CN111347151A - High-rigidity three-degree-of-freedom parallel machine head for friction stir welding - Google Patents
High-rigidity three-degree-of-freedom parallel machine head for friction stir welding Download PDFInfo
- Publication number
- CN111347151A CN111347151A CN202010169843.XA CN202010169843A CN111347151A CN 111347151 A CN111347151 A CN 111347151A CN 202010169843 A CN202010169843 A CN 202010169843A CN 111347151 A CN111347151 A CN 111347151A
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- CN
- China
- Prior art keywords
- friction stir
- stir welding
- branched chain
- degree
- hooke hinge
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Classifications
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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
-
- 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 high-rigidity three-degree-of-freedom parallel machine head for friction stir welding, which comprises a friction stir welding main shaft and a fixed frame, wherein an intermediate branched chain is connected between the fixed frame and the friction stir welding main shaft; the middle branched chain comprises a guide rod, a middle Hooke hinge and a sliding block, one end of the guide rod is fixedly connected with the stirring friction welding main shaft, the sliding block is fixed with the guide rod, the sliding block and an inner ring of the middle Hooke hinge form sliding pair connection, and an outer ring of the middle Hooke hinge is rotationally connected with the fixed frame; three telescopic branched chains with the same structure are connected between the other end of the guide rod and the fixed frame; one end of each telescopic branched chain is connected with the guide rod through a hooke hinge on the branched chain, and the other end of each telescopic branched chain is connected with the fixed frame through a two-degree-of-freedom revolute pair; the invention adopts the parallel mechanism to realize the two free swinging and translation of the stirring friction welding main shaft, and the three telescopic branched chains are only under tension and compression load, thereby having simple and compact structure and increasing the bearing capacity of the mechanism.
Description
Technical Field
The invention relates to the field of friction stir welding, in particular to a three-degree-of-freedom parallel machine head for friction stir welding.
Background
Compared with the traditional welding technology, the friction stir welding technology has the advantages of low stress, small deformation, low energy consumption, green production and the like, thereby being widely applied.
Aiming at the welding operation of parts with complex curved surfaces, the existing friction stir welding equipment mostly adopts a series connection mode, so that the equipment has five-axis linkage capability. Especially, the welding of large complex parts is often carried out in a mode of serially connecting a gantry machine tool with two-degree-of-freedom rotary heads.
Due to the characteristics of the friction stir welding process, the bearing capacity is large in the welding process. The conventional two-degree-of-freedom rotary head is mostly used for cutting processing, has limited bearing capacity and is not suitable for friction stir welding equipment. Patent CN105215537A proposes a double-swing head for friction stir welding, which adopts an AC shaft structure form and improves the bearing capacity of the swing head through worm and gear, hydraulic locking and other modes. The limitations of the above mechanisms are: the swinging head structure adopts a series structure, has lower rigidity, simultaneously comprises a hydraulic locking device and a worm and gear speed reducer, has more moving parts and is difficult to realize accurate control.
Disclosure of Invention
Aiming at the prior art, the invention provides a three-degree-of-freedom parallel machine head for friction stir welding.
In order to solve the technical problems, the high-rigidity three-degree-of-freedom parallel machine head for friction stir welding comprises a friction stir welding main shaft and a fixed frame, wherein an intermediate branched chain is connected between the fixed frame and the friction stir welding main shaft; the middle branched chain comprises a guide rod, a middle hooke hinge and a sliding block, one end of the guide rod is fixedly connected with the friction stir welding spindle, the sliding block is fixed with the guide rod, the sliding block and an inner ring of the middle hooke hinge form sliding pair connection, and an outer ring of the middle hooke hinge is connected with the fixed frame through a rotating pair; three telescopic branched chains with the same structure are connected between the other end of the guide rod and the fixed frame; one end of each telescopic branched chain is connected with the guide rod through a hooke hinge on the branched chain, and the other end of each telescopic branched chain is connected with the fixed frame through a two-degree-of-freedom revolute pair; when the three telescopic branched chains move, the friction stir welding main shaft swings in two-dimensional directions while moving along the axial direction.
Furthermore, the high-rigidity three-degree-of-freedom parallel machine head for friction stir welding is characterized in that a through hole for mounting a middle hooke hinge is formed in the middle of the fixing frame, and an outer ring of the middle hooke hinge is connected with the fixing frame through a revolute pair.
The two-degree-of-freedom rotating pair between the other end of the telescopic branched chain and the fixed frame is a Hooke hinge or a ball pin pair.
The two-degree-of-freedom revolute pair between the other end of the telescopic branched chain and the fixing frame is a hook hinge, the hook hinge comprises a hook hinge transverse shaft and a hook hinge near frame ring, the hook hinge transverse shaft is connected with the hook hinge near frame ring through a revolute pair, and the hook hinge near frame ring is rotatably connected with the fixing frame.
The structure of the telescopic branches in the present invention has one of the following two cases:
1) the telescopic branched chain comprises a screw rod, a nut, a motor, a driving belt wheel, a driven belt wheel and a transmission belt; the motor is fixedly connected with the Hooke hinge transverse shaft, the nut and the screw form a screw pair, the nut is connected with the Hooke hinge transverse shaft through a revolute pair, the driving belt wheel is fixed on an output shaft of the motor, the driven belt wheel is fixedly connected with the nut coaxially, and the driving belt is connected with the driving belt wheel and the driven belt wheel;
2) the telescopic branched chain comprises a motor, a screw rod, a nut and a bevel gear pair; the motor is fixedly connected with the Hooke hinge transverse shaft, the screw rod and the nut form a screw pair, the nut is connected with the Hooke hinge transverse shaft through a rotating pair, a driving wheel of the conical gear pair is fixed on an output shaft of the motor, and a driven wheel of the conical gear pair is fixed with the nut;
driving the motor and adjusting the position of the nut on the lead screw by controlling the rotation direction of the motor, so that the motion of the friction stir welding spindle has one of the following three conditions:
1) moving along the axial direction;
2) realizing the swing in two-dimensional direction;
3) the two-dimensional swing is performed while moving in the axial direction.
In the invention, the Hooke hinge on the branched chain is connected between the upper end of the lead screw and the guide rod.
Compared with the prior art, the invention has the beneficial effects that: the telescopic branched chain is only loaded in tension and compression, the structure is simple and compact, and the bearing capacity of the mechanism is increased.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a high-rigidity three-degree-of-freedom parallel handpiece of the present invention;
FIG. 2 is a bottom view of the high stiffness three degree-of-freedom parallel head shown in FIG. 1;
FIG. 3 is a full sectional view taken at section A-A in FIG. 2;
FIG. 4 is a schematic view of a partial structure of a branched lower hook joint embodiment 1 shown in FIG. 1;
fig. 5 is a schematic view of the overall structure of a hooke joint structure with another branched chain according to the present invention.
In the figure:
1-fixed frame 2-friction stir welding main shaft 3-first telescopic branched chain
4-second scalable branched chain 5-third scalable branched chain 6-intermediate branched chain
7-inner ring of middle Hooke hinge 8-sliding block 9-guide rod
10-Hooke hinge on branched chain 11-lead screw 12-nut
13-driving pulley 13' -driven pulley 14-driving belt
15-motor 16-Hooke joint transverse shaft 17-Hooke joint close frame ring
18-two-degree-of-freedom rotating pair 19-bevel gear pair 20-outer ring of middle Hooke hinge
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
As shown in fig. 1, fig. 2, fig. 3, and fig. 4, the high-rigidity three-degree-of-freedom parallel machine head for friction stir welding according to the present invention includes a friction stir welding spindle 2 and a fixed frame 1, and an intermediate branched chain 6 is connected between the fixed frame 1 and the friction stir welding spindle 2.
The two-degree-of-freedom revolute pair 18 is a hooke hinge or a ball pin pair, as shown in fig. 1, 2, 3 and 4, in this embodiment, the two-degree-of-freedom revolute pair 18 is a hooke hinge, as shown in fig. 4, the hooke hinge includes a hooke hinge transverse shaft 16 and a hooke hinge close frame ring 17, the hooke hinge transverse shaft 16 is connected with the hooke hinge close frame ring 17 through a revolute pair, and the hooke hinge close frame ring 17 is rotationally connected with the fixed frame 1.
The telescopic branched chain comprises a screw rod 11, a nut 12, a motor 15, a driving belt wheel 13, a driven belt wheel 13' and a transmission belt 14; the motor 15 is fixedly connected with the hook hinge transverse shaft 16, the nut 12 and the lead screw 11 form a screw pair, the nut 12 is connected with the hook hinge transverse shaft 16 through a revolute pair, the driving belt wheel 13 is fixed on an output shaft of the motor 15, the driven belt wheel 13 'is coaxially and fixedly connected with the nut 12, and the transmission belt 14 is connected with the driving belt wheel 13 and the driven belt wheel 13'; as shown in fig. 3, the hooke joint 10 on the branched chain is connected between the upper end of the lead screw 11 and the guide rod 9. The motor 15 is driven, and the motor 15 sequentially transmits power to the driving belt wheel 13, the transmission belt 14, the driven belt wheel 13' and the nut 12. In the present invention, the belt transmission mechanisms in the telescopic branched chain, i.e. the driving pulley 13, the driven pulley 13' and the transmission belt 14, can be replaced by a bevel gear pair 19, as shown in fig. 5, the driving pulley of the bevel gear pair 19 is fixed on the output shaft of the motor 15, and the driven pulley of the bevel gear pair 19 is fixed with the nut 12; the motor 15 is driven, and the motor 15 sequentially transmits power to a driving wheel of the bevel gear pair 19, a driven wheel of the bevel gear pair 19 and the nut 12.
In the invention, the position of the nut 12 on the screw rod 11 can be adjusted by controlling the steering of the motor 15, so that the telescopic branched chains can realize telescopic operation, and when the three telescopic branched chains 3, 4 and 5 realize telescopic motion, the guide rod 9 can be driven to move along the axis direction of the guide rod, and the guide rod 9 can also be driven to swing in two-dimensional direction, so that the friction stir welding spindle 2 is driven to move, and the friction stir welding spindle 2 can realize actions required by the process.
The invention adopts a parallel mechanism to realize two free swinging and translation of the stirring friction welding main shaft 2, the telescopic branched chains 3, 4 and 5 are only loaded by tension and compression, the structure is simple and compact, and the bearing capacity of the mechanism is increased.
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 (7)
1. A high-rigidity three-degree-of-freedom parallel machine head for friction stir welding comprises a friction stir welding main shaft (2) and a fixing frame (1),
an intermediate branched chain (6) is connected between the fixed frame (1) and the friction stir welding spindle (2);
the middle branched chain (6) comprises a guide rod (9), a middle hooke hinge and a sliding block (8), one end of the guide rod (9) is fixedly connected with the friction stir welding spindle (2), the sliding block (8) is fixed with the guide rod (9), the sliding block (8) and an inner ring (7) of the middle hooke hinge form sliding pair connection, and an outer ring (20) of the middle hooke hinge is connected with the fixed frame (1); three telescopic branched chains with the same structure are connected between the other end of the guide rod (9) and the fixed frame (1);
one end of each telescopic branched chain is connected with the guide rod (9) through a hooke hinge (10) on the branched chain, and the other end of each telescopic branched chain is connected with the fixed frame (1) through a two-degree-of-freedom revolute pair (18);
when the three telescopic branched chains move, the friction stir welding main shaft (2) swings in two-dimensional directions while moving along the axial direction.
2. The high-rigidity three-degree-of-freedom parallel machine head for friction stir welding according to claim 1, wherein a through hole for installing a middle hooke hinge is formed in the middle of the fixing frame (1), and an outer ring of the middle hooke hinge is connected with the fixing frame through a revolute pair.
3. The high-rigidity three-degree-of-freedom parallel handpiece for friction stir welding according to claim 1, characterized in that the two-degree-of-freedom revolute pair (18) between the other end of the telescopic branched chain and the fixed frame (1) is a hooke hinge or a ball pin pair.
4. The high-rigidity three-degree-of-freedom parallel machine head for friction stir welding according to claim 3, wherein a two-degree-of-freedom revolute pair (18) between the other end of the telescopic branched chain and the fixed frame (1) is a hooke hinge, the hooke hinge comprises a hooke hinge transverse shaft (16) and a hooke hinge close frame ring (17), the hooke hinge transverse shaft (16) and the hooke hinge close frame ring (17) are connected through a revolute pair, and the hooke hinge close frame ring (17) and the fixed frame (1) are in rotational connection.
5. The high-rigidity three-degree-of-freedom parallel machine head for friction stir welding according to claim 4, wherein the telescopic branched chain comprises a lead screw (11), a nut (12), a motor (15), a driving pulley (13), a driven pulley (13') and a transmission belt (14); the motor (15) is fixedly connected with the hook hinge transverse shaft (16), the nut (12) and the lead screw (11) form a screw pair, the nut (12) is connected with the hook hinge transverse shaft (16) through a revolute pair, the driving belt wheel (13) is fixed on an output shaft of the motor (15), the driven belt wheel (1 ') is fixedly connected with the nut (12) in a coaxial mode, and the driving belt wheel (13) and the driven belt wheel (13') are connected through the transmission belt (14); driving the motor (15) and adjusting the position of the nut (12) on the lead screw (11) by controlling the steering of the motor (15), so that the movement of the friction stir welding spindle (2) has one of the following three conditions:
1) moving along the axial direction;
2) realizing the swing in two-dimensional direction;
3) the two-dimensional swing is performed while moving in the axial direction.
6. The high-rigidity three-degree-of-freedom parallel machine head for friction stir welding according to claim 4, wherein the telescopic branched chain comprises a motor (15), a lead screw (11), a nut (12) and a bevel gear pair (19); the motor (15) is fixedly connected with the hook hinge transverse shaft (16), the screw rod (11) and the nut (12) form a screw pair, the nut (12) is connected with the hook hinge transverse shaft (16) through a rotating pair, a driving wheel of the conical gear pair (19) is fixed on an output shaft of the motor (15), and a driven wheel of the conical gear pair (19) is fixed with the nut (12); driving the motor (15) and adjusting the position of the nut (12) on the lead screw (11) by controlling the steering of the motor (15), so that the movement of the friction stir welding spindle (2) has one of the following three conditions:
1) moving along the axial direction;
2) realizing the swing in two-dimensional direction;
3) the two-dimensional swing is performed while moving in the axial direction.
7. The high-rigidity three-degree-of-freedom parallel machine head for friction stir welding according to claim 5 or 6, characterized in that the hooke joint (10) on the branched chain is connected between the upper end of the lead screw (11) and the guide rod (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010169843.XA CN111347151A (en) | 2020-03-12 | 2020-03-12 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010169843.XA CN111347151A (en) | 2020-03-12 | 2020-03-12 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
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| Publication Number | Publication Date |
|---|---|
| CN111347151A true CN111347151A (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010169843.XA Pending CN111347151A (en) | 2020-03-12 | 2020-03-12 | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding |
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| CN (1) | CN111347151A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112719949A (en) * | 2020-12-24 | 2021-04-30 | 枣庄北航机床创新研究院有限公司 | Posture adjusting swing table for blade machining and mounting method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009521331A (en) * | 2005-12-26 | 2009-06-04 | リサーチ インスティチュート オブ インダストリアル サイエンス アンド テクノロジー | Friction stir spot welding equipment |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN108817652A (en) * | 2018-09-17 | 2018-11-16 | 安徽理工大学 | A kind of four-degree-of-freedom parallel connection friction stir welding machine device people |
| CN109940263A (en) * | 2019-04-30 | 2019-06-28 | 天津大学 | A kind of Three Degree Of Freedom Friction Stir Welding parallel connection head |
| CN110253539A (en) * | 2019-06-06 | 2019-09-20 | 同济大学 | A kind of complete cycle 3-freedom parallel mechanism |
| CN209598415U (en) * | 2019-02-18 | 2019-11-08 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
-
2020
- 2020-03-12 CN CN202010169843.XA patent/CN111347151A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009521331A (en) * | 2005-12-26 | 2009-06-04 | リサーチ インスティチュート オブ インダストリアル サイエンス アンド テクノロジー | Friction stir spot welding equipment |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN108817652A (en) * | 2018-09-17 | 2018-11-16 | 安徽理工大学 | A kind of four-degree-of-freedom parallel connection friction stir welding machine device people |
| CN209598415U (en) * | 2019-02-18 | 2019-11-08 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN109940263A (en) * | 2019-04-30 | 2019-06-28 | 天津大学 | A kind of Three Degree Of Freedom Friction Stir Welding parallel connection head |
| CN110253539A (en) * | 2019-06-06 | 2019-09-20 | 同济大学 | A kind of complete cycle 3-freedom parallel mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112719949A (en) * | 2020-12-24 | 2021-04-30 | 枣庄北航机床创新研究院有限公司 | Posture adjusting swing table for blade machining and mounting method |
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Application publication date: 20200630 |