CN115007997B - Friction stir welding system for deep inside thick plate material - Google Patents
Friction stir welding system for deep inside thick plate material Download PDFInfo
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- CN115007997B CN115007997B CN202210642603.6A CN202210642603A CN115007997B CN 115007997 B CN115007997 B CN 115007997B CN 202210642603 A CN202210642603 A CN 202210642603A CN 115007997 B CN115007997 B CN 115007997B
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- 238000003466 welding Methods 0.000 title claims abstract description 122
- 238000003756 stirring Methods 0.000 title claims abstract description 90
- 239000000463 material Substances 0.000 title claims abstract description 16
- 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 138
- 238000003825 pressing Methods 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 9
- 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 3
- 230000020169 heat generation Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000002184 metal Substances 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
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B23K20/12—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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- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a deep friction stir welding system for thick plate materials, which comprises the following components: 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 controlled by the welding robot to generate welding actions; the stirring head comprises a shaft shoulder and a stirring pin, wherein the stirring pin is in a 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 is easier to insert into the two welded workpieces; the annular step is arranged on the bottom surface of the shaft shoulder, so that the resistance between the shaft shoulder and a product is reduced, and the material stirred by the stirring pin can be backfilled more effectively due to the specific angle between the annular step and the bottom surface, so that the problems of air leakage at the 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 for thick plate materials.
Background
In the rapid development progress of the light weight of new energy automobiles, the production of new energy automobiles is gradually introduced into the production and processing technology of aviation and aerospace, wherein friction stir welding is an important welding production and processing technology. The friction stir welding is inserted into the butt joint of two products to be welded through the stirring head, and the two products are melted and mutually fused together through rotation, so that the welding effect is achieved, the welding is carried out on the inside of the two parts outwards, the air tightness is excellent, the rigidity is good, and therefore the new energy automobile battery tray, the electric control box body and the water cooling channel of the motor are all welded through friction stir welding.
The friction stir welding heat source mainly relies on friction heat generation between a shaft shoulder and the surface of a workpiece to be welded and friction heat generation between the surface of a stirring pin and weld metal, wherein the friction heat generation between the shaft shoulder and the surface of the workpiece to be welded accounts for a main proportion. For thick plate materials welded in deep inside, uneven axial heat distribution of the welding seam easily causes excessive heat input on the upper surface 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 methods to maintain the axial pressure constant. When displacement control is adopted, the pressing amount of metal on the surface of the welding seam of the shaft shoulder in the welding process is kept at a constant value.
At present, the pressing action of the shaft shoulder during stirring of the main shaft of the main unit of the friction stir welding machine for thick plate materials in China is realized by a hydraulic system controlled by an encoder, heavy load constant displacement control cannot be realized, feedback of control signals is delayed, compensation errors are large, and the stirring welding precision and quality of products are affected. The welding equipment on the market at present mainly takes a three-degree-of-freedom gantry type and integrates a friction stir welding system on a serial mechanical arm, and the gantry type welding equipment is difficult to weld when more complex welding seams are welded; when a thick plate is welded by a friction stir welding system integrated on a serial mechanical arm, insufficient rigidity can occur due to overlarge resistance. In addition, the common stirring head is used for welding the upper and lower surfaces of the thick plate material with the welding depth exceeding 8mm, and the welding limitation is large.
Therefore, how to solve the constant displacement control problem of the deep friction stir welding inside the thick plate material, the welding equipment problem and the stirring head problem becomes a technical problem to be solved in the field.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
A thick plate material internal depth friction stir welding system comprising:
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 controlled by the welding robot to generate welding actions;
the stirring head comprises a shaft shoulder and a stirring pin, wherein the stirring pin is in a 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 a reverse taper thread; the bottom surface of the shaft shoulder is provided with a plurality of annular steps, and an inclination angle is formed between the annular steps 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 degrees, 27 degrees, 29 degrees, 31 degrees, 33 degrees or 35 degrees.
Further, the working platform comprises a working table surface;
the working table surface comprises a supporting table, and a positioning mechanism and a clamping mechanism which are arranged above the supporting table;
the clamping mechanism comprises a mounting block, a clamping plate and a clamping adjusting mechanism, wherein the mounting block is arranged at the upper end of the edge of the supporting table, the clamping plate is arranged above the mounting block and can move in the Z-axis direction relative to the mounting block, and the clamping adjusting mechanism is arranged above the clamping plate.
Further, an external thread cylinder is sleeved on the outer side of the shaft shoulder, and external threads are 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 in the axial direction 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 comprises a pressure-down control mechanism;
The lower pressure control mechanism comprises a driving mechanism and a driven mechanism, the upper end of the driving mechanism is connected with the hydraulic system, the lower end of the driven mechanism is connected with the mounting table, and the driving mechanism is contacted with the driven mechanism;
When the downward pressure of the shaft shoulder is smaller than a set value, the driving mechanism drives the driven mechanism to move, and when the downward pressure of the shaft shoulder is smaller than 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 grooves which are vertically and uniformly arranged are formed in the end face 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 the meshing tooth slot of the driven mechanism, and one end of each meshing tooth, which is far away from the elastic device, 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;
The meshing tooth groove is arranged on the side wall of the toothed plate opposite to the moving rod, and the shape of the meshing tooth groove is matched with that of the triangular tooth.
Further, the welding robot further comprises a machine body, a control box and an installation table, wherein the control box is arranged above the machine body, and is internally provided with a servo motor for controlling the installation table to rotate on a shaft or the shaft and a hydraulic system for controlling the installation table to move in the Z-axis direction; the mounting table is arranged below the machine body and is 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, wherein the X-axis moving mechanism is arranged at the upper end of the base, the Y-axis moving mechanism is arranged at the upper end of the X-axis moving mechanism, the working table surface is arranged at the upper end of the Y-axis moving mechanism, and the welding workpiece is arranged at the upper end of the working table surface.
Further, a driving motor for driving the stirring head to rotate at a high speed is also arranged below the mounting table.
Further, the machine body is provided with a controller for controlling the servo motor, the hydraulic system and the driving motor.
Further, the X-axis moving mechanism and the Y-axis moving mechanism are both ball screw mechanisms controlled by servo motors.
Further, the positioning mechanism is arranged at one corner of the supporting table, and the welding workpiece is placed on the supporting table and then is contacted with the positioning mechanism.
Further, the positioning mechanism is L-shaped.
Further, threaded holes are formed in the positioning mechanism and the supporting table, and the positioning mechanism and the supporting table 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 is easier to insert into the two welded workpieces; the annular step is arranged on the bottom surface of the shaft shoulder, so that the resistance between the shaft shoulder and a product is reduced, and the material stirred by the stirring pin can be backfilled more effectively due to the specific angle between the annular step and the bottom surface, so that the problems of air leakage at the welding seam, uneven welding and the like are solved. The strength of the stirring pin is increased by adjusting the angle of the taper of the stirring pin, so that welding with the welding depth exceeding 8mm is achieved; the structure of the stirring head is changed, so that the problem of deeper welding depth inside two parts with complex appearance can be solved.
The working platform can realize more complex welding seam welding of friction stir welding by matching the X-axis moving mechanism and the Y-axis moving mechanism; simultaneously, welding robot and work platform cooperation setting, welding robot accomplish the work task through several necessary degrees of freedom, compare in prior art arm, few degree of freedom mechanism spare part is few, control procedure is simple and convenient, low in manufacturing cost, work platform working space is big, control is simple, welding robot and work platform mutually support, can realize the welding of complex shape welding seam, can guarantee that rigidity is big and bearing capacity is strong again, is fit for thick plate material inside degree of depth friction stir welding more.
In the process of inserting the stirring head into the welding seam of the welding workpiece, when the lower end face of the internal thread cylinder abuts against the upper end face of the clamping plate, the downward pressing quantity of the shaft shoulder at the moment meets a set value, and the excessive downward pressing quantity of the shaft shoulder caused by feedback lag 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 surface of the internal thread cylinder and the lower end surface 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-down adjusting function of the pressing-down control mechanism is realized, and when the pressing-down range is exceeded, the automatic stop pressing-down function of the pressing-down control mechanism not only ensures that the pressing-down control mechanism is not easy to damage, but also can avoid overlarge shaft shoulder pressing-down amount caused by feedback lag of control signals, and simultaneously, the phenomenon that the internal thread cylinder excessively extrudes the clamping plate and the clamping plate excessively extrudes a welding workpiece caused by huge pressing-down force of the hydraulic system is avoided, so that the stirring welding precision and quality are further improved.
The automatic stopping and pressing adjusting function of the pressing control mechanism is realized by the pressing control mechanism through the cooperation of the driving mechanism and the driven mechanism, the pressing control mechanism is not controlled by a sensor measurement signal to stop pressing of a hydraulic system, and the overlarge pressing quantity of a shaft shoulder caused by feedback lag of a control signal is avoided.
Drawings
FIG. 1 is an overall system diagram;
FIG. 2 is an overall elevation view of the system;
FIG. 3 is a diagram of a work platform;
FIG. 4 is a table top view;
FIG. 5 is a partial view of a stirring head;
FIG. 6 is a partial front view of a stirring head;
FIG. 7 is a schematic view of the working state of the stirring head;
Fig. 8 is a diagram of a down-pressure control mechanism.
Detailed Description
The following detailed description of the embodiments of the invention, provided in the accompanying drawings, 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment provides a thick plate material inside degree of depth friction stir welding system, including welding robot 1, work platform 2 and stirring head 3, work platform 2 is located welding robot 1 below for bear waiting to weld work piece 4. The stirring head 3 is integrated on the welding robot 1 and is controlled to rotate in the X-axis or the Y-axis by the welding robot 1 to adjust the process inclination 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, where the control box 11 is installed above the machine body 10, and a servo motor for controlling the installation table 12 to rotate in the X-axis or the Y-axis and a hydraulic system for controlling the installation table 12 to move in the Z-axis direction are provided in the control box; the mounting table 12 is arranged below the machine body 10 and is connected with a servo motor and a hydraulic system, and a driving motor for driving the stirring head 3 to rotate at a high speed is also arranged below the mounting table 12; the machine body 10 is provided with a controller for controlling a servo motor, a hydraulic system and a 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, where the X-axis moving mechanism 21 is installed at the upper end of the base 20, and is used to drive 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 is used for driving the worktable 23 to move in the Y-axis direction; the table surface 23 is mounted on the upper end of the Y-axis moving mechanism 22, and the welding work 4 is disposed on the upper end of the table surface 23.
Specifically, the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 are each ball screw mechanisms controlled by a servo motor, and as other embodiments, the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 may be linear moving mechanisms in other prior art. When in operation, one of the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 works (mode one), so that welding of welding seams in the X-axis or Y-axis direction is realized; or the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 work (mode two) to realize welding of welding seams in the direction of the inclined 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, more complex welding seam welding of friction stir welding can be realized through the working platform 2; simultaneously, welding robot 1 and work platform 2 cooperation setting, welding robot 1 accomplishes the work task through several necessary degrees of freedom, compares in prior art arm, and few degree of freedom mechanism spare part is few, control procedure is simple and convenient, low in manufacturing cost, and work platform 2 working space is big, control is simple, and welding robot 1 and work platform 2 mutually support, can realize the welding of complex shape welding seam, can guarantee that rigidity is big and bearing capacity is strong again, is fit for thick plate material inside degree of depth friction stir welding more.
In this embodiment, the table 23 includes a support stand 230, and a positioning mechanism 231 and a clamping mechanism 232 disposed above the support stand 230, where the positioning mechanism 231 is mounted at a corner of the support stand 230, and the welding workpiece 4 is placed on the support stand 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 for positioning a rectangular workpiece. As other embodiments, the positioning mechanism 231 may be of other forms, matching according to the shape of the welding workpiece 4.
Preferably, the positioning mechanism 231 and the supporting table 230 are respectively provided with a threaded hole, and the positioning mechanism 231 and the supporting table 230 are detachably connected through threaded fasteners, so that different positioning mechanisms 231 can be conveniently replaced to be matched with different welding workpieces 4.
The clamping mechanism 232 is installed at one side or a plurality of sides of the supporting stand 230, and comprises a mounting block 233, a clamping plate 234 and a clamping adjusting mechanism 235, wherein the mounting block 233 is installed at the upper end of the side of the supporting stand 230, the clamping plate 234 is arranged above the mounting block 233 and can move in the Z-axis direction relative to the mounting block 233, and the clamping adjusting mechanism 235 is arranged above the clamping plate 234 and is used for adjusting the movement of the clamping plate 234. The clamping mechanism 232 can clamp the welding workpieces 4 with different thicknesses, and the stability of the welding workpieces 4 is ensured.
In this embodiment, the stirring head 3 includes a shaft shoulder 31 and a stirring pin 32, where the stirring pin 32 is in a shape of a truncated cone; the stirring pin 32 is upwards coaxially fixed with the shaft shoulder 31, and the joint of the stirring pin 32 and the shaft shoulder 31 is in arc transition; the surface of the stirring pin 32 is provided with a reverse taper thread 33, so that the stirring pin 32 is easier to insert 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 subjected to annular step treatment to reduce the resistance between the shaft shoulder 31 and a product, and the materials stirred by the stirring needle 32 can be backfilled more effectively due to the specific angle between the annular steps and the bottom surface, so that the problems of air leakage, uneven welding and the like at the welding seam are solved.
In this embodiment, the taper a of the stirring pin 32 is 25 ° -35 °, and the strength of the stirring pin is increased by adjusting the angle of the taper of the stirring pin, so as to achieve welding with a welding depth exceeding 8 mm. Specifically, a may be 25 °, 27 °, 29 °, 31 °, 33 °, or 35 °.
In this embodiment, an external thread cylinder 35 is sleeved on the outer side of the shaft shoulder 31, and an external thread 351 is provided on the outer side of the external thread cylinder 35, where the external thread cylinder 35 is configured to rotate relative to the shaft shoulder 31 but not move in the axial direction relative to the shaft shoulder 31; the external thread cylinder 35 is provided with an internal thread cylinder 36 on the outside, an internal thread 361 is provided on the inside of the internal thread cylinder 36, 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 below the internal thread cylinder 36 and is located between the welding workpiece 4 and the internal thread cylinder 36.
Specifically, the height difference L between the lower end surface of the internal thread 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 amount of depression N required for the shoulder 31 during friction stir welding. In the process of inserting the stirring head 3 into the welding seam of the welding workpiece 4, when the lower end face of the internal thread cylinder 36 abuts against the upper end face 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 feedback lag 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 surface of the internal thread cylinder 36 and the lower end surface 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 downward pressure control mechanism 5 is disposed in the control box 11, the downward pressure control mechanism 5 includes a driving mechanism 51 and a driven mechanism 52, the upper end of the driving mechanism 51 is connected with a hydraulic system, the lower end of the driven mechanism 52 is connected with the mounting table 12, and the driving mechanism 51 contacts with the driven mechanism 52;
in the first case, the driving mechanism 51 drives the driven mechanism 52 to move, and in the second case, the driving mechanism 51 moves relative to the driven mechanism 52. With this arrangement, during the process of inserting the stirring head 3 into the weld, the hydraulic system drives the driving mechanism 51 to press down, and in the first case, 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 pin 32 is inserted into the weld, and the shoulder 31 presses down the welding workpiece 4. In the second situation, when the pressing amount of the shaft shoulder 31 meets 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 downwards together, and the pressing movement of the pressing control mechanism 5 is automatically stopped, that is, although the driving mechanism 51 continues to perform the pressing movement, the pressing movement of the driven mechanism 52 does not continue to occur, so that the automatic pressing stopping and adjusting function of the pressing control mechanism 5 is realized, therefore, when the pressing range is exceeded, the automatic pressing stopping function of the pressing control mechanism 5 not only makes the pressing control mechanism 5 not easy to damage, but also avoids excessive pressing amount of the shaft shoulder 31 caused by feedback lag of a control signal, and simultaneously, avoids excessive pressing of the clamping plate 234 and the clamping plate 234 by the internal thread cylinder 36 caused by huge pressing force of the hydraulic system, and further improves the stirring welding precision and quality.
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, where the upper end of the moving rod 511 is connected to a hydraulic system and has a plate-like 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 limiting member 514, and the elastic device 512 is fixed in such a manner that the elastic device 512 is disposed in the groove 515 of the limiting member 514, and the elastic device 512 may be a spring;
the engagement teeth 513 are in contact with the elastic device 512 and the driven mechanism 62, and the engagement teeth 513 are members for coupling the driving mechanism 51 and the driven mechanism 52; specifically, the engaging teeth 513 are movably disposed in the grooves 515, one end of the engaging teeth 513 is connected to the elastic device 512, and the other end is in contact with the engaging tooth slots 521 of the driven mechanism 62;
The limiting member 514 is fixedly mounted on the side wall of the moving rod 511, the limiting member 514 can fix the engaging teeth 513 in the vertical direction, the plurality of grooves 515 are vertically arranged and opened on the side wall of the limiting member 514, and the engaging teeth 513 cannot move in the vertical direction relative to the limiting member 514;
the passive mechanism 52 includes a toothed plate 522 and engagement slots 521, the lower end of the toothed plate 522 is connected to the mounting table 12, the toothed plate 522 has a plate structure with a certain thickness, and the side opposite to the moving rod 511 is an engagement structure, the engagement slots 521 are disposed on the side wall of the toothed plate 522, and one end of the engagement teeth 513 away from the elastic device 512 is a triangular tooth, and the shape of the engagement teeth matches with the shape of the engagement slots 521.
With the above arrangement, in the first situation, the engaging teeth 513 are in an extended state under the action of the elastic device 512, the engaging teeth 513 are always tightly attached to the engaging tooth slots 521, and the moving rod 511 can drive the toothed plate 522 to be pressed down together; in the second situation, the engaging teeth 513 and the engaging tooth grooves 521 are mutually extruded, the extrusion force of the engaging teeth 513 and the engaging tooth grooves 521 is larger than the elastic force of the elastic device 512, the engaging teeth 513 extrude the elastic device 512 to shrink and elastically deform, the engaging teeth 513 continuously enter the adjacent engaging tooth grooves 521 from one engaging tooth groove 521, the moving rod 511 cannot drive the toothed plate 522 to push down together, the automatic stop push down adjusting function of the push down control mechanism 5 is realized, the push down of the hydraulic system is controlled by only relying on the sensor measurement signal, and the push down amount of the shaft shoulder 31 caused by feedback lag of the control signal is avoided.
The foregoing is illustrative of the best mode of carrying out the invention, and is not presented in any detail as is known to those of ordinary skill in the art. The protection scope of the invention is defined by the claims, and any equivalent transformation based on the technical teaching of the invention is also within the protection scope of the invention.
Claims (6)
1. A thick plate material internal depth friction stir welding system comprising:
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 controlled by the welding robot to generate welding actions;
The stirring head comprises a shaft shoulder and a stirring pin, wherein the stirring pin is in a truncated cone shape; the stirring pin is upwards coaxially fixed with the shaft shoulder, 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 a reverse taper thread; the bottom surface of the shaft shoulder is provided with a plurality of annular steps, and an inclination angle is formed between each annular step and the bottom surface;
the taper a of the stirring pin is 25-35 degrees;
the working platform comprises a working table surface;
the working table surface comprises a supporting table, and a positioning mechanism and a clamping mechanism which are arranged above the supporting table;
the clamping mechanism comprises a mounting block, a clamping plate and a clamping adjusting mechanism, wherein the mounting block is mounted at the upper end of the edge of the supporting table, the clamping plate is arranged above the mounting block and can move in the Z-axis direction relative to the mounting block, and the clamping adjusting mechanism is arranged above the clamping plate;
The outer side of the shaft shoulder is sleeved with an external thread cylinder, and the outer side of the external thread cylinder is provided with external threads, wherein the external thread cylinder can rotate relative to the shaft shoulder and can not move in the axial direction 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;
The welding robot comprises a pressure-down control mechanism;
The lower pressure control mechanism comprises a driving mechanism and a driven mechanism, the upper end of the driving mechanism is connected with the hydraulic system, the lower end of the driven mechanism is connected with the mounting table, and the driving mechanism is contacted with the driven mechanism;
When the downward pressure of the shaft shoulder does not meet the set value, the driving mechanism drives the driven mechanism to move, and when the downward pressure of the shaft shoulder meets the set value, the driving mechanism moves relative to the driven mechanism;
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 grooves which are vertically and uniformly arranged are formed in the end face 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 the meshing tooth slot of the driven mechanism, and one end of each meshing tooth, which is far away from the elastic device, 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;
The meshing tooth groove is arranged on the side wall of the toothed plate opposite to the moving rod, and the shape of the meshing tooth groove is matched with that of the triangular tooth.
2. The system of claim 1, wherein: the welding robot further comprises a machine body, a control box and an installation table, wherein the control box is arranged above the machine body, and is internally provided with a servo motor for controlling the installation table to rotate on an X axis or a Y axis and a hydraulic system for controlling the installation table to move in the Z axis direction; the mounting table is arranged below the machine body and is 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, wherein the X-axis moving mechanism is arranged at the upper end of the base, the Y-axis moving mechanism is arranged at the upper end of the X-axis moving mechanism, the working table surface is arranged at the upper end of the Y-axis moving mechanism, and the welding workpiece is arranged at the upper end of the working table surface.
3. The system according to claim 2, wherein: and a driving motor for driving the stirring head to rotate at a high speed is also arranged below the mounting table.
4. A system as claimed in claim 3, wherein: the machine body is provided with a controller for controlling the servo motor, the hydraulic system and the driving motor.
5. The system of claim 1, wherein: the positioning mechanism is arranged at one corner of the supporting table, and the welding workpiece is placed on the supporting table and then contacted with the positioning mechanism.
6. The system according to claim 5, wherein: threaded holes are formed in the positioning mechanism and the supporting table, and the positioning mechanism and the supporting table are detachably connected through threaded fasteners.
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| KR20110046642A (en) * | 2009-10-29 | 2011-05-06 | 현대제철 주식회사 | Jig device for simulating circle welding and simulation method using the same |
| CN109365991A (en) * | 2018-10-23 | 2019-02-22 | 上海航天设备制造总厂有限公司 | A kind of Friction Stir Welding devices and methods therefor realizing weld seam and thickening |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102601515B (en) * | 2012-03-29 | 2014-08-06 | 哈尔滨工业大学 | Self-sustaining friction stir welding stirring head with irrotational lower shaft shoulder and welding method of stirring head |
| KR20180064866A (en) * | 2016-12-06 | 2018-06-15 | 현대자동차주식회사 | One direction welding system |
| CN108971743A (en) * | 2018-10-16 | 2018-12-11 | 江苏科技大学 | A kind of long adaptive friction stir welding method of mixing needle needle that eliminating keyhole |
| CN110548984A (en) * | 2018-11-30 | 2019-12-10 | 四川航天长征装备制造有限公司 | Auxiliary material-free equal-strength repair welding method based on back-suction type friction stir welding |
| CN110102868B (en) * | 2019-05-10 | 2024-04-16 | 上海发那科机器人有限公司 | Friction stir welding structure applied to robot |
| CN110666337B (en) * | 2019-10-16 | 2021-04-13 | 天津大学 | Pressure-displacement cooperative control static shaft shoulder friction stir welding device and method |
| CN212144955U (en) * | 2020-04-07 | 2020-12-15 | 天津益普科技发展有限公司 | Pressure-displacement cooperative control static shaft shoulder friction stir welding spindle head device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110046642A (en) * | 2009-10-29 | 2011-05-06 | 현대제철 주식회사 | Jig device for simulating circle welding and simulation method using the same |
| CN109365991A (en) * | 2018-10-23 | 2019-02-22 | 上海航天设备制造总厂有限公司 | A kind of Friction Stir Welding devices and methods therefor realizing weld seam and thickening |
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