CN109986195B - Friction stir welding spindle head mechanism for parallel robot - Google Patents
Friction stir welding spindle head mechanism for parallel robot Download PDFInfo
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- CN109986195B CN109986195B CN201910264457.6A CN201910264457A CN109986195B CN 109986195 B CN109986195 B CN 109986195B CN 201910264457 A CN201910264457 A CN 201910264457A CN 109986195 B CN109986195 B CN 109986195B
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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
- 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
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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
Abstract
The invention discloses a friction stir welding spindle head mechanism for a parallel robot, which comprises a hydraulic motor, a rear annular hydraulic cylinder, a central rotating shaft and a fixed shell, wherein the hydraulic motor is connected with the central rotating shaft through an axial sliding key groove, and the bottom end of the central rotating shaft is connected with a stirring tool through a collet chuck nut. The hydraulic motor drives the central rotating shaft to rotate at a high speed; the rear annular hydraulic cylinder drives the central rotating shaft to move up and down along the axial direction of the main shaft head; thereby realizing that the central shaft can move up and down along the axial direction while rotating in height. The invention can realize large torque bearing capacity and self-adaptive axial upsetting force control at high rotating speed; the structure is compact, the maintenance is easy, and the appearance size is small; the device is arranged at the arm end of the parallel robot to realize the process of the three-dimensional space curve welding line friction stir welding.
Description
Technical Field
The invention belongs to the technical field of solid-phase friction welding, and particularly relates to a spindle head mechanism which is arranged at the front arm end of a parallel robot and is used for realizing a friction stir welding process.
Background
Friction Stir Welding (Friction Welding-FSW) is an innovative solid phase Welding Friction Welding technology invented by British Welding research institute (TWI) in 1991, can effectively realize solid phase connection of nonferrous metals such as aluminum and magnesium alloy, and is particularly suitable for connection of high-strength 2000 and 7000 series aluminum alloys, metal-based composite materials and special high-temperature alloys which are difficult to weld by a traditional fusion Welding method. The friction stir welding process has the advantages of no need of filling metal, flat appearance of welding seams, no generation of fusion and solidification metallurgical welding defects, small welding heat input, low residual stress deformation after welding and the like, so the friction stir welding process has wide application in the manufacturing field of lightweight aluminum-magnesium alloy structures, such as the fields of aviation, aerospace, automobile industry and the like.
The friction stir welding technology is based on the traditional friction welding principle, but because the FSW adopts a non-consumable stirring tool to realize the local high-speed friction, extrusion forming and metallurgical connection processes of the connected interface, the butt joint, fillet joint and lap joint weld joint forms can be realized, and the manufacture of a complex structure form is realized, which is essentially different from the traditional friction welding process only suitable for the butt joint of a circular section. The FSW connection mechanism is a result of interaction between frictional heat generated by a non-consumption stirring tool and plastic flow of a metal material, the connected metal generates strong thermoplastic flow and metallurgical diffusion reaction under the friction extrusion of a stirring tool shaft shoulder and a stirring needle which rotate at high speed, and finally, a friction stir welding joint with compact weld joint structure characteristics and excellent mechanical property is formed under the upsetting of the stirring tool shaft shoulder.
The realization of the technological principle of friction stir welding is established on the basis of the development of friction stir welding equipment. Because a friction welding process needs a completely rigid fixed sample, large axial top forging pressure and transverse moving friction force, the existing industrial friction stir welding equipment adopts a gantry machine tool structural form with large rigidity, the welding equipment is mainly suitable for welding regular welding seams and simple plane curve welding seams, and has great limitation on the flexibility and the flexibility of the welding operation process. The industrial robot has great flexibility and adaptability in the aspect of three-dimensional space processing and manufacturing, the industrial robot is combined with the friction stir welding technology, the welding of a spatial complex three-dimensional curve welding seam can be realized, and the industrial application field of the friction stir welding technology can be effectively widened. At present, a robot friction stir welding principle prototype is developed and successfully applied to the field of manufacturing of complex aluminum alloy structures.
However, the existing robot friction stir welding technology has the following problems in industrial popularization and application:
(1) because the widely used tandem robot has limitations in structural rigidity and axial upsetting force, namely, large rigidity and high upsetting pressure are difficult to realize, the existing friction stir welding equipment adopting the tandem robot is only suitable for welding thin plate aluminum alloy, and when the plate thickness exceeds 5mm, in order to increase the rigidity and the axial upsetting pressure of the robot, a heavy-load robot with a large structural size is required, so that the cost of the robot equipment is obviously increased, and the friction stir welding process of the large and thick plate aluminum alloy cannot be realized.
(2) In order to realize the friction stir welding process of the large and thick plate aluminum alloy, the spindle head mechanism of the welding equipment is required to have large torque bearing capacity under the condition of high-speed rotation, which leads the appearance size of the spindle head mechanism which is designed by adopting a servo motor to drive to be obviously increased. When the large-size spindle head mechanism is adopted, the existing robot friction stir welding equipment has large size and high cost, and obviously reduces the flexibility and the adaptability, which is completely contradictory to the research purpose of improving the three-dimensional space processing flexibility by adopting the robot friction stir welding; for the friction stir welding equipment of the robot for welding the large and thick plate aluminum alloy, the size of the spindle head is obviously increased, so that the friction stir welding equipment cannot be installed at the front arm end of the existing robot to realize the friction stir welding process of the large and thick plate aluminum alloy.
Disclosure of Invention
In order to overcome the limitations of the existing series robot friction stir welding technology, the manufacturing cost of the robot friction stir welding equipment is effectively reduced, and the robot friction stir welding process of large and thick plate aluminum alloy is realized. The invention provides a friction stir welding spindle head mechanism for a parallel robot, which is driven by a hydraulic motor, can realize high torque bearing capacity and self-adaptive axial upsetting force control at high rotating speed, has the characteristics of compact structure, small appearance size, simple structure, easy maintenance and the like, can realize the friction stir welding process of a large-thickness aluminum alloy robot by combining the spindle head mechanism with the parallel robot, and provides a key basis for the wide popularization and application of a friction stir welding process of the parallel robot in the field of three-dimensional space processing.
Aiming at the limitations that the conventional FSW equipment servo motor spindle head mechanism is large in size, low in torque and incapable of being mounted at the arm end of a parallel robot to realize large-thickness aluminum alloy welding, the invention provides a friction stir welding spindle head mechanism for the parallel robot, which comprises a hydraulic motor, a central rotating shaft and a fixed shell, wherein the fixed shell consists of an inner hollow shaft and an outer fixed sleeve, the inner hollow shaft is sleeved on the central rotating shaft, and the outer fixed sleeve is sleeved on the inner hollow shaft; an axial sliding key coupler is arranged between the central rotating shaft and the hydraulic motor; an axial sliding key groove is formed in the upper portion of the central rotating shaft, a round hole matched with the hydraulic motor is formed in the upper end of the axial sliding key coupler, a milling flat structure is arranged at the lower end of the axial sliding key coupler and embedded in the axial sliding key groove, and a stirring tool is connected to the bottom end of the central rotating shaft through a spring chuck nut; the outer fixed sleeve comprises a fixed end cover, an outer fixed upper sleeve and an outer fixed lower sleeve which are connected together from top to bottom at the top of the main shaft; the inner hollow shaft comprises an inner sleeve of a hydraulic cylinder and an axial sliding hollow shaft which are arranged from top to bottom; an annular hydraulic cylinder is arranged between the hydraulic cylinder inner sleeve and the external fixed upper sleeve; a bearing support sleeve is arranged between the axial sliding hollow shaft and the central rotating shaft, the bearing support sleeve comprises a bearing outer support and a bearing inner support sleeve, two sets of angular contact ball bearings are respectively arranged at the upper end and the lower end of the bearing support sleeve, a hollow shaft bottom end cover is arranged at the bottom of the axial sliding hollow shaft, an inner check ring is arranged at the upper part of the axial sliding hollow shaft, and the inner check ring abuts against an outer ring of the upper end angular contact ball bearing; the hollow shaft bottom end cover is provided with a center hole, an end part top ring and a cover edge, the inner diameter of the center hole is larger than the outer diameter of the center rotating shaft, the hollow shaft bottom end cover is sleeved on the center rotating shaft and fixed with the bottom of the axial sliding hollow shaft, the cover edge abuts against the outer fixed lower sleeve, the end part top ring abuts against the outer ring of the angular contact ball bearing at the lower end, the lower part of the center rotating shaft is provided with a shaft shoulder which abuts against the outer ring of the angular contact ball bearing at the lower end.
The spindle head mechanism mainly comprises a hydraulic motor, a rear annular hydraulic cylinder, a central rotating shaft and a fixed shell, wherein the hydraulic motor is connected with the central rotating shaft through a sliding key groove, and the front end of the central rotating shaft is connected with a stirring tool through a spring clamp. The hydraulic motor provides a power source to drive the central rotating shaft to rotate at a high speed; the annular hydraulic cylinder can drive the central rotating shaft to move up and down along the axial direction of the main shaft mechanism. Therefore, the spindle head mechanism can simultaneously realize two motions during working: namely, the central shaft can move up and down along the axial direction while rotating in height; thereby realizing the stirring friction welding process of controlling the pressure.
The invention provides a main shaft head mechanism which is a key mechanism system for realizing friction stir welding equipment of a parallel robot. Compared with the prior friction stir welding equipment based on a serial robot, the friction stir welding equipment of the parallel robot developed by the spindle head mechanism of the invention has the following beneficial effects:
(1) the existing series robot friction stir welding equipment cannot realize the friction stir welding process of the large-thickness aluminum plate; the servo motor spindle head has a large appearance size and cannot be arranged at the front arm end of the parallel robot, so that the friction stir welding process of the parallel robot cannot be realized. The spindle head mechanism is combined with the parallel robot to realize the whole process of friction stir welding of large-thickness aluminum plates, the spindle head is a key mechanical device for developing and developing friction stir welding equipment of the parallel robot, the manufacturing cost of the friction stir welding equipment of the robot can be effectively reduced, and the application range of the friction stir welding process of the robot in the field of industrial manufacturing is widened.
(2) The spindle head mechanism can realize the pressure-controlled friction stir welding process, which is essentially different from the current displacement-controlled robot friction stir welding process. The pressure control stirring spindle head mechanism has an axial displacement self-adaptive adjusting function, can be conveniently adapted to the process of variable-thickness aluminum alloy friction stir welding, enables the robot not to need to carry out axial displacement control, simplifies the three-dimensional space curve path control process of the parallel robot (because the axial displacement control parameters are reduced), and provides a foundation for the parallel robot to better realize the three-dimensional space curve welding line path control.
(3) The spindle head mechanism has compact and simple structure and low maintenance cost, can realize the fixed shaft shoulder friction stir welding process by adopting the spring chuck to fix the stirring tool, can also well realize the static shaft shoulder friction stir welding process, and can realize the large-torque heavy-load friction stir welding process. The friction stir welding equipment of the parallel robot has low manufacturing cost, simple and convenient operation and stable technical process, and provides an important basis for popularizing and applying a new friction stir welding process of the parallel robot.
Drawings
FIG. 1 is a schematic view of the appearance of a spindle head mechanism according to the present invention;
FIG. 2 is a cross-sectional view of the spindle head mechanism shown in FIG. 1;
FIG. 3-1 is a sectional view of the structure shown in FIG. 2 with the hydraulic motor removed;
FIG. 3-2 is a cross-sectional view of the structure shown in FIG. 3-1 with the fixed end cap and the outer fixed upper sleeve removed;
3-3 are cross-sectional views of the structure shown in FIG. 3-2 with the outer stationary lower sleeve removed;
FIGS. 3-4 are sectional views of the structure of FIGS. 3-3 with the internal sleeve of the hydraulic cylinder and the axially sliding hollow shaft removed;
FIG. 4-1 is a cross-sectional view of the central rotating shaft, sliding key slot and blending tool;
FIG. 4-2 is a side cross-sectional view of the structure shown in FIG. 4-1;
fig. 4-3 is a cross-sectional view of the structure shown in fig. 4-2 with the axial slide key coupler removed.
In the figure:
1-hydraulic motor, 2-fixed end cover, 3-external fixed upper sleeve, 4-external fixed lower sleeve, 5-hollow shaft bottom end cover, 6-spring chuck nut, 7-stirring tool, 8-hydraulic cylinder inner sleeve, 9-hydraulic cylinder, 10-axial sliding key coupling, 11-axial sliding hollow shaft, 12-central rotating shaft, 13-angular contact ball bearing, 14-bearing outer support sleeve, 15-bearing inner support sleeve and 16-axial sliding key groove.
Detailed Description
The technical solutions of the present invention are further described in detail with reference to the accompanying drawings and specific embodiments, which are only illustrative of the present invention and are not intended to limit the present invention.
As shown in fig. 1 and 2, the friction stir welding spindle head mechanism for a parallel robot provided by the invention is a key mechanical device for realizing friction stir welding equipment for the parallel robot. The main shaft head mechanism comprises a hydraulic motor 1, a central rotating shaft 12 and a fixed shell, wherein the fixed shell is composed of an internal hollow shaft and an external fixed sleeve, the hydraulic motor 1 is used for driving the central rotating shaft 12 to rotate, and large-torque high-speed rotation can be realized to meet the technological requirements of friction stir welding. The inner hollow shaft is journalled on the central rotary shaft 12 and the outer fixed sleeve is journalled on the inner hollow shaft. Fig. 1 shows an appearance diagram of the whole structure of a spindle head, which is composed of a hydraulic motor 1, an upper, a middle and a lower three-part fixed outer sleeves 2, 3 and 4 and a stirring tool 7 arranged at the bottommost part, and the key point is compact appearance structure and small size, and the spindle head can be arranged at the front arm end of a parallel robot to realize the friction stir welding process. The hydraulic cylinder is integrated in the main shaft head, so that the synchronous movement of high-speed rotation and axial movement can be realized; the technological process of friction stir welding with large torque and high axial upsetting pressure is satisfied.
As shown in fig. 2, 4-1, 4-2 and 4-3, an axial sliding key coupling 10 is provided between the central rotating shaft 12 and the hydraulic motor 1, and the axial sliding key coupling 10 is used for connecting the hydraulic motor rotating shaft and the central rotating shaft 12 and transmitting torque to the central rotating shaft 12 and the stirring tool 7 connected with the central rotating shaft 12. The upper part of the central rotating shaft 12 is provided with an axial sliding key groove 16; the upper end of the axial sliding key coupler 10 is provided with a round hole matched with the hydraulic motor 1, the lower end of the axial sliding key coupler 10 is of a milling flat structure, the milling flat structure is embedded in the axial sliding key groove 16, the bottom end of the central rotating shaft 12 is connected with a stirring tool 7 through a spring chuck nut 6, and the stirring tool 7 can be provided with a stirring tool for fixing a shaft shoulder and a stirring pin for fixing the shaft shoulder.
Fig. 2 shows an assembly cross-sectional view of each part inside the spindle head, and it can be seen that the shape and installation of the key parts of the spindle head mechanism of the present invention are schematic. The outer fixed sleeve comprises a fixed end cover 2, an outer fixed upper sleeve 3 and an outer fixed lower sleeve 4 which are connected together from top to bottom at the top of the main shaft. The fixing frame is a fixing frame for fixing other parts of the spindle head and is also a fixing frame for connecting the parallel robots. The frame is internally provided with a moving part of the spindle head, wherein a hydraulic cylinder for realizing the axial movement of the spindle head is arranged on the upper part of the spindle head, the volume of the hydraulic cylinder is composed of a spindle top fixed end cover 2 and an external fixed upper sleeve 3, the spindle top fixed end cover 2 is a fixed part on the upper part of a hydraulic cylinder body, the external fixed upper sleeve 3 is a fixed part on the lower part of the hydraulic cylinder body, and the external fixed lower sleeve 4 is an external fixed part for installing an axial movement hollow shaft.
As shown in fig. 2, the internal hollow shaft includes a hydraulic cylinder inner sleeve 8 and an axial sliding hollow shaft 11 arranged from top to bottom, the hydraulic cylinder inner sleeve 8 is connected with the axial sliding hollow shaft 11 to realize axial movement of the central rotating shaft 12, i.e., the internal moving piston of the hydraulic cylinder is composed of the hydraulic cylinder inner sleeve 8, the hydraulic cylinder inner sleeve 8 is provided with a piston and is fixedly connected with the axial sliding hollow shaft 11, and the hydraulic oil drives the piston to drive the axial sliding hollow shaft 11 to move up and down; thereby achieving axial pressure control. The hydraulic motor 1 drives the central rotating shaft 12 to rotate at a high speed through the axial sliding key coupler 10, meanwhile, hydraulic oil in the hydraulic cylinder drives the hydraulic cylinder inner sleeve 8 to drive the axial sliding hollow shaft 11 to move up and down, so that the central rotating shaft 12 can move up and down along the axial direction while rotating at a high speed, the axial pressure control process in the high-speed rotation of the spindle head is realized, the central rotating shaft 12 is connected with the 10 axial sliding key coupler through the sliding key groove, the axial 20mm up and down movement can be realized, and the bottom of the central rotating shaft is connected with 7 stirring tools through the 6 spring clamps.
As shown in fig. 2, 3-1, 3-2, 3-3 and 3-4, an annular hydraulic cylinder 9 is installed between the hydraulic cylinder inner sleeve 8 and the external fixed upper sleeve 3, a piston rod of the annular hydraulic cylinder 9 is composed of the hydraulic cylinder inner sleeve 8, the key structure of the annular hydraulic cylinder 9 is a hollow shaft sleeve type, the central part is connected with a central rotating shaft 12 through a hydraulic motor shaft, the key structure of the upper part of the central rotating shaft 12 is a sliding key groove 16, the hydraulic motor and the central rotating shaft are not completely fixed, but are fixed with the sliding key groove 16 through an axial sliding key coupler 10, and the key structure is a key structure form which can realize the high-speed rotation of the central rotating shaft 12 and the up-and-down movement. A bearing support sleeve is arranged between the axial sliding hollow shaft 11 and the central rotating shaft 12, the bearing support sleeve comprises a bearing outer support 14 and a bearing inner support sleeve 15, two sets of angular contact ball bearings 13 are respectively arranged at the upper end and the lower end of the bearing support sleeve, and the angular contact ball bearings 13 are used for supporting the central rotating shaft 12 to realize high-speed rotation and apply axial upsetting force; the bottom of the axial sliding hollow shaft 11 is provided with a hollow shaft bottom end cover 5 which is used for fixing parts of a central rotating shaft angular contact ball bearing 13 and installing and fixing a static shaft shoulder; an inner retainer ring is arranged at the upper part of the axial sliding hollow shaft 11 and abuts against the outer ring of the upper end angular contact ball bearing 13; the hollow shaft bottom end cover 5 is provided with a central hole, an end top ring and a cover edge, the inner diameter of the central hole is larger than the outer diameter of the central rotating shaft 12, the hollow shaft bottom end cover 5 is sleeved on the central rotating shaft 12 and is fixed with the bottom of the axial sliding hollow shaft 11, the cover edge is propped against the outer fixed lower sleeve 4, the end top ring is propped against the outer ring of the angular contact ball bearing 13 at the lower end, the lower part of the central rotating shaft 12 is provided with a shaft shoulder which is propped against the outer ring of the angular contact ball bearing 13 at the lower end, the hydraulic motor 1 is fixed on the main shaft top fixed end cover 2 and is connected with a sliding key groove 16 at the top of the central rotating shaft 12; while the central rotary shaft 12 is connected to the axially sliding hollow shaft 11 via angular contact ball bearings 13. The axial sliding hollow shaft 11 is connected with the inner sleeve 8 of the hydraulic cylinder, the inner part is used for installing a fixed angular contact ball bearing 13 and a central rotating shaft 12, and the outer part can slide along the outer fixed lower sleeve 4, so that the axial displacement of the central rotating shaft 12 is realized.
As shown in fig. 3-1, 3-2, 3-3, and 3-4. In the invention, the axial sliding hollow shaft 11 is another key component in the spindle head mechanism, and has the function that the angular contact ball bearing 13 is arranged in the axial sliding hollow shaft, the central rotating shaft 12 is fixed through the angular contact ball bearing 13, so that the central rotating shaft 12 can rotate at high speed and bear large axial pressure load, and the axial sliding hollow shaft 11 is not rotating and can only slide along the axial direction, namely move up and down, which is a key structural form for realizing axial pressure control. In addition, the spindle head of the invention integrates the hydraulic cylinder at the position of the central rotating shaft 12 at the upper part of the spindle head structure instead of the bottom part, and the structure form can effectively reduce the diameter of the spindle head, so that the structure of the spindle head is compact and the appearance size of the spindle head is obviously reduced.
Fig. 3-1, 3-2 and 3-3 show cross-sectional views of the axially sliding hollow shaft 11 and the central rotating shaft 12, and fig. 4-1, 4-2 and 4-3 show assembled views of the sliding key groove 16, the sliding key and the stirring tool 7 on the upper portion of the central rotating shaft 12, further illustrating the structure of the spindle head. The relative movement between the sliding key groove 16 and the sliding key is 20mm, namely the range of axial displacement controlled and adjusted by axial pressure is 20mm, so that the friction stir welding process of the aluminum alloy plate with the plate thickness difference of 20mm can be realized. In addition, the spring chuck nut 6 is adopted to fix the stirring tool 7, so that the centering property of the stirring tool and the central rotating shaft 12 can be effectively ensured, which is the key point for realizing the static shaft shoulder friction stir welding process, and if the stirring tool 7 cannot be centered or has low centering property in the actual welding process, the stirring tool 7 is in contact with the static shaft shoulder (not shown in figures 4-1, 4-2 and 4-3) to be seriously worn or even broken, so that the static shaft shoulder friction stir welding process cannot be implemented.
The main shaft head mechanism is an independent mechanical device, a hydraulic motor is driven by a hydraulic pump station, and the large-thickness aluminum alloy friction stir welding process can be realized by combining with a specific parallel robot.
The technological process of friction stir welding by combining the spindle head mechanism and the parallel robot is as follows:
(1) and (5) building the parallel robot friction stir welding equipment. The parallel robot structure capable of bearing high axial upsetting force and large torque is designed, developed and developed according to the technological parameter requirements of friction stir welding, then the main shaft head mechanism is manufactured according to the size requirements, a flange is mounted at the front arm end of the parallel robot, and the main shaft head mechanism is provided with an independent power source by a hydraulic pump station, so that the technological process of friction stir welding for controlling pressure is realized.
(2) And (5) installing and debugging the stirring tools of the fixed shaft shoulder and the static shaft shoulder. Because the coaxial alignment of the static shaft shoulder and the stirring pin has great influence on the friction stir welding process, the main shaft head mechanism provided by the invention adopts the spring chuck to fixedly install and fix the stirring tool so as to ensure the coaxial alignment of the static shaft shoulder and the stirring pin. According to the technological requirements of friction stir welding, the main shaft head mechanism can realize the welding process of a fixed shaft shoulder stirring tool and also can realize the welding process of a static shaft shoulder stirring tool.
(3) And (3) carrying out a friction stir welding process test on the parallel robot. The maximum rotation speed of the friction stir welding equipment of the parallel robot manufactured by adopting the main shaft head mechanism is determined by a main shaft of a hydraulic motor driven by a hydraulic pump station, the welding upset forging pressure is determined by the integral rigidity of the main shaft head and the parallel robot structure, the axial pressure control is determined by the main shaft head mechanism, and the welding moving speed along a three-dimensional space welding line is controlled by the three-dimensional space moving coordinate of the parallel robot.
The rotating speed range of the spindle head mechanism provided by the invention is 100-4000rpm, the axial upsetting pressure range is 0-6 tons, the up-down moving distance of the rotating central shaft for controlling the pressure is 20mm, the friction stir welding process of thick plate aluminum alloy with the thickness of more than 12mm can be realized, and the rigidity of the whole equipment is determined by the parallel robot structure. The friction stir welding process window range adopting the spindle head mechanism mainly comprises the following steps: the thickness of the aluminum alloy welding plate is 4-12mm, the rotating speed of the main shaft is 100-4000rpm, the axial upsetting pressure is 0-6 tons, and the welding moving speed is 30-500mm/min determined by a parallel robot. According to the thickness of the aluminum alloy plate, the shapes and the sizes of the stirring pin and the shaft shoulder, specific process parameters are determined through a welding process test. For example, for a 6061-T6 aluminum alloy plate with the thickness of 4mm, the butt weld of friction stir welding can be realized at the rotating speed of 800rpm and the welding moving speed of 100 mm/min; for example, for a 2195-T8 aluminum lithium alloy plate with the thickness of 12mm, the friction stir welding butt weld can be realized at the rotating speed of 1000rpm and the welding moving speed of 150mm/min, and the surface of the weld is smooth and the inside of the weld has no welding defects.
The main shaft head mechanism provided by the invention is driven by a hydraulic motor, under the same large torque and axial upsetting pressure, the appearance diameter and the length dimension of the main shaft head are obviously smaller than those of an electric main shaft mechanism driven by a servo motor, and the stirring friction welding process of controlling the pressure can be realized. Therefore, the appearance size of the main shaft head mechanism can be obviously reduced, and simultaneously, large torque and high axial upsetting pressure can be realized, thereby meeting the parameter requirements of the friction stir welding process of the large thick plate aluminum alloy; in addition, a hydraulic cylinder arranged in the spindle head mechanism drives the central rotating shaft to move up and down along the axial direction, so that the pressure control is realized. Compared with the friction stir welding process in which the servo electric spindle head mechanism adopted at present can only realize displacement control, the process has essential difference.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.
Claims (1)
1. A friction stir welding spindle head mechanism for a parallel robot comprises a hydraulic motor (1), a central rotating shaft (12) and a fixed shell, wherein the fixed shell consists of an inner hollow shaft and an outer fixed sleeve, the inner hollow shaft is sleeved on the central rotating shaft (12), and the outer fixed sleeve is sleeved on the inner hollow shaft; the method is characterized in that:
an axial sliding key coupler (10) is arranged between the central rotating shaft (12) and the hydraulic motor (1); an axial sliding key groove (16) is formed in the upper portion of the central rotating shaft (12), a round hole matched with the hydraulic motor (1) is formed in the upper end of the axial sliding key coupler (10), a milling flat structure is arranged at the lower end of the axial sliding key coupler (10), the milling flat structure is embedded in the axial sliding key groove (16), and the bottom end of the central rotating shaft (12) is connected with a stirring tool (7) through a spring chuck nut (6);
the outer fixed sleeve comprises a fixed end cover (2) at the top of the main shaft, an outer fixed upper sleeve (3) and an outer fixed lower sleeve (4) which are connected together from top to bottom;
the inner hollow shaft comprises a hydraulic cylinder inner sleeve (8) and an axial sliding hollow shaft (11) which are arranged from top to bottom;
an annular hydraulic cylinder (9) is arranged between the hydraulic cylinder inner sleeve (8) and the external fixed upper sleeve (3); a bearing support sleeve is arranged between the axial sliding hollow shaft (11) and the central rotating shaft (12), the bearing support sleeve comprises a bearing outer support (14) and a bearing inner support sleeve (15), two sets of angular contact ball bearings (13) are respectively arranged at the upper end and the lower end of the bearing support sleeve, a hollow shaft bottom end cover (5) is arranged at the bottom of the axial sliding hollow shaft (11), an inner retainer ring is arranged at the upper part of the axial sliding hollow shaft (11), and the inner retainer ring is abutted against the outer ring of the upper end angular contact ball bearing (13); the hollow shaft bottom end cover (5) is provided with a center hole, an end part top ring and a cover edge, the inner diameter of the center hole is larger than the outer diameter of the center rotating shaft (12), the hollow shaft bottom end cover (5) is sleeved on the center rotating shaft (12) and fixed with the bottom of the axial sliding hollow shaft (11), the cover edge abuts against the outer fixed lower sleeve (4), the end part top ring abuts against the outer ring of the angular contact ball bearing (13) at the lower end, the lower part of the center rotating shaft (12) is provided with a shaft shoulder, and the shaft shoulder abuts against the outer ring of the angular contact ball bearing (13) at the lower end.
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| CN110860783B (en) * | 2019-11-25 | 2021-10-01 | 上海航天设备制造总厂有限公司 | Device for improving axial bearing capacity of main shaft of friction stir welding equipment |
| CN111151867A (en) * | 2020-01-19 | 2020-05-15 | 天津大学 | Pressure control method of friction stir welding system of series-parallel robot |
| CN113231730A (en) * | 2021-04-15 | 2021-08-10 | 上海发那科机器人有限公司 | Hydraulic drive control robot friction stir welding electric spindle |
| CN114043255B (en) * | 2021-11-26 | 2023-05-12 | 国焊(上海)智能科技有限公司 | Processing machine tool and processing method |
| CN114523189A (en) * | 2022-02-28 | 2022-05-24 | 航天工程装备（苏州）有限公司 | Rod material stirring friction additive manufacturing device and method |
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| SE0200303D0 (en) * | 2002-02-01 | 2002-02-01 | Esab Ab | Welding head for friction stir welding |
| CN103350278B (en) * | 2013-06-24 | 2015-04-22 | 天津大学 | Pressure-controlled friction stir welding main shaft head device |
| CN106001904A (en) * | 2016-06-24 | 2016-10-12 | 天津大学 | Fixed type stitch welding device used for full hydraulic drive and numerical control friction stitch welding machine |
| CN107803583B (en) * | 2016-09-09 | 2020-02-21 | 首都航天机械公司 | Drawing type inertia friction welding method and device |
| CN107442927B (en) * | 2017-08-22 | 2019-04-23 | 天津大学 | A kind of backfill formula friction stir spot welding mainshaft head mechanism in situ |
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2019
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