CN111098016B - Friction stir welding equipment and cooling protection device thereof - Google Patents
Friction stir welding equipment and cooling protection device thereof Download PDFInfo
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- CN111098016B CN111098016B CN201811255283.9A CN201811255283A CN111098016B CN 111098016 B CN111098016 B CN 111098016B CN 201811255283 A CN201811255283 A CN 201811255283A CN 111098016 B CN111098016 B CN 111098016B
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- hole
- cooling
- stirring head
- accommodating space
- cooling liquid
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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
-
- 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 provides friction stir welding equipment and a cooling protection device thereof, wherein the cooling protection device comprises: the protective cover is covered outside the stirring head, and a first accommodating space is formed between the protective cover and the stirring head; the mounting section of the stirring head is sleeved in the mounting hole, and a second accommodating space is formed between the top end surface of the stirring head and the hole wall of the mounting hole; the communicating hole is formed in the stirring head, one end of the communicating hole is communicated with the second accommodating space, and the other end of the communicating hole has a preset distance from the stirring needle; the liquid inlet end of the cooling liquid conveying structure is communicated with a cooling liquid source, the liquid outlet end of the cooling liquid conveying structure is communicated with the first accommodating space and the second accommodating space, and cooling liquid in the cooling liquid source is input into the first accommodating space and the second accommodating space. This cooling protector can cool off whole stirring head and stirring needle to reduce the high temperature wearing and tearing of stirring head, improved stirring head life.
Description
Technical Field
The invention belongs to the technical field of metal welding equipment, and particularly relates to friction stir welding equipment and a cooling protection device thereof.
Background
The friction stir welding technology is a solid phase welding technology invented by british welding research institute (TWI) in 1991, and the principle of the solid phase welding technology is that a stirring head which rotates at a high speed and is not worn is inserted into a part to be welded in a rotating mode, the stirring head moves forwards along a to-be-welded interface of the part to be welded, materials to be welded are stirred and rubbed by the stirring head, the materials to be welded are heated to a thermoplastic state, the materials in the plastic state are transferred around the stirring head from front to back under the driving of the rotation of the stirring head, and the plastic materials form compact intermetallic solid phase connection under the extrusion action of the stirring head. In the welding process, the stirring head experiences complicated heat and force effects, leads to the stirring head to become invalid in advance, and along with the temperature improvement, the stirring head wearing and tearing aggravation. This problem is particularly acute when welding high melting point materials, which are usually selected to have better high temperature properties, such as PCBN, tungsten based alloys. However, the method has high cost, and on one hand, the material cost is high, and on the other hand, the processing cost is high, so that the processing and the manufacturing are difficult. Therefore, from the material perspective, the problem that the friction stir welding stirring head of the high-melting-point material is seriously abraded is not fundamentally solved.
In order to solve the problems of difficult processing and high cost of the stirring head, researchers optimize the structure design of the stirring head and increase an auxiliary cooling and heat dissipation device to try to improve the service life of the stirring head. If the liquid is directly sprayed on the stirring head and the workpiece for cooling, although the service life of the stirring head is improved to a certain extent, the difficulty of subsequent cleaning is brought at the same time. The inventive device of patent application No. 201010127857.1 uses a double gas shield to provide a follow-up weld protection to a localized area around the pin during welding. The protection mode can only protect the local welding area in the welding process well, and can not effectively protect the cooling process after welding of the welding seam, although the problem of abrasion of the stirring head can be solved to a certain extent, the structure is complex, the requirement on processing precision is high, the device volume is large, the clamping installation and observation of workpieces are not facilitated, and the cooling effect is not ideal; the 201310139472.0 patent device is more complex in structure, large in size, not beneficial to workpiece installation, clamping and observation, and high in cost due to the fact that a complex gas path pipeline and a control system are needed. Both the two patents have the problems of large device volume and inconvenient workpiece clamping and observation.
Therefore, a cooling protection device for friction stir welding equipment is provided to solve the problems of unsatisfactory cooling effect, single function, complex structure and large volume of the conventional friction stir welding cooling device, and the problem to be solved by the technical personnel in the field is needed urgently.
Disclosure of Invention
The present invention has been made to solve at least one of the above problems occurring in the prior art, and the object is achieved by the following means.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cooling protection device is used for friction stir welding equipment, and the friction stir welding equipment comprises a clamping handle, a stirring head arranged at the bottom end of the clamping handle, and a stirring needle arranged at the bottom end of the stirring head; the cooling protection device comprises:
the protective cover is covered outside the stirring head, and a first accommodating space is formed between the protective cover and the stirring head;
the mounting section of the stirring head is sleeved in the mounting hole, and a second accommodating space is formed between the top end surface of the stirring head and the hole wall of the mounting hole;
the communicating hole is formed in the stirring head, one end of the communicating hole is communicated with the second accommodating space, and the other end of the communicating hole has a preset distance from the stirring needle;
and the liquid inlet end of the cooling liquid conveying structure is communicated with a cooling liquid source, the liquid outlet end of the cooling liquid conveying structure is communicated with the first accommodating space and the second accommodating space, and the cooling liquid in the cooling liquid source is input into the first accommodating space and the second accommodating space.
In the working process, cooling liquid enters the first accommodating space through the cooling liquid conveying structure, so that the cooling liquid covers the whole stirring head and cools the stirring head; and the cooling liquid gets into the second accommodation space, and the stirring head in the second accommodation space not only can cool off the stirring head, can also cool off the stirring pin of lower extreme. Therefore, the cooling protection device can cool the whole stirring head and the stirring needle, thereby reducing the high-temperature abrasion of the stirring head and prolonging the service life of the stirring head; meanwhile, the protective cover can play a role in cooling and protecting the welding line simultaneously so as to improve the mechanical property of the joint and obtain a high-quality joint; in addition, the cooling protection device provided by the invention has the advantages of simple structure, small volume, convenience in installation and disassembly and low cost.
Furthermore, the mounting hole is formed in the bottom end face of the clamping handle and extends to the preset hole depth along the axial direction of the clamping handle.
Further, the cooling liquid conveying structure comprises a conveying pipe and a cooling liquid hole;
the liquid inlet end of the conveying pipe is communicated with the cooling liquid source, and the liquid outlet end of the conveying pipe is communicated with the first accommodating space;
the cooling liquid hole is formed in the shaft body of the clamping handle, the liquid inlet end of the cooling liquid hole is communicated with the first accommodating space, and the liquid outlet end of the cooling liquid hole is communicated with the second accommodating space.
Furthermore, the cooling liquid hole is a plurality of, and each cooling liquid hole is along the equipartition in the circumference in the centre gripping handle.
Furthermore, the cooling liquid hole is obliquely arranged relative to the clamping handle, a first preset included angle is formed between the axial direction of the cooling liquid hole and the axial direction of the clamping handle, and the highest point of the cooling liquid hole is lower than the highest point of the protective cover by a preset height.
Furthermore, the axial projection of the central line of the cooling liquid hole along the cooling liquid hole is parallel to the tangent of the inlet of the protective cover, and the horizontal projection direction of the cooling liquid hole is consistent with the rotation direction of the stirring head.
Furthermore, the bottom of the protection cover is provided with a plurality of through holes, and the through holes are distributed at the bottom of the protection cover at intervals.
Further, the preset distance between the communicating hole and the stirring needle is 2 mm-3 mm.
Further, the aperture of the communicating hole is 1/2-1/3 times of the minimum diameter of the stirring pin.
The invention also provides friction stir welding equipment which comprises a clamping handle, a stirring head arranged at the bottom end of the clamping handle and a stirring needle arranged at the bottom end of the stirring head; a cooling shield as described above is also included.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a cooling shield apparatus according to the present invention;
fig. 2 is a top view of the cooling shield apparatus shown in fig. 1.
Description of reference numerals:
100-grip handle 200-stirring head
1-shield 11-via hole
2-first accommodation space
3-second accommodation space
4-communicating hole
51-delivery pipe 52-coolant hole
The included angle between the axis of the beta-via hole and the axis of the stirring head
Distance between center of W-via hole and axis of stirring head
D-diameter of shaft shoulder of stirring head
Distance between the lowest point of the lower end surface of the H-shaped protective cover and the shaft shoulder end surface of the stirring head
Included angle between tangent line at lowest point of lower end face of alpha-protective cover and end face of shaft shoulder
A-center line of coolant hole
B-entrance tangent above shield
Distance between the highest point of the C-shaped protective cover and the step surface of the clamping handle
Detailed Description
The invention provides a cooling protection device for friction stir welding equipment, which aims to solve the problems of unsatisfactory cooling effect, single function, complex structure and larger volume of the traditional friction stir welding cooling device.
In one embodiment, the cooling shield apparatus provided by the present invention is used in friction stir welding equipment for friction stir welding of high melting point materials. The friction stir welding device comprises a clamping handle 100, a stirring head 200 mounted at the bottom end of the clamping handle 100, and a stirring pin arranged at the bottom end of the stirring head 200, and obviously, the friction stir welding device further comprises other necessary structures arranged for achieving the purpose of use, and the necessary structures are the same as those in the prior art and are not described herein again.
The cooling protection device comprises a protection cover 1, a mounting hole, a connecting hole and a cooling liquid conveying structure, wherein the protection cover 1 can be a cover body made of a metal material, and is preferably a red copper cover; the protective cover 1 is covered outside the stirring head 200, a first accommodating space 2 is formed between the protective cover and the stirring head 200, an installation section of the stirring head 200 is sleeved in the installation hole, a second accommodating space 3 is formed between the top end face of the stirring head 200 and the hole wall of the installation hole, the communication hole 4 is formed in the stirring head 200, one end of the communication hole 4 is communicated with the second accommodating space 3, and the other end of the communication hole has a preset distance from the stirring needle; the liquid inlet end of the cooling liquid conveying structure is communicated with a cooling liquid source, the liquid outlet end of the cooling liquid conveying structure is communicated with the first accommodating space 2 and the second accommodating space 3, and cooling liquid in the cooling liquid source is input into the first accommodating space 2 and the second accommodating space 3.
In this embodiment, the liquid nitrogen may be used as the cooling liquid, and the fixed connection between the clamping handle 100 and the stirring head 200 may be a clearance fit structure, obviously, a sealing ring may be disposed at the connection position between the clamping handle and the stirring head to ensure the sealing performance between the clamping handle and the stirring head, and after the clearance fit, the clamping handle 100 and the stirring head 200 may be connected with each other by a fastening screw, so that the clamping handle and the stirring head are both convenient to detach and replace, and have a relatively stable connection. The red copper cover is connected with the stirring head 200 in an interference fit manner, and liquid nitrogen can be conveyed to the red copper cover through the cooling liquid conveying device to fill the first accommodating space 2 and the second accommodating space 3, so that the whole stirring head 200 is coated, the liquid nitrogen can also enter the second accommodating space 3 between the clamping handle 100 and the stirring head 200, and the liquid nitrogen can reach the bottom of the stirring needle through the communicating hole 4 formed in the stirring head 200 to cool the stirring needle. The communication hole 4 is opened along the axial direction of the stirring head 200, and is preferably an axial center hole of the stirring head 200.
The clamping handle 100 and the stirring head 200 can be made of high-temperature alloy, so that better mechanical properties can be ensured in a liquid nitrogen environment.
In the working process, the cooling liquid enters the first accommodating space 2 through the cooling liquid conveying structure, so that the cooling liquid covers the whole stirring head 200 and cools the stirring head 200; and the cooling liquid gets into second accommodation space 3, and stirring head 200 in second accommodation space 3 not only can cool off stirring head 200, can also cool off the stirring pin of lower extreme. Therefore, the cooling protection device can cool the whole stirring head 200 and the stirring pin, thereby reducing the high-temperature abrasion of the stirring head 200 and prolonging the service life of the stirring head 200; meanwhile, the protective cover 1 can play a role in cooling and protecting the welding line at the same time so as to improve the mechanical property of the joint and obtain a high-quality joint; in addition, the cooling protection device provided by the invention has the advantages of simple structure, small volume, convenience in installation and disassembly and low cost.
The mounting hole is formed in the bottom end surface of the clamping handle 100 and extends to a preset hole depth along the axial direction of the clamping handle 100, and specifically, the preset hole depth is a depth suitable for the length of the stirring head 200. The mounting hole is a smooth hole to facilitate mounting of the mixing head 200. Specifically, a rectangular plane is processed at the connection part of the stirring head 200 and the clamping handle 100, and a complete cylindrical part is left at the upper part of the rectangular plane to ensure that a set screw can be compressed to transmit torque.
Further, the cooling liquid delivery structure includes a delivery pipe 51 and a cooling liquid hole 52; the liquid inlet end of the conveying pipe 51 is communicated with the cooling liquid source, the liquid outlet end of the conveying pipe 51 is communicated with the first accommodating space 2, cooling liquid (for example, liquid nitrogen) in the cooling liquid source enters the first accommodating space 2 through the conveying pipe 51, and the liquid inlet direction and the liquid inlet position can be adjusted through the inclination angle of the conveying pipe 51.
The cooling liquid hole 52 is formed in the shaft body of the clamping handle 100, and a liquid inlet end of the cooling liquid hole 52 is communicated with the first accommodating space 2, and a liquid outlet end thereof is communicated with the second accommodating space 3; that is, the cooling liquid hole 52 is used for communicating the first accommodating space 2 and the second accommodating space 3, the cooling liquid in the cooling liquid source firstly enters the first accommodating space 2, and then the cooling liquid in the first accommodating space 2 enters the second accommodating space 3, namely, the cooling liquid enters the second accommodating space 3. In theory, the cooling liquid can also be delivered from the cooling liquid source to the second accommodating space 3 through another set of delivery pipes 51.
In order to increase the injection speed and efficiency of the coolant, the coolant hole 52 is provided in plurality, and the coolant holes 52 are circumferentially and uniformly distributed in the clamping shank 100. Each coolant hole 52 is obliquely arranged relative to the clamping handle 100, a first preset included angle is formed between the axial direction of the coolant hole 52 and the axial direction of the clamping handle 100, and the highest point of the coolant hole 52 is lower than the highest point of the protective cover 1 by a preset height. Specifically, the number of the cooling liquid holes 52 may be four, each cooling liquid hole 52 is obliquely and uniformly distributed on the shaft body of the clamping handle 100, and the highest point of the cooling liquid hole 52 is 6 to 10mm lower than the highest point of the red copper cover, that is, the preset height is 6 to 10 mm.
The axial projection of the central line of the cooling liquid hole 52 along the cooling liquid hole is parallel to the tangent of the inlet of the protective cover 1, and the horizontal projection direction of the cooling liquid hole 52 is consistent with the rotation direction of the stirring head 200, so that liquid nitrogen is prevented from being thrown out in the rotation process.
In order to create a cooling environment at the weld joint and thus protect the quality of the weld joint, a plurality of through holes 11 may be formed in the bottom of the protective cover 1, and the through holes 11 are spaced apart from each other at the bottom of the protective cover 1. In the working process, liquid nitrogen can flow out through the through hole 11 below the red copper cover (namely the protective cover 1), and the liquid nitrogen is gasified to form a protective atmosphere so as to protect the welding seam. Specifically, the through holes 11 are six and are all arranged at the bottom of the protective cover 1, an angle beta is formed between the axis of each through hole 11 and the axis of the stirring head 200, the distance W/2 between the center of each through hole 11 and the axis of the stirring head 200 is equal to the radius D/2+ 6-10mm of the shaft shoulder of the stirring head 200, and the beta is selected within the range of 30-45 degrees so as to guarantee a better protection effect.
Further, an inlet tangent line B above the protective cover 1 is parallel to the central line of the mounting hole of the clamping handle 100, and the distance C between the highest point of the protective cover 1 and the step surface of the clamping handle 100 is equal to the shaft shoulder radius D/2 of the stirring head 200.
Specifically, the distance H between the lowest point of the lower end surface of the protective cover 1 and the shaft shoulder end surface of the stirring head 200 is about 2-3 mm, and the included angle α between the tangent of the lowest point and the shaft shoulder end surface is 1-3 ° larger than the inclination angle of the stirring head 200. The center line of the delivery pipe 51 of the coolant delivery device is parallel to the center line a of the coolant hole 52 of the grip lever 100.
Furthermore, in order to improve the cooling effect of the stirring pin, the preset distance between the communication hole 4 and the stirring pin is 2 mm-3 mm, and the aperture of the communication hole 4 is 1/2-1/3 times of the minimum diameter of the stirring pin. The intercommunicating pore 4 that has the degree of depth of predetermineeing of stirring head 200 inside processing, the distance of terminal surface is 2~3mm under the lower extreme of intercommunicating pore 4 apart from the stirring needle to guarantee that the liquid nitrogen can cool off the stirring needle.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Claims (9)
1. A cooling protection device is used for friction stir welding equipment, and the friction stir welding equipment comprises a clamping handle, a stirring head arranged at the bottom end of the clamping handle, and a stirring needle arranged at the bottom end of the stirring head; characterized in that the cooling protection device comprises:
the protective cover is covered outside the stirring head, and a first accommodating space is formed between the protective cover and the stirring head; the bottom of the protective cover is provided with a plurality of through holes, and the through holes are distributed at intervals at the bottom of the protective cover;
the mounting section of the stirring head is sleeved in the mounting hole, and a second accommodating space is formed between the top end surface of the stirring head and the hole wall of the mounting hole;
the communicating hole is formed in the stirring head, one end of the communicating hole is communicated with the second accommodating space, and the other end of the communicating hole has a preset distance from the stirring needle;
and the liquid inlet end of the cooling liquid conveying structure is communicated with a cooling liquid source, the liquid outlet end of the cooling liquid conveying structure is communicated with the first accommodating space and the second accommodating space, and the cooling liquid in the cooling liquid source is input into the first accommodating space and the second accommodating space.
2. The cooling protection device of claim 1, wherein the mounting hole is opened at a bottom end surface of the clamping shank and extends to a predetermined hole depth along an axial direction of the clamping shank.
3. The cooling shield apparatus of claim 1 wherein the coolant conveying structure comprises a conveying tube and a coolant bore;
the liquid inlet end of the conveying pipe is communicated with the cooling liquid source, and the liquid outlet end of the conveying pipe is communicated with the first accommodating space;
the cooling liquid hole is formed in the shaft body of the clamping handle, the liquid inlet end of the cooling liquid hole is communicated with the first accommodating space, and the liquid outlet end of the cooling liquid hole is communicated with the second accommodating space.
4. The cooling protection device of claim 3, wherein the coolant hole is a plurality of coolant holes, and each coolant hole is circumferentially and uniformly distributed in the clamping shank.
5. The cooling protection device of claim 4, wherein the cooling liquid hole is obliquely arranged relative to the clamping handle, an axial direction of the cooling liquid hole and an axial direction of the clamping handle form a first preset included angle, and a highest point of the cooling liquid hole is lower than a highest point of the protection cover by a preset height.
6. The cooling shield apparatus according to claim 5, wherein a projection of a centerline of the coolant hole in an axial direction of the coolant hole is parallel to a tangent of the inlet of the shield, and a horizontal projection direction of the coolant hole coincides with a rotation direction of the stirring head.
7. The cooling protection device of claim 1, wherein the preset distance between the communication hole and the stirring pin is 2 mm-3 mm.
8. The cooling shield apparatus of claim 7 wherein the aperture of the communication hole is 1/2-1/3 times the smallest diameter of the pin.
9. A friction stir welding device comprises a clamping handle, a stirring head arranged at the bottom end of the clamping handle, and a stirring needle arranged at the bottom end of the stirring head; characterized in that it further comprises a cooling shield as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255283.9A CN111098016B (en) | 2018-10-26 | 2018-10-26 | Friction stir welding equipment and cooling protection device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255283.9A CN111098016B (en) | 2018-10-26 | 2018-10-26 | Friction stir welding equipment and cooling protection device thereof |
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| Publication Number | Publication Date |
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| CN111098016A CN111098016A (en) | 2020-05-05 |
| CN111098016B true CN111098016B (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811255283.9A Active CN111098016B (en) | 2018-10-26 | 2018-10-26 | Friction stir welding equipment and cooling protection device thereof |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI765735B (en) * | 2020-09-14 | 2022-05-21 | 國立中正大學 | Friction stir welding adapter and tool holder having a cooling system |
| TWI765734B (en) * | 2020-09-14 | 2022-05-21 | 國立中正大學 | Friction stir welding adapter and tool holder capable of determining the advance depth |
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|---|---|---|---|---|
| CN101537529A (en) * | 2009-04-24 | 2009-09-23 | 重庆大学 | Pin tool for friction stir welding and ultrafine grain preparation method thereof |
| CN106825905A (en) * | 2017-02-23 | 2017-06-13 | 南京索菲智能装备有限公司 | The water-gas combined cooling device of agitating friction head and method |
| CN107470772A (en) * | 2017-07-25 | 2017-12-15 | 北京赛福斯特技术有限公司 | A kind of method of water cooling stirring-head and Water-cooling circulating for agitating friction welding |
| CN207272424U (en) * | 2017-10-08 | 2018-04-27 | 成都飞机工业（集团）有限责任公司 | Combined water-cooled soldering set is used in a kind of titanium alloy agitating friction welding |
| CN107999954A (en) * | 2017-12-11 | 2018-05-08 | 杨立志 | A kind of agitating friction welder using circulating water |
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2018
- 2018-10-26 CN CN201811255283.9A patent/CN111098016B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537529A (en) * | 2009-04-24 | 2009-09-23 | 重庆大学 | Pin tool for friction stir welding and ultrafine grain preparation method thereof |
| CN106825905A (en) * | 2017-02-23 | 2017-06-13 | 南京索菲智能装备有限公司 | The water-gas combined cooling device of agitating friction head and method |
| CN107470772A (en) * | 2017-07-25 | 2017-12-15 | 北京赛福斯特技术有限公司 | A kind of method of water cooling stirring-head and Water-cooling circulating for agitating friction welding |
| CN207272424U (en) * | 2017-10-08 | 2018-04-27 | 成都飞机工业（集团）有限责任公司 | Combined water-cooled soldering set is used in a kind of titanium alloy agitating friction welding |
| CN107999954A (en) * | 2017-12-11 | 2018-05-08 | 杨立志 | A kind of agitating friction welder using circulating water |
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