CN115007997A - Inside degree of depth friction stir welding system of thick sheet material - Google Patents
Inside degree of depth friction stir welding system of thick sheet material Download PDFInfo
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- CN115007997A CN115007997A CN202210642603.6A CN202210642603A CN115007997A CN 115007997 A CN115007997 A CN 115007997A CN 202210642603 A CN202210642603 A CN 202210642603A CN 115007997 A CN115007997 A CN 115007997A
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- 238000003466 welding Methods 0.000 title claims abstract description 125
- 238000003756 stirring Methods 0.000 title claims abstract description 92
- 239000000463 material Substances 0.000 title claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 5
- 230000002441 reversible effect Effects 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 134
- 238000003825 pressing Methods 0.000 claims description 45
- 238000009434 installation Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
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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
- B23K20/12—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
- B23K20/126—Workpiece support, i.e. backing or clamping
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Abstract
The invention discloses a deep friction stir welding system in thick plate materials, which comprises: a welding robot; the working platform is positioned below the welding robot and used for bearing a workpiece to be welded; the stirring head is integrated on the welding robot and is controlled by the welding robot to generate welding action; the stirring head comprises a shaft shoulder and a stirring pin, wherein the stirring pin is in a circular truncated cone shape; the stirring pin is coaxially fixed with the shaft shoulder in the axial direction, and the joint of the stirring pin and the shaft shoulder is in arc transition; the surface of the stirring pin is provided with reverse taper threads, so that the stirring pin can be more easily inserted into the two welded workpieces to be welded; the bottom surface of the shaft shoulder is provided with the annular step, so that the resistance between the shaft shoulder and a product is reduced, and the material stirred by the stirring pin can be more effectively backfilled due to the specific angle between the annular step and the bottom surface, so that the problems of air leakage at a welding seam, uneven welding and the like are solved.
Description
Technical Field
The invention relates to the field of friction stir welding, in particular to a deep friction stir welding system in a thick plate material.
Background
In the rapid development progress of the light weight of the new energy automobile body, the production and processing technology of aviation and aerospace is gradually introduced in the production of the new energy automobile, wherein the friction stir welding is an important welding production and processing technology. The friction stir welding is characterized in that the friction stir welding is inserted into the butt joint of two products to be welded through a stirring head, the two products are melted and fused together through rotation, so that the welding effect is achieved, the welding is carried out outwards in the two parts, the air tightness is excellent, the rigidity is good, and therefore the friction stir welding is used for the water cooling channels of the new energy automobile battery tray, the electric control box body and the motor.
The friction stir welding heat source mainly depends on the friction between the shaft shoulder and the surface of a workpiece to be welded to generate heat and the friction between the surface of the stirring pin and the weld metal to generate heat, wherein the friction between the shaft shoulder and the surface of the workpiece to be welded to generate heat accounts for the main proportion. For thick materials welded in the deep interior, the heat input on the upper surface of the welding seam is too large easily due to the uneven axial heat distribution of the welding seam. The welding process avoids uneven axial heat distribution of the welding seam by controlling the axial pressure. Welding process control typically employs both displacement control and pressure control to maintain constant axial pressure. And when the displacement control is adopted, the pressing amount of the shaft shoulder on the metal on the surface of the welding seam is kept at a constant value in the welding process.
At present, when a spindle of a main unit of a domestic thick-plate material friction stir welding machine is stirred, the pressing-in action of a shaft shoulder is realized as a hydraulic system controlled by an encoder, heavy-load constant displacement control cannot be realized, the feedback of a control signal is delayed, the compensation error is large, and the precision and the quality of the product in the stirring welding are influenced. At present, welding equipment in the market mainly adopts a three-degree-of-freedom gantry type and a friction stir welding system integrated on a serial mechanical arm, and gantry type welding equipment is difficult to weld complex welding seams; when a friction stir welding system integrated on a serial mechanical arm is used for welding thick plates, the situation of insufficient rigidity can occur due to excessive resistance. In addition, a common stirring head is used for welding thick plates with the welding depth exceeding 8mm on the upper surface and the lower surface, and the welding limitation is large.
Therefore, how to solve the constant displacement control problem of deep friction stir welding inside thick plate materials, the welding equipment and the stirring head problem becomes a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
a deep friction stir welding system for the interior of thick sheet materials comprises:
a welding robot;
the working platform is positioned below the welding robot and used for bearing a workpiece to be welded;
the stirring head is integrated on the welding robot and is controlled by the welding robot to generate welding action;
the stirring head comprises a shaft shoulder and a stirring pin, wherein the stirring pin is in a circular truncated cone shape; the stirring pin is coaxially fixed with the shaft shoulder in the axial direction, and the joint of the stirring pin and the shaft shoulder is in arc transition;
the surface of the stirring pin is provided with reverse taper threads; the bottom surface of the shaft shoulder is provided with a plurality of annular steps, and an inclined angle is formed between each annular step and the bottom surface.
Further, the taper a of the stirring pin is 25-35 degrees.
Further, the taper a of the stirring pin is 25 °, 27 °, 29 °, 31 °, 33 ° or 35 °.
Further, the work platform comprises a work table;
the worktable surface comprises a supporting platform, a positioning mechanism and a clamping mechanism which are arranged above the supporting platform;
the clamping mechanism comprises an installation block, a clamping plate and a clamping adjusting mechanism, the installation block is installed at the upper end of the edge of the supporting table, the clamping plate is arranged above the installation block and can move in the Z-axis direction relative to the installation block, and the clamping adjusting mechanism is arranged above the clamping plate.
Furthermore, an external thread cylinder is sleeved on the outer side of the shaft shoulder, and an external thread is arranged on the outer side of the external thread cylinder, wherein the external thread cylinder is configured to rotate relative to the shaft shoulder and cannot move axially relative to the shaft shoulder; an internal thread cylinder is arranged on the outer side of the external thread cylinder, an internal thread is arranged on the inner side of the internal thread cylinder, and the internal thread is matched with the external thread;
the clamping plate extends to the lower part of the internal thread cylinder and is positioned between the welding workpiece and the internal thread cylinder; the height difference L between the lower end surface of the internal thread cylinder and the lower end surface of the shaft shoulder is equal to the sum of the thickness of the clamping plate and the pressing amount required by the shaft shoulder in the friction stir welding process.
Further, the welding robot includes a press-down control mechanism;
the pressing control mechanism comprises an active mechanism and a passive mechanism, the upper end of the active mechanism is connected with a hydraulic system, the lower end of the passive mechanism is connected with a mounting table, and the active mechanism is in contact with the passive mechanism;
when the pressing amount of the shaft shoulder does not meet the set value, the driving mechanism drives the driven mechanism to move, and when the pressing amount of the shaft shoulder meets the set value, the driving mechanism moves relative to the driven mechanism.
Further, the active mechanism includes:
the upper end of the movable rod is connected with the hydraulic system and is of a plate-shaped structure;
the limiting component is fixedly arranged on the side wall of the movable rod, and a plurality of vertically and uniformly configured grooves are formed in the end surface of one side far away from the movable rod;
the elastic device is fixedly arranged in the groove;
the meshing teeth are slidably arranged in the grooves, one end of each meshing tooth is connected with the elastic device, the other end of each meshing tooth is in contact with a meshing tooth groove of the driven mechanism, and one end, far away from the elastic device, of each meshing tooth is a triangular tooth;
the passive mechanism includes:
the lower end of the toothed plate is connected with the mounting table and is of a plate-shaped structure;
and the meshing tooth grooves are formed in the side walls, opposite to the movable rod, of the toothed plate, and the shapes of the meshing tooth grooves are matched with the triangular teeth.
Furthermore, the welding robot also comprises a machine body, a control box and an installation platform, wherein the control box is installed above the machine body, and a servo motor for controlling the installation platform to rotate on a shaft or a shaft and a hydraulic system for controlling the installation platform to move in the Z-axis direction are arranged in the control box; the mounting table is mounted below the machine body and connected with the servo motor and the hydraulic system;
the working platform further comprises a base, an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism is installed at the upper end of the base, the Y-axis moving mechanism is installed at the upper end of the X-axis moving mechanism, the working table is installed at the upper end of the Y-axis moving mechanism, and the welding workpiece is arranged at the upper end of the working table.
Furthermore, a driving motor for driving the stirring head to rotate at a high speed is further arranged below the mounting table.
Furthermore, the machine body is provided with a controller for controlling the servo motor, the hydraulic system and the driving motor.
Furthermore, the X-axis moving mechanism and the Y-axis moving mechanism both adopt ball screw mechanisms controlled by servo motors.
Furthermore, the positioning mechanism is installed at one corner of the supporting table, and the welding workpiece is placed on the supporting table and then is in contact with the positioning mechanism.
Further, the positioning mechanism is L-shaped.
Furthermore, threaded holes are formed in the positioning mechanism and the supporting platform, and the positioning mechanism and the supporting platform are detachably connected through threaded fasteners.
After the technical scheme is adopted, compared with the prior art, the invention has the following advantages:
the surface of the stirring pin is provided with reverse taper threads, so that the stirring pin can be more easily inserted into the two welded workpieces to be welded; the bottom surface of the shaft shoulder is provided with the annular step, so that the resistance between the shaft shoulder and a product is reduced, and the material stirred by the stirring pin can be more effectively backfilled due to the specific angle between the annular step and the bottom surface, so that the problems of air leakage at a welding seam, uneven welding and the like are solved. The strength of the stirring pin is increased by adjusting the taper angle of the stirring pin, so that the welding depth of the stirring pin is more than 8 mm; the structure of the stirring head is changed to ensure that the problem of deep welding depth in two parts with complex shapes can be met.
The working platform can realize the more complex welding seam welding of friction stir welding through the matching of the X-axis moving mechanism and the Y-axis moving mechanism; meanwhile, the welding robot and the working platform are arranged in a matched mode, the welding robot can complete working tasks through a plurality of necessary degrees of freedom, compared with a mechanical arm in the prior art, few parts of a few-degree-of-freedom mechanism are few, a control program is simple and convenient, the manufacturing cost is low, the working space of the working platform is large, the control is simple, the welding robot and the working platform are matched with each other, welding of welding seams with complex shapes can be achieved, the rigidity is high, the bearing capacity is high, and the deep friction stir welding device is more suitable for deep friction welding inside thick plate materials.
In the process that the stirring head is inserted into a welding seam of a welding workpiece, when the lower end face of the internal thread cylinder butts against the upper end face of the clamping plate, the pressing amount of the shaft shoulder meets a set value, and overlarge pressing amount of the shaft shoulder caused by feedback delay of a control signal is avoided, so that the stirring welding precision and quality are improved. The value of the height difference L between the lower end face of the internal thread cylinder and the lower end face of the shaft shoulder is adjusted by rotating the internal thread cylinder, so that the requirements of different working conditions on different N values are met.
The automatic stop pressing adjustment function of the pressing control mechanism is realized, when the pressing range is exceeded, the automatic stop pressing adjustment function of the pressing control mechanism not only ensures that the pressing control mechanism is not easy to damage, but also can avoid overlarge shaft shoulder pressing amount caused by control signal feedback lag, and simultaneously, avoids that the clamping plate is excessively extruded by the internal thread cylinder and the workpiece is excessively extruded and welded by the clamping plate due to the huge pressing force of a hydraulic system, and further improves the stirring and welding precision and quality.
The pressing control mechanism is provided with the driving mechanism and the driven mechanism in a matching mode, so that the automatic stopping and pressing adjusting function of the pressing control mechanism is realized, the hydraulic system is controlled to stop pressing only by relying on a sensor measuring signal, and the overlarge pressing amount of the shaft shoulder caused by the feedback lag of the control signal is avoided.
Drawings
FIG. 1 is a system overview;
FIG. 2 is a front view of the system as a whole;
FIG. 3 is a work platform diagram;
FIG. 4 is a table top view;
FIG. 5 is a partial view of the stirring head;
FIG. 6 is a partial front view of the stirring head;
FIG. 7 is a schematic view of the operation state of the stirring head;
fig. 8 is a press-down control mechanism diagram.
Detailed Description
The following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides an inside degree of depth friction stir welding system of thick sheet material, including welding robot 1, work platform 2 and stirring head 3, work platform 2 is located welding robot 1 below for bear treat welding workpiece 4. The stirring head 3 is integrated on the welding robot 1 and is controlled by the welding robot 1 to rotate in the X-axis or the Y-axis to adjust the process inclination angle of friction stir welding, and to move in the Z-axis direction to insert and extract the stirring head 3 into and from the welding workpiece 4.
In this embodiment, the welding robot 1 includes a machine body 10, a control box 11 and an installation table 12, the control box 11 is installed above the machine body 10, and a servo motor for controlling the installation table 12 to rotate on an X axis or a Y axis and a hydraulic system for controlling the installation table 12 to move in a Z axis direction are arranged in the control box 11; the mounting table 12 is mounted below the machine body 10 and connected with the servo motor and the hydraulic system, and a driving motor for driving the stirring head 3 to rotate at a high speed is further mounted below the mounting table 12; the body 10 is provided with a controller for controlling the servo motor, the hydraulic system, and the driving motor.
In this embodiment, the working platform 2 includes a base 20, an X-axis moving mechanism 21, a Y-axis moving mechanism 22 and a working table 23, wherein the X-axis moving mechanism 21 is installed at the upper end of the base 20 and used for driving the Y-axis moving mechanism 22 and the working table 23 to move in the X-axis direction; the Y-axis moving mechanism 22 is arranged at the upper end of the X-axis moving mechanism 21 and used for driving the worktable 23 to move in the Y-axis direction; the work table 23 is installed on the upper end of the Y-axis moving mechanism 22, and the welding workpiece 4 is arranged on the upper end of the work table 23.
Specifically, the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 both use ball screw mechanisms controlled by servo motors, and as another embodiment, the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 may use other linear motion mechanisms in the prior art. When the welding machine works, one of the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 works (in a first mode), and welding of welding seams in the X-axis direction or the Y-axis direction is achieved; or, the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 both work (mode two), so as to weld the weld seam in the direction of the inclination angle; or the first mode and the second mode are switched to realize the welding of the welding seam with the complex shape. According to the invention, through the working platform 2, more complex welding seam welding of friction stir welding can be realized; simultaneously, welding robot 1 and work platform 2 cooperation setting, welding robot 1 accomplishes the work task through several necessary degrees of freedom, compare in prior art mechanical arm, few degree of freedom mechanism spare part is few, control procedure is simple and convenient, low in manufacturing cost, work platform 2 working space is big, control is simple, welding robot 1 and work platform 2 mutually support, can realize the welding of complicated shape welding seam, can guarantee again that rigidity is big and bearing capacity is strong, be fit for the inside degree of depth friction stir welding of thick plate material more.
In this embodiment, the worktable 23 includes a supporting platform 230, and a positioning mechanism 231 and a clamping mechanism 232 which are disposed above the supporting platform 230, the positioning mechanism 231 is installed at a corner of the supporting platform 230, and the welding workpiece 4 is placed on the supporting platform 230 and then contacts the positioning mechanism 231, so as to position the welding workpiece 4 at a correct position.
Specifically, the positioning mechanism 231 is L-shaped and is used for positioning the rectangular workpiece. As other embodiments, the positioning mechanism 231 may be in other forms, matching according to the shape of the welding workpiece 4.
Preferably, threaded holes are formed in the positioning mechanism 231 and the supporting table 230, and the positioning mechanism 231 and the supporting table are detachably connected through threaded fasteners, so that different positioning mechanisms 231 can be conveniently replaced to match different welding workpieces 4.
The clamping mechanism 232 is installed at one side or a plurality of sides of the supporting platform 230, and comprises an installation block 233, a clamping plate 234 and a clamping adjustment mechanism 235, the installation block 233 is installed at the upper end of the side of the supporting platform 230, the clamping plate 234 is arranged above the installation block 233 and can move in the Z-axis direction relative to the installation block 233, and the clamping adjustment mechanism 235 is arranged above the clamping plate 234 and is used for adjusting the movement of the clamping plate 234. Through clamping mechanism 232, can realize the clamp of welding workpiece 4 to different thickness, guarantee welding workpiece 4's stability.
In this embodiment, the stirring head 3 includes a shaft shoulder 31 and a stirring pin 32, wherein the stirring pin 32 is in a circular truncated cone shape; the stirring pin 32 is coaxially fixed with the shaft shoulder 31 upwards, and the joint of the stirring pin 32 and the shaft shoulder 31 is in circular arc transition; the surface of the stirring pin 32 is provided with reverse taper threads 33, so that the stirring pin 32 is more easily inserted into the two welded workpieces 4; the bottom surface of the shaft shoulder 31 is provided with a plurality of annular steps 34, the bottom surface of the shaft shoulder 31 is processed to reduce the resistance between the shaft shoulder and a product, and the material stirred by the stirring needle 32 can be more effectively backfilled due to a specific angle between the annular steps and the bottom surface, so that the problems of air leakage at a welding seam, uneven welding and the like are solved.
In the embodiment, the taper a of the stirring pin 32 is 25-35 degrees, and the strength of the stirring pin is increased by adjusting the taper angle of the stirring pin, so that the welding depth is more than 8 mm. Specifically, a may be 25 °, 27 °, 29 °, 31 °, 33 °, or 35 °.
In this embodiment, an external thread cylinder 35 is sleeved outside the shoulder 31, and an external thread 351 is disposed outside the external thread cylinder 35, wherein the external thread cylinder 35 is configured to be rotatable relative to the shoulder 31 but not axially movable relative to the shoulder 31; the external side of the external thread cylinder 35 is provided with an internal thread cylinder 36, the internal side of the internal thread cylinder 36 is provided with an internal thread 361, and the internal thread 361 is matched with the external thread 351 so as to be moved in the axial direction relative to the shoulder 31 by rotating the internal thread cylinder 36. Wherein the clamping plate 234 extends to below the internally threaded cylinder 36 and is located between the welding workpiece 4 and the internally threaded cylinder 36.
Specifically, the height difference L between the lower end surface of the internally threaded cylinder 36 and the lower end surface of the shoulder 31 is equal to the sum of the thickness M of the clamping plate 234 and the pressing amount N required for the shoulder 31 during the friction stir welding. In the process that the stirring head 3 is inserted into the welding seam of the welding workpiece 4, when the lower end surface of the internal thread cylinder 36 abuts against the upper end surface of the clamping plate 234, the pressing amount of the shaft shoulder 31 at the moment meets a set value, and the excessive pressing amount of the shaft shoulder 31 caused by the feedback lag of the control signal is avoided, so that the stirring welding precision and quality are improved. The height difference L between the lower end face of the internal thread cylinder 36 and the lower end face of the shaft shoulder 31 is adjusted by rotating the internal thread cylinder 36, so that the requirements of different working conditions on different N values are met.
In this embodiment, a pressing control mechanism 5 is arranged in the control box 11, the pressing control mechanism 5 includes an active mechanism 51 and a passive mechanism 52, the upper end of the active mechanism 51 is connected with the hydraulic system, the lower end of the passive mechanism 52 is connected with the mounting table 12, and the active mechanism 51 is in contact with the passive mechanism 52;
in the first situation, the driving mechanism 51 drives the driven mechanism 52 to move, and in the second situation, the driving mechanism 51 moves relative to the driven mechanism 52. Through the setting, the friction stir welding begins in the process that the stirring head 3 is inserted into the welding seam, the hydraulic system drives the driving mechanism 51 to press down, under the first condition, the driving mechanism 51 drives the driven mechanism 52 to move together, and the driven mechanism 52 drives the mounting table 12 to press down, so that the stirring needle 32 is inserted into the welding seam, and the shaft shoulder 31 presses down the welding workpiece 4. In the second situation, when the pressing amount of the shaft shoulder 31 satisfies the set value, that is, when the lower end surface of the internal thread cylinder 36 abuts against the upper end surface of the clamping plate 234, the driving mechanism 51 cannot drive the driven mechanism 52 to move downward together, and the pressing control mechanism 5 automatically stops the pressing motion, that is, although the driving mechanism 51 continues to perform the pressing motion, the pressing motion of the driven mechanism 52 does not continue to occur, so as to achieve the automatic stopping and pressing adjustment function of the pressing control mechanism 5, therefore, when the pressing range is exceeded, the automatic stopping and pressing function of the pressing control mechanism 5 not only makes the pressing control mechanism 5 not be damaged easily, but also avoids the excessive pressing amount of the shaft shoulder 31 caused by the feedback lag of the control signal, and simultaneously, avoids the excessive pressing of the clamping plate 234 and the clamping plate 234 by the internal thread cylinder 36 to excessively press the workpiece 4 due to the large pressing force of the hydraulic system, further improving the precision and quality of the stirring welding.
In this embodiment, the driving mechanism 51 includes a moving rod 511, an elastic device 512, a meshing tooth 513 and a limiting member 514, the upper end of the moving rod 511 is connected to a hydraulic system and has a plate-shaped structure with a certain thickness, and the elastic device 512 is fixedly mounted on the moving rod 511; specifically, the elastic device 512 is fixedly installed inside the position-limiting member 514, the elastic device 512 is fixed in a manner that the elastic device 512 is placed in a groove 515 of the position-limiting member 514, and the elastic device 512 can be a spring;
the engaging teeth 513 are in contact with the elastic device 512 and the driven mechanism 62, and the engaging teeth 513 are components for realizing the coupling between the driving mechanism 51 and the driven mechanism 52; specifically, the engaging tooth 513 is movably disposed in the groove 515, one end of the engaging tooth 513 is connected to the elastic device 512, and the other end of the engaging tooth is in contact with an engaging tooth slot 521 of the driven mechanism 62;
the limiting member 514 is fixedly arranged on the side wall of the moving rod 511, the limiting member 514 can fixedly engage with the teeth 513 in the vertical direction, the plurality of grooves 515 are vertically arranged and are formed in the side wall of the limiting member 514, and the teeth 513 cannot move in the vertical direction relative to the limiting member 514;
the passive mechanism 52 comprises a toothed plate 522 and a meshing toothed slot 521, the lower end of the toothed plate 522 is connected with the mounting table 12, the toothed plate 522 is of a plate-shaped structure with a certain thickness, one side opposite to the moving rod 511 is of a meshing structure, the meshing toothed slot 521 is arranged on the side wall of the toothed plate 522, one end, away from the elastic device 512, of the meshing tooth 513 is a triangular tooth, and the shape of the meshing tooth is matched with that of the meshing toothed slot 521.
Through the arrangement, in the first situation, the meshing teeth 513 are in an extending state under the action of the elastic device 512, the meshing teeth 513 are always tightly attached to the meshing tooth grooves 521, and the movable rod 511 can drive the toothed plates 522 to press down together; in the second situation, the meshing teeth 513 and the meshing tooth grooves 521 are mutually pressed, the pressing force of the meshing teeth 513 and the meshing tooth grooves 521 is greater than the elastic force of the elastic device 512, the meshing teeth 513 press the elastic device 512 to contract and elastically deform, the meshing teeth 513 continuously enter the adjacent meshing tooth groove 521 from one meshing tooth groove 521, the movable rod 511 cannot drive the tooth plates 522 to press down together, the automatic stopping and pressing-down adjusting function of the pressing-down control mechanism 5 is realized, the pressing-down of the hydraulic system is controlled by only depending on the measurement signal of the sensor, and the excessive pressing-down amount of the shaft shoulder 31 caused by the feedback delay of the control signal is avoided.
The foregoing is illustrative of the best mode of the invention and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The scope of the present invention is defined by the appended claims, and any equivalent modifications based on the technical teaching of the present invention are also within the scope of the present invention.
Claims (10)
1. A deep friction stir welding system for the interior of thick sheet materials comprises:
a welding robot;
the working platform is positioned below the welding robot and used for bearing a workpiece to be welded;
the stirring head is integrated on the welding robot and is controlled by the welding robot to generate welding action;
the stirring head comprises a shaft shoulder and a stirring pin, wherein the stirring pin is in a circular truncated cone shape; the stirring pin is coaxially fixed with the shaft shoulder in the axial direction, and the joint of the stirring pin and the shaft shoulder is in arc transition;
the method is characterized in that: the surface of the stirring pin is provided with reverse taper threads; the bottom surface of the shaft shoulder is provided with a plurality of annular steps, and an inclined angle is formed between each annular step and the bottom surface.
2. The system of claim 1, wherein: the taper a of the stirring pin is 25-35 degrees.
3. The system of claim 1, wherein: the working platform comprises a working table surface;
the worktable surface comprises a supporting platform, a positioning mechanism and a clamping mechanism which are arranged above the supporting platform;
the clamping mechanism comprises an installation block, a clamping plate and a clamping adjusting mechanism, the installation block is installed at the upper end of the edge of the supporting table, the clamping plate is arranged above the installation block and can move in the Z-axis direction relative to the installation block, and the clamping adjusting mechanism is arranged above the clamping plate.
4. The system of claim 3, wherein: the outer side of the shaft shoulder is sleeved with an external thread cylinder, and an external thread is arranged on the outer side of the external thread cylinder, wherein the external thread cylinder can rotate relative to the shaft shoulder and cannot move axially relative to the shaft shoulder; an internal thread cylinder is arranged on the outer side of the external thread cylinder, an internal thread is arranged on the inner side of the internal thread cylinder, and the internal thread is matched with the external thread;
the clamping plate extends to the lower part of the internal thread cylinder and is positioned between the welding workpiece and the internal thread cylinder; the height difference L between the lower end surface of the internal thread cylinder and the lower end surface of the shaft shoulder is equal to the sum of the thickness of the clamping plate and the pressing amount required by the shaft shoulder in the friction stir welding process.
5. The system of claim 4, wherein: the welding robot comprises a pressing control mechanism;
the pressing control mechanism comprises an active mechanism and a passive mechanism, the upper end of the active mechanism is connected with a hydraulic system, the lower end of the passive mechanism is connected with a mounting table, and the active mechanism is in contact with the passive mechanism;
when the pressing amount of the shaft shoulder does not meet the set value, the driving mechanism drives the driven mechanism to move, and when the pressing amount of the shaft shoulder meets the set value, the driving mechanism moves relative to the driven mechanism.
6. The system of claim 3, wherein: the welding robot also comprises a machine body, a control box and an installation platform, wherein the control box is installed above the machine body, and a servo motor for controlling the installation platform to rotate on a shaft or a shaft and a hydraulic system for controlling the installation platform to move in the Z-axis direction are arranged in the control box; the mounting table is mounted below the machine body and connected with the servo motor and the hydraulic system;
the working platform further comprises a base, an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism is installed at the upper end of the base, the Y-axis moving mechanism is installed at the upper end of the X-axis moving mechanism, the working table is installed at the upper end of the Y-axis moving mechanism, and the welding workpiece is arranged at the upper end of the working table.
7. The system of claim 6, wherein: and a driving motor for driving the stirring head to rotate at a high speed is also arranged below the mounting table.
8. The system of claim 7, wherein: the machine body is provided with a controller for controlling the servo motor, the hydraulic system and the driving motor.
9. The system of claim 3, wherein: the positioning mechanism is installed at one corner of the supporting table, and the welding workpiece is placed behind the supporting table and is in contact with the positioning mechanism.
10. The system of claim 9, wherein: threaded holes are formed in the positioning mechanism and the supporting platform, and the positioning mechanism and the supporting platform are detachably connected through threaded fasteners.
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| CN202210642603.6A CN115007997A (en) | 2022-06-08 | 2022-06-08 | Inside degree of depth friction stir welding system of thick sheet material |
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| CN202210642603.6A CN115007997A (en) | 2022-06-08 | 2022-06-08 | Inside degree of depth friction stir welding system of thick sheet material |
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