, a third linear sliding table 53, a duplex rotating seat 54, a lower rotating seat 55 and a tail end moving platform 56. The first linear sliding table 51 and the second linear sliding table 52 are located above the third linear sliding table 53 and the lower rotating seat 55, the front ends of the first linear sliding table 51 and the second linear sliding table 52 are connected with the tail end moving platform 56 through a first front hinge 561 and a second front hinge 562 respectively, and the sliding blocks of the first linear sliding table 51 and the second linear sliding table 52 are connected with the duplex rotating seat 54 through a first rear hinge 541 and a second rear hinge 542 respectively; the front end of the third linear sliding table 53 is connected with the tail end movable platform 56 through a third front hinge 563, and the sliding block of the third linear sliding table 53 is connected with the lower rotating seat 55 through a third rear hinge 551; the double rotating seat 54 is installed at the top of the inclined installation seat 42, and two ends of the double rotating seat 54 are connected with the upper ear seat 421 of the inclined installation seat 42 through an upper swing hinge 543; the lower rotating seat 55 is installed at the lower end of the horizontal installation seat 41, and two ends of the lower rotating seat 55 are connected with the lower ear seat 412 of the horizontal installation seat 41 through a lower swing hinge 552. The axes of the first front hinge 561, the second front hinge 562, the first rear hinge 541, and the second rear hinge 542 are parallel to each other and perpendicular to the axis of the upper swing hinge 543; the axes of the third front hinge 563 and the lower swing hinge 552 are parallel to each other and 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. The first driving motor 511, the second driving motor 521 and the third driving motor 531 are fixedly installed at the rear ends of the first linear sliding table 51, the second linear sliding table 52 and the third linear sliding table 53, respectively, and power the linear reciprocating movement of the first linear sliding table 51, the second linear sliding table 52 and the third linear sliding table 53, respectively.
As shown in fig. 1, 5 and 6, the two-degree-of-freedom attitude adjusting mechanism 6 is a two-degree-of-freedom tandem mechanism with space two-dimensional rotation, and can drive the friction stir welding head 7 to realize rotation and pitching swinging around a horizontal axis. The two-degree-of-freedom gesture adjusting mechanism 6 comprises a horizontal swinging motor 61, a U-shaped bracket 62 and a pitching push rod 63. Wherein, the horizontal swinging motor 61 is fixedly arranged on the rear end surface of the tail end movable platform 56 through screws, and provides power for the rotation of the U-shaped bracket 62 and the friction stir welding machine head 7 around the horizontal axis; the rear end of the U-shaped bracket 62 is fixedly arranged on an output flange of the horizontal swing motor 61 through a screw and is used for supporting and installing the friction stir welding machine head 7 and the pitching push rod 63; the friction stir welding machine head 7 is fixedly arranged at the front end of the U-shaped bracket 62 and is connected with the U-shaped bracket 62 through a first end hinge 761; the pitching push rod 63 is installed in the U-shaped bracket 62 and is used for driving the friction stir welding machine head 7 to realize pitching swinging, the middle part of the pitching push rod 63 is connected with the U-shaped bracket 62 through a second end hinge 631, and the upper end of the pitching push rod 63 is connected with the rear end of the friction stir welding machine head 7 through a third end hinge 632.
As shown in fig. 1, 5 and 6, the friction stir welding head 7 is an end effector for performing a friction stir welding task by a friction stir welding robot, and the friction stir welding head 7 includes a high-speed motorized spindle 71 and a stirring head 72. The lower end of the high-speed motorized spindle 71 is connected with the U-shaped bracket 62 through a first end hinge 761, and the rear end of the high-speed motorized spindle 71 is connected with the upper end of the pitching pushing rod 63 through a third end hinge 632; the stirring head 72 is fixedly arranged at the output end of the high-speed motorized spindle 71.
As shown in fig. 6, when the horizontal dimension of the weld seam on the welded workpiece is larger, the base 1 of the invention can be arranged on the horizontal guide rail 8, and a horizontal driving motor and a gear rack mechanism are arranged in the base 1, and the horizontal driving motor drives the base 1 to reciprocate along the horizontal guide rail 8 through the gear rack mechanism, so that the invention has the function of transversely moving for a long distance so as to meet the requirement of welding the long weld seam in the horizontal direction.
The rotary motor 27 and the horizontal swing motor 61 adopt servo speed reducing motors; the first driving motor 511, the second driving motor 521 and the third driving motor 531 each use a dc servo motor; the pitching pushing rod 63 adopts a servo electric pushing rod.
When the welding machine is used, a welded workpiece is fixed, and then whether the base 1 needs to be driven to reciprocate on the horizontal guide rail 8 is selected according to the size of a transverse welding seam of the welded workpiece; the height of the switching platform 4 is adjusted according to the height and the size of the welded workpiece, and the height of the switching platform 4 is adjusted by adjusting the expansion and contraction amounts of the first lifting upright column 31 and the second lifting upright column 33 in the lifting device 3; the posture in the parallel working arm 5 is adjusted according to the size of the weld in the front-rear direction of the workpiece to be welded, and the adjustment of the posture of the end moving platform 56 is achieved by driving the first driving motor 511, the second driving motor 521, and the third driving motor 531. The left-right swing angle of the friction stir welding head 7 is adjusted by a horizontal swing motor 61 in the two-degree-of-freedom attitude adjusting mechanism 6, and the inclination angle of the stirring head 72 is adjusted by a pitching push rod 63. The overall angle of the parallel arm 5 and the friction stir welding head 7 can be adjusted by the turntable 2. The rotary table 2, the lifting device 3, the parallel working arm 5 and the two-degree-of-freedom gesture adjusting mechanism 6 are cooperatively adjusted to determine the final gesture of the stirring head 72.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "top," "bottom," "inner," "outer," "transverse," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a series-parallel heavy load friction stir welding robot, includes base, revolving platform, elevating gear, switching platform, parallel work arm, two degrees of freedom accent appearance mechanisms and friction stir welding aircraft nose, its characterized in that: the bottom of the rotary table is fixedly arranged on the base, the bottom of the lifting device is fixedly arranged at the top of the rotary table, the top of the lifting device is fixedly connected with the bottom of the switching platform, the rear ends of the parallel working arms are fixedly arranged on the switching platform, the two-degree-of-freedom gesture adjusting mechanism is fixedly arranged at the front ends of the parallel working arms, and the friction stir welding machine head is connected with the parallel working arms through the two-degree-of-freedom gesture adjusting mechanism;
the rotary table comprises a rotary seat, a rotary body, an annular gear, a driving gear and a rotary motor, wherein the bottom of the rotary seat is fixedly arranged at the top of a base through a screw, the rotary body is connected with the rotary seat through a thrust bearing and a radial bearing, the annular gear is fixedly arranged in the rotary body through a screw, the annular gear is kept in internal engagement with the driving gear, the rotary motor is fixedly arranged in the rotary seat through the screw, and the driving gear is fixedly arranged on an output shaft of the rotary motor and is connected with the output shaft of the rotary motor through a flat key;
the lifting device comprises a first lifting upright post, a first guide post, a second lifting upright post, a second guide post and a middle connecting plate, wherein the first lifting upright post and the second lifting upright post are lifting motion driving elements of the lifting device, the first lifting upright post, the first guide post, the second lifting upright post and the second guide post are symmetrically arranged at the top of a revolving body, the bottoms of the first lifting upright post, the first guide post, the second lifting upright post and the second guide post are connected with the revolving body through screws, and the middle connecting plate is fixedly arranged at the middle parts of the first lifting upright post, the first guide post, the second lifting upright post and the second guide post and is connected with the first lifting upright post, the first guide post, the second lifting upright post and the second guide post through screws; the first guide column comprises a guide sleeve and a guide rod, the guide rod is connected with the guide sleeve through a cylindrical pair, and the second guide column and the first guide column are completely identical in structure;
the switching platform comprises a horizontal mounting seat, an inclined mounting seat and a U-shaped beam, wherein four cylindrical connecting seats which are symmetrically arranged are arranged at the bottom of the horizontal mounting seat, two lower ear seats which are symmetrically arranged are also arranged behind the bottom of the horizontal mounting seat, two upper ear seats which are symmetrically arranged are arranged at the top of the inclined mounting seat, and the U-shaped beam is positioned at the top of the inclined mounting seat and is connected with the upper ear seats of the inclined mounting seat through screws; the four cylindrical connecting seats are fixedly connected with the tops of the first lifting upright post, the first guide post, the second lifting upright post and the second guide post respectively; the included angle between the inclined mounting seat and the horizontal mounting seat is 30-60 degrees;
the two-degree-of-freedom gesture adjusting mechanism comprises a horizontal swinging motor, a U-shaped bracket and a pitching push rod, wherein the horizontal swinging motor is fixedly arranged on the rear end face of the tail end movable platform of the parallel working arm through a screw; the rear end of the U-shaped bracket is fixedly arranged on an output flange of the horizontal swing motor through a screw, and the friction stir welding machine head is fixedly arranged at the front end of the U-shaped bracket and is connected with the U-shaped bracket through a first end hinge; the pitching push rod is arranged in the U-shaped bracket, the middle part of the pitching push rod is connected with the U-shaped bracket through a second end hinge, and the upper end of the pitching push rod is connected with the rear end of the friction stir welding machine head through a third end hinge;
the friction stir welding machine head comprises a high-speed electric spindle and a stirring head, wherein the lower end of the high-speed electric spindle is connected with the U-shaped bracket through a first end hinge, and the rear end of the high-speed electric spindle is connected with the upper end of the pitching push rod through a third end hinge; the stirring head is fixedly arranged at the output end of the high-speed motorized spindle;
the parallel working arm comprises a first linear sliding table, a second linear sliding table, a third linear sliding table, a duplex rotating seat, a lower rotating seat and a tail end moving platform, wherein the first linear sliding table and the second linear sliding table are positioned above the third linear sliding table and the lower rotating seat, the front ends of the first linear sliding table and the second linear sliding table are respectively connected with the tail end moving platform through a first front hinge and a second front hinge, and the sliding blocks of the first linear sliding table and the second linear sliding table are respectively connected with the duplex rotating seat through a first rear hinge and a second rear hinge; the front end of the third linear sliding table is connected with the tail end movable platform through a third front hinge, and the sliding block of the third linear sliding table is connected with the lower rotating seat through a third rear hinge; the double rotating seat is arranged at the top of the inclined mounting seat, and two ends of the double rotating seat are connected with an upper lug seat of the inclined mounting seat through an upper swing hinge; the lower rotating seat is arranged at the lower end of the horizontal installation seat, and the two ends of the lower rotating seat are connected with the lower ear seat of the horizontal installation seat through a lower swing hinge; the first driving motor, the second driving motor and the third driving motor are respectively and fixedly arranged at the rear ends of the first linear sliding table, the second linear sliding table and the third linear sliding table;
the axis of the first front hinge is parallel to the axis of the second front hinge, the axis of the first rear hinge and the axis of the second rear hinge, and is perpendicular to the axis of the upper swing hinge; the axes of the third front hinge and the lower swing hinge are parallel to each other 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.
2. The hybrid heavy-duty friction stir welding robot of claim 1, wherein: the rotary motor and the horizontal swinging motor adopt servo speed reducing motors, and the pitching push rod adopts a servo electric push rod.
3. The hybrid heavy-duty friction stir welding robot of claim 1, wherein: the first driving motor, the second driving motor and the third driving motor all adopt direct current servo motors.
4. The hybrid heavy-duty friction stir welding robot of claim 1, wherein: the first lifting upright post and the second lifting upright post are both double-acting servo hydraulic cylinders or direct-current servo electric push rods.
Priority Applications (4)
| 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 |
| PCT/CN2019/083440 WO2020168630A1 (en) | 2019-02-18 | 2019-04-19 | Series-parallel type heavy-duty friction stir welding robot |
| AU2019430754A AU2019430754B2 (en) | 2019-02-18 | 2019-04-19 | Series-parallel type heavy-duty friction stir welding robot |
| ZA2020/07411A ZA202007411B (en) | 2019-02-18 | 2020-11-27 | Series-parallel type heavy-duty friction stir welding robot |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109648188A CN109648188A (en) | 2019-04-19 |
| CN109648188B true CN109648188B (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910119053.8A Active CN109648188B (en) | 2019-02-18 | 2019-02-18 | Series-parallel heavy-load 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) |
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| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
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| CN112548318B (en) * | 2020-12-18 | 2021-12-21 | 清华大学 | Friction stir welding device |
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| 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 |
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| 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| AU2019430754A1 (en) | 2020-12-24 |
| CN109648188A (en) | 2019-04-19 |
| ZA202007411B (en) | 2022-04-28 |
| WO2020168630A1 (en) | 2020-08-27 |
| AU2019430754B2 (en) | 2021-10-07 |
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