WO2020168630A1 - 混联式重载搅拌摩擦焊接机器人 - Google Patents

混联式重载搅拌摩擦焊接机器人 Download PDF

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Publication number
WO2020168630A1
WO2020168630A1 PCT/CN2019/083440 CN2019083440W WO2020168630A1 WO 2020168630 A1 WO2020168630 A1 WO 2020168630A1 CN 2019083440 W CN2019083440 W CN 2019083440W WO 2020168630 A1 WO2020168630 A1 WO 2020168630A1
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WIPO (PCT)
Prior art keywords
hinge
friction stir
stir welding
column
fixedly installed
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PCT/CN2019/083440
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English (en)
French (fr)
Inventor
王成军
沈豫浙
茅卫东
黄绍服
汪跃中
胡标
陶永舒
Original Assignee
安徽理工大学
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Application filed by 安徽理工大学 filed Critical 安徽理工大学
Priority to AU2019430754A priority Critical patent/AU2019430754B2/en
Publication of WO2020168630A1 publication Critical patent/WO2020168630A1/zh
Priority to ZA2020/07411A priority patent/ZA202007411B/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/26—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the invention belongs to the technical field of automatic welding equipment, and particularly relates to a hybrid heavy-duty friction stir welding robot.
  • Friction stir welding technology is a solid-phase connection technology invented by the British Welding Institute in 1991. Compared with traditional fusion welding, it has significant advantages such as fewer joint defects, high quality, less deformation, and green and pollution-free welding process. , Shipbuilding, nuclear industry, transportation and other industrial manufacturing fields have broad application prospects.
  • the friction stir welding robot system can shield human interference and effectively improve the intelligence, production efficiency and quality stability of friction stir welding.
  • friction stir welding equipment is widely used in gantry, cantilever and C-type friction stir welding equipment, which mainly meet the requirements of linear or planar two-dimensional welding.
  • the processing range is very limited and cannot be applied to the friction stir of large-scale complex curved structures. weld. Therefore, it is necessary to change the structure of the traditional friction stir welding equipment to increase the working space while maintaining the bearing capacity and accuracy requirements.
  • the welding equipment Based on the characteristics of friction stir welding, the welding equipment mainly bears the welding upsetting force and forward resistance during the welding process, so the friction stir equipment is required to have the characteristics of high rigidity and large bearing torque.
  • robot friction stir welding is still limited to the form of adding friction stir welding end effectors to traditional tandem robots, but its rigidity is low.
  • tandem robots Under the welding force of friction stir welding, tandem robots lack stability, resulting in The weldable thickness and welding accuracy of robot friction stir welding are limited, which limits its industrial application.
  • the parallel friction stir welding robot has high rigidity and precision, it has low flexibility and small working space, which cannot meet the welding needs of large and complex structures. For friction stir welding of large-size, large-thickness, and complex structural parts, neither tandem robots or parallel robots can ideally meet the welding requirements.
  • the Chinese invention patent with application number 201710859622.3 discloses a heavy-duty friction stir welding robot, which is composed of two or more parallel structure robots connected in series step by step to form a hybrid robot with both series and parallel features.
  • the hybrid robot in this technical scheme has the advantages of high flexibility, large working space, high rigidity, high precision, strong carrying capacity, and good stability of the parallel robot, its structure is too complicated, the control is difficult, and High consumption and cost.
  • the application number is 201810059766.5
  • Chinese invention patent discloses a friction stir welding device, which includes a frame, a moving platform and a parallel mechanism composed of three branches.
  • the parallel mechanism is a 3PRS structure, and the parallel mechanism is installed in series to a horizontally arranged sliding mechanism. On the rail, it has four degrees of freedom in space, two translations and two rotations, and is mainly suitable for circumferential seam welding of large rocket fuel tanks.
  • the Chinese invention patent with application number 201810515617.5 discloses a rigid-flexible cooperative friction stir welding device, which includes a welding robot, a stirring head set at the bottom of the welding robot, a working platform, and three groups uniformly arranged around the working platform at an angle of 120°
  • the flexible cable mechanism realizes the adjustment of the welding robot position by adjusting the flexible cable mechanism.
  • the Chinese invention patent with application number 201810090007.5 proposes a friction stir welding device for large plates, including reference mechanism, left and right vertical frame, left and right compression mechanism, longitudinal movement frame, lifting frame and friction stir welding head. Positioning is only suitable for friction stir welding of large plates, and cannot meet the welding needs of other complex structural parts.
  • the purpose of the present invention is to provide a hybrid heavy-duty friction stir welding robot in view of the shortcomings of the prior art, which can adapt to the requirements of large space and complex curved structure parts, especially the friction stir welding requirements of thicker workpieces, and has better stability It also meets the requirements of small space for equipment flexibility, improves the precision and reliability of friction stir welding, reduces equipment manufacturing and use costs, and can overcome the defects of the prior art.
  • a hybrid heavy-duty friction stir welding robot includes a base, a turntable, a lifting device, a transfer platform, a parallel working arm, a two-degree-of-freedom attitude adjustment mechanism and a friction stir welding machine head.
  • the bottom of the turntable is fixedly installed on the base
  • the bottom of the lifting device is fixedly installed on the top of the turntable
  • the top of the lifting device is fixedly connected to the bottom of the adapter platform
  • the parallel connection The rear end of the working arm is fixedly installed on the adapter platform
  • the two-degree-of-freedom attitude adjustment mechanism is fixedly installed at the front end of the parallel working arm
  • the friction stir welding head is connected to the parallel working arm through the two-degree-of-freedom attitude adjustment mechanism Phase connection.
  • the rotary table is used to realize the rotary movement of the lifting device, the transfer platform, and the parallel working arms.
  • the rotary table includes a rotary seat, a revolving body, an inner gear ring, a driving gear and a rotary motor.
  • the bottom of the slewing seat is fixedly installed on the top of the base by screws to install and support the slewing body and the slewing motor;
  • the slewing body is used to fix and install the lifting device and output the slewing motion of the slewing table, so
  • the revolving body and the revolving seat are connected by thrust bearings and radial bearings;
  • the inner gear ring is fixedly installed inside the revolving body by screws, and the inner gear ring and the driving gear are kept in meshing
  • the rotation of the driving gear and the rotary motor are transmitted to the rotary body;
  • the rotary motor is fixedly installed in the rotary seat by screws to provide power for the rotation of the rotary body;
  • the lifting device is used to drive the transfer platform and the parallel working arm to lift, and then adjust the working height of the friction stir welding head.
  • the lifting device includes a first lifting column, a first guiding column, a second lifting column, a second guiding column and a middle connecting plate.
  • the first lifting column and the second lifting column are the lifting motion driving elements of the lifting device, which are used to drive the transition platform up and down;
  • the first guide column and the second guide column are non-driving elements, which only improve the structural rigidity of the lifting device And stability;
  • the first lifting column, the first guiding column, the second lifting column and the second guiding column are symmetrically arranged on the top of the revolving body, and their bottoms are all connected with the revolving body by screws;
  • the plate is fixedly installed in the middle of the first lifting column, the first guiding column, the second lifting column and the second guiding column, and is connected with the first lifting column, the first guiding column, the second lifting column, and the second guiding column through screws. Phase connection.
  • the first guide post includes a guide sleeve and a guide rod, and the guide rod and the guide sleeve are connected by a cylinder pair; the second guide post has the same structure as the first guide post.
  • the first lifting column and the second lifting column adopt double-acting servo hydraulic cylinders or DC servo electric push rods.
  • the transfer platform includes a horizontal mounting seat, an inclined mounting seat and a U-shaped beam, which are used for supporting and installing parallel working arms.
  • Two symmetrically arranged upper ear seats are arranged on the top of the, and the U-shaped beam is located on the top of the inclined mounting seat, and is connected with the upper ear seats of the inclined mounting seat by screws.
  • the four cylindrical connecting seats are respectively fixedly connected with the tops of the first lifting column, the first guiding column, the second lifting column and the second guiding column.
  • the said parallel working arm is the main support mechanism of the friction stir welding head, which is used to drive the friction stir welding head to achieve front-to-back telescopic and pitch swing.
  • the parallel working arm includes a first linear sliding table, a second linear sliding table, a third linear sliding table, a double rotary seat, a lower rotary seat and a terminal movable platform.
  • the first linear sliding table and the second linear sliding table are located above the third linear sliding table and the lower rotating seat.
  • the front ends of the first linear sliding table and the second linear sliding table and the end movable platform respectively pass through the first front
  • the hinge and the second front hinge are connected, the sliding block of the first linear sliding table, the sliding block of the second linear sliding table and the double rotary base are respectively connected by the first rear hinge and the second rear hinge;
  • the front end of the three linear sliding table and the end movable platform are connected by a third front hinge, and the sliding block of the third linear sliding table and the lower rotating seat are connected by a third rear hinge;
  • the double rotating seat is installed in Tilt the top of the mounting seat, and the two ends of the double rotary seat are connected with the upper ear seat of the tilt mounting seat through an upper swing hinge;
  • the lower rotary seat is installed at the lower end of the horizontal mounting seat, and the Both ends of the lower rotating seat are connected with the lower ear seat of the horizontal mounting seat through a lower swing hinge.
  • the axes of the first front hinge, the second front hinge, the first rear hinge, and the second rear hinge are parallel to each other and perpendicular to the axis of the upper swing hinge; the axes of the third front hinge and the lower swing hinge are parallel to each other and are parallel to the first The axes of the three rear hinges are perpendicular; the axis of the first front hinge is perpendicular to the axis of the third front hinge.
  • the first drive motor, the second drive motor and the third drive motor are respectively fixedly installed at the rear end of the first linear slide table, the second linear slide table and the third linear slide table. The linear reciprocating movement of the second linear slide and the third linear slide provide power.
  • the two-degree-of-freedom attitude adjustment mechanism is a two-degree-of-freedom tandem mechanism with spatial two-dimensional rotation, which can drive the friction stir welding machine head to realize rotation and pitch swing around a horizontal axis.
  • the two-degree-of-freedom attitude adjustment mechanism includes a horizontal swing motor, a U-shaped bracket and a pitch push rod.
  • the horizontal swing motor is fixedly installed on the rear end surface of the terminal movable platform by screws to provide power for the rotation of the U-shaped bracket and the friction stir welding head around the horizontal axis; the rear end of the U-shaped bracket is screwed It is fixedly installed on the output flange of the horizontal swing motor to support and install the friction stir welding head and pitch push rod; the friction stir welding head is fixedly installed at the front end of the U-shaped bracket and passes through the U-shaped bracket The first end hinge is connected; the pitch push rod is installed in the U-shaped bracket for driving the friction stir welding head to achieve pitch swing, the middle of the pitch push rod is connected to the U-shaped bracket through the second end hinge Connected, the upper end of the pitch push rod is connected with the rear end of the friction stir welding head through a third end hinge.
  • the friction stir welding head is an end effector for the friction stir welding robot to perform the task of friction stir welding, and the friction stir welding head includes a high-speed electric spindle and a stirring head.
  • the lower end of the high-speed electric spindle is connected with the U-shaped bracket through a first end hinge, and the rear end of the high-speed electric spindle is connected with the upper end of the pitch push rod through a third end hinge; the stirring head is fixedly installed at The output terminal of the high-speed electric spindle.
  • the base of the present invention can be installed on a horizontal guide rail, and a horizontal drive motor and a rack and pinion mechanism can be installed in the base.
  • the horizontal drive motor passes through the gear teeth.
  • the strip mechanism drives the reciprocating movement of the base along the horizontal guide rail, so that the present invention has the function of horizontally long-distance movement, so as to meet the needs of long horizontal welding seam welding.
  • the parallel working arm of the present invention and the adapter platform constitute a parallel mechanism with a 3UPR structure, which has two degrees of freedom of movement forward and backward and pitch and swing.
  • the parallel working arm of the present invention has greater structural rigidity and good stability, and is more suitable for the needs of heavy load friction stir welding.
  • the parallel working arm of the parallel structure is connected in series with the turntable, the lifting device, the two-degree-of-freedom attitude adjustment mechanism and the horizontal guide rail to form a six-degree-of-freedom hybrid mechanism with redundant degrees of freedom.
  • the redundant degrees of freedom are mainly the pitch of the stirring head Swing, its purpose is to increase the flexibility of the mixing head when working.
  • first fix the workpiece to be welded and then choose whether to drive the base to reciprocate on the horizontal guide according to the size of the transverse weld of the workpiece to be welded; adjust the height of the adapter platform according to the height of the workpiece to be welded, and pass Adjust the expansion and contraction of the first lifting column and the second lifting column to adjust the height of the adapter platform; adjust the posture in the parallel working arm according to the size of the welding seam in the front and rear direction of the workpiece to be welded, by driving the first drive motor and the second drive motor And the third drive motor realizes the adjustment of the posture of the terminal moving platform.
  • the horizontal swing motor in the two-degree-of-freedom attitude adjustment mechanism adjusts the left and right swing angle of the friction stir welding head, and the tilt angle of the stir head is adjusted through the pitch push rod.
  • the overall angle of the parallel working arm and the friction stir welding head can be adjusted through the turntable.
  • the rotary table, lifting device, parallel working arm and two-degree-of-freedom attitude adjustment mechanism coordinately adjust to determine the final attitude of the mixing head.
  • the beneficial effect of the present invention is that compared with the prior art, the stirring head of the present invention not only has more degrees of freedom of movement, but also has six degrees of freedom of movement in space, and has a large working space, which can meet the friction stirring of large-sized space and complex curved surface components. Welding work needs; compared with traditional friction stir welding equipment with tandem structure, it also has significant features such as large work load, high precision and low energy consumption. In addition, the invention also has the advantages of compact structure, small equipment occupation space, low cost, high safety, simple operation and maintenance, etc., and can overcome the defects of the prior art.
  • Figure 1 is a schematic diagram of the overall structure of the present invention (excluding horizontal guide rails);
  • Figure 2 is a schematic diagram of the structure of the turntable of the present invention.
  • FIG. 3 is a schematic structural diagram of the switching platform of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the parallel working arm of the present invention.
  • FIG. 5 is a schematic diagram of the assembly relationship between the stirring head of the present invention and the two-degree-of-freedom attitude adjustment mechanism
  • Fig. 6 is a schematic diagram of the working state of the present invention.
  • a hybrid heavy-duty friction stir welding robot includes a base 1, a turntable 2, a lifting device 3, a transfer platform 4, a parallel working arm 5, and two degrees of freedom adjustment.
  • the bottom of the turntable 2 is fixedly mounted on the base 1
  • the bottom of the lifting device 3 is fixedly mounted on the top of the turntable 2
  • the top of the lifting device 3 is fixed to the bottom of the transition platform 4.
  • the rear end of the parallel working arm 5 is fixedly installed on the adapter platform 4
  • the two-degree-of-freedom attitude adjustment mechanism 6 is fixedly installed on the front end of the parallel working arm 5, and the friction stir welding head 7
  • the two-degree-of-freedom attitude adjustment mechanism 6 is connected with the parallel working arm 5.
  • the said turntable 2 is used to realize the turning movement of the lifting device 3, the transfer platform 4 and the parallel working arm 5.
  • the said turntable 2 includes a turning seat 21, a turning The body 22, the ring gear 25, the drive gear 26 and the rotary motor 27.
  • the bottom of the slewing seat 21 is fixedly installed on the top of the base 1 by screws, and is used to install and support the slewing body 22 and the slewing motor 27;
  • the slewing body 22 is used to fix the lifting device 3 and the slewing table 2 is the rotary motion output, the slewing body 22 and the slewing seat 21 are connected by a thrust bearing 23 and a radial bearing 24;
  • the inner gear ring 25 is fixedly installed inside the slewing body 22 by screws, and
  • the ring gear 25 and the drive gear 26 are kept in meshing with each other to transmit the rotation of the drive gear 26 and the rotary motor 27 to the revolving body 22;
  • the revolving motor 27 is fixedly installed in the revolving base 21 by screws, and is the revolving body 22
  • the rotation provides power;
  • the drive gear 26 is fixedly installed on the output shaft of the rotary motor 27, and is connected with the output shaft of the rotary motor 27 through
  • the lifting device 3 is used to drive the transfer platform 4 and the parallel working arm 5 to lift, and then adjust the working height of the friction stir welding head 7.
  • the lifting device 3 includes a first lifting column 31, a first guiding column 32, a second lifting column 33, a second guiding column 34 and a middle connecting plate 35.
  • the first lifting column 31 and the second lifting column 33 are the lifting motion driving elements of the lifting device 3 for driving the transition platform 4 to lift;
  • the first guide column 32 and the second guide column 34 are non-driving elements, Improve the structural rigidity and stability of the lifting device 3;
  • the first lifting column 31, the first guiding column 32, the second lifting column 33, and the second guiding column 34 are symmetrically arranged on the top of the revolving body 22, and the bottom of which all passes
  • the screw is connected to the revolving body 22;
  • the middle connecting plate 35 is fixedly installed in the middle of the first lifting column 31, the first guiding column 32, the second lifting column 33 and the second guiding column 34, and is connected to the first lifting column 31.
  • the first guide column 32, the second lifting column 33, and the second guide column 34 are all connected by screws.
  • the first guide post 32 includes a guide sleeve 321 and a guide rod 322.
  • the guide rod 322 and the guide sleeve 321 are connected by a cylinder pair; the second guide post 34 and the first guide post 32 are completely structured the same.
  • Both the first lifting column 31 and the second lifting column 33 adopt double-acting servo hydraulic cylinders or DC servo electric push rods.
  • the adapter platform 4 includes a horizontal mounting base 41, an inclined mounting base 42 and a U-shaped beam 43 for supporting and installing the parallel working arm 5.
  • Four symmetrically arranged cylindrical connecting seats 411 are provided at the bottom of the horizontal mounting seat 41, and two symmetrically arranged lower ear seats 412 are also provided behind the bottom of the horizontal mounting seat 41.
  • the top of the inclined mounting seat 42 is provided with two symmetrically arranged upper ear seats 421.
  • the U-shaped beam 43 is located on the top of the inclined mounting seat 42 and is connected to the upper ear seat 421 of the inclined mounting seat 42 by screws. connection.
  • the four cylindrical connecting seats 411 are respectively fixedly connected to the tops of the first lifting column 31, the first guiding column 32, the second lifting column 33, and the second guiding column 34.
  • the angle range between the inclined mounting seat 42 and the horizontal mounting seat 41 is 30°-60°
  • the parallel working arm 5 is the main support mechanism of the friction stir welding head 7 and is used to drive the friction stir welding head 7 to achieve forward and backward telescopic and pitch swing.
  • the parallel working arm 5 includes a first linear sliding table 51, a second linear sliding table 52, a third linear sliding table 53, a double rotating seat 54, a lower rotating seat 55 and a terminal movable platform 56.
  • the first linear slide 51 and the second linear slide 52 are located above the third linear slide 53 and the lower rotating seat 55, and the front and end of the first linear slide 51 and the second linear slide 52 move
  • the platform 56 is respectively connected by a first front hinge 561 and a second front hinge 562.
  • the sliding block of the first linear sliding table 51, the sliding block of the second linear sliding table 52 and the double rotating base 54 respectively pass through the first rear hinge 541.
  • the second rear hinge 542 is connected; the front end of the third linear slide table 53 and the end movable platform 56 are connected by a third front hinge 563, and the slider of the third linear slide table 53 rotates downward
  • the seat 55 is connected by a third rear hinge 551; the double rotating seat 54 is mounted on the top of the tilt mounting seat 42, and both ends of the double rotating seat 54 are connected to the upper ear seat 421 of the tilt mounting seat 42 Connected by an upper swing hinge 543; the lower rotating seat 55 is installed at the lower end of the horizontal mounting seat 41, and both ends of the lower rotating seat 55 and the lower ear seat 412 of the horizontal mounting seat 41 pass through the lower swing hinge 552 Phase connection.
  • the axes of the first front hinge 561, the second front hinge 562, the first rear hinge 541, and the second rear hinge 542 are parallel to each other and perpendicular to the axis of the upper swing hinge 543; the third front hinge 563 and the lower swing hinge 552 The axes are parallel to each other and perpendicular to the axis of the third rear hinge 551; the axis of the first front hinge 561 is perpendicular to the axis of the third front hinge 563.
  • the first drive motor 511, the second drive motor 521, and the third drive motor 531 are fixedly installed at the rear ends of the first linear slide table 51, the second linear slide table 52 and the third linear slide table 53, respectively, which are the first The linear reciprocating movement of the linear sliding table 51, the second linear sliding table 52 and the third linear sliding table 53 provides power.
  • the two-degree-of-freedom attitude adjustment mechanism 6 is a two-degree-of-freedom tandem mechanism with spatial two-dimensional rotation, which can drive the friction stir welding head 7 to achieve rotation and rotation around a horizontal axis. Pitch and swing.
  • the two-degree-of-freedom attitude adjustment mechanism 6 includes a horizontal swing motor 61, a U-shaped bracket 62 and a pitch push rod 63.
  • the horizontal swing motor 61 is fixedly installed on the rear end surface of the terminal movable platform 56 by screws to provide power for the rotation of the U-shaped bracket 62 and the friction stir welding head 7 around the horizontal axis;
  • the U-shaped bracket 62 The rear end is fixedly installed on the output flange of the horizontal swing motor 61 by screws to support and install the friction stir welding head 7 and the pitch push rod 63;
  • the friction stir welding head 7 is fixedly installed on the U-shaped bracket 62, and is connected to the U-shaped bracket 62 through a first end hinge 761;
  • the pitch push rod 63 is installed in the U-shaped bracket 62, and is used to drive the friction stir welding head 7 to achieve pitch swing.
  • the middle part of the pitch push rod 63 is connected to the U-shaped bracket 62 through a second end hinge 631, and the upper end of the pitch push rod 63 is connected to the rear end of the friction stir welding head 7 through a third end hinge 632.
  • the friction stir welding head 7 is an end effector for friction stir welding robots to perform friction stir welding tasks, and the friction stir welding head 7 includes a high-speed electric spindle 71 And mixing head 72.
  • the lower end of the high-speed electric spindle 71 and the U-shaped bracket 62 are connected by a first end hinge 761, and the rear end of the high-speed electric spindle 71 and the upper end of the pitch push rod 63 are connected by a third end hinge 632.
  • the stirring head 72 is fixedly installed at the output end of the high-speed electric spindle 71.
  • the base 1 of the present invention can be installed on the horizontal guide rail 8, and the horizontal drive motor and gear teeth can be installed in the base 1.
  • the horizontal drive motor drives the reciprocating movement of the base 1 along the horizontal guide rail 8 through the rack and pinion mechanism, so that the present invention has the function of moving laterally and long distances to meet the needs of long horizontal welding seam welding.
  • the slewing motor 27 and the horizontal swing motor 61 adopt servo decelerating motors; the first driving motor 511, the second driving motor 521, and the third driving motor 531 all adopt DC servo motors; the pitch push rod 63 adopts a servo electric push rod.
  • first fix the workpiece to be welded and then choose whether to drive the base 1 to reciprocate on the horizontal rail 8 according to the size of the transverse weld of the workpiece to be welded; adjust the height of the adapter platform 4 according to the height of the workpiece to be welded , And adjust the height of the adapter platform 4 by adjusting the expansion and contraction of the first lifting column 31 and the second lifting column 33 in the lifting device 3; adjust the posture in the parallel working arm 5 according to the size of the welding seam in the front and rear direction of the workpiece to be welded, By driving the first driving motor 511, the second driving motor 521, and the third driving motor 531, the posture of the end moving platform 56 is adjusted.
  • the horizontal swing motor 61 in the two-degree-of-freedom attitude adjustment mechanism 6 adjusts the left and right swing angle of the friction stir welding head 7, and the tilt angle of the stir head 72 is adjusted through the pitch push rod 63.
  • the overall angle of the parallel working arm 5 and the friction stir welding head 7 can be adjusted by the turntable 2.
  • the rotary table 2, the lifting device 3, the parallel working arm 5 and the two-degree-of-freedom attitude adjustment mechanism 6 coordinately adjust and determine the final attitude of the mixing head 72.

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)

Abstract

混联式重载搅拌摩擦焊接机器人，包括底座（1）、回转台（2）、升降装置（3）、转接平台（4）、并联工作臂（5）、两自由度调姿机构（6）和搅拌摩擦焊接机头（7）；回转台（2）的底部固定安装在底座（1）上，升降装置（3）的底部固定安装在回转台（2）的顶部，升降装置（3）的顶部与转接平台（4）的底部固连，并联工作臂（5）的后端固定安装在转接平台（4）上，两自由度调姿机构（6）固定安装在并联工作臂（5）的前端，搅拌摩擦焊接机头（7）通过两自由度调姿机构（6）与并联工作臂（5）相连接。

Description

混联式重载搅拌摩擦焊接机器人 技术领域
本发明属于自动焊接设备技术领域，特别涉及一种混联式重载搅拌摩擦焊接机器人。
背景技术
搅拌摩擦焊接技术是英国焊接所于1991年发明的一种固相连接技术，与传统熔化焊相比具有接头缺陷少、质量高、变形小，以及焊接过程绿色无污染等显著优点，在航空航天、船舶、核工业、交通运输等工业制造领域具有广阔的应用前景。
搅拌摩擦焊机器人系统能够屏蔽人为干涉，有效提高搅拌摩擦焊接的智能化程度、生产效率和质量稳定性。目前搅拌摩擦焊设备广泛采用的主要有龙门式、悬臂式和C型搅拌摩擦焊接设备，主要满足直线或平面二维焊接要求，加工范围十分有限，不能适用于大型空间复杂曲面结构件的搅拌摩擦焊。因此，需改变传统搅拌摩擦焊设备的结构，使其在保持承载能力和精度要求下增大工作空间。
基于搅拌摩擦焊的特点，焊接设备在焊接过程中主要承受焊接顶锻力和前进抗力，因此要求搅拌摩擦设备具有刚性高、承载扭矩大的特点。目前，机器人搅拌摩擦焊仍局限于在传统串联式机器人上加装搅拌摩擦焊末端执行器的形式，然而其刚性较低，在搅拌摩擦焊的焊接作用力下，串联式机器人缺乏稳定性，导致机器人搅拌摩擦焊的可焊厚度与焊接精度受到限制，因此限制了其工业应用。此外，虽然并联搅拌摩擦焊机器人的刚度和精度高，但灵活性较低，且工作空间小，无法满足大型复杂结构的焊接需要。对于大尺寸、大厚度、复杂结构件的搅拌摩擦焊接，串联式机器人或并联机器人均不能够理想地满足焊接工作需求。
大型空间复杂曲面结构件，尤其是较厚工件的搅拌摩擦焊要求焊接设备具有高刚性、高承载能力、高精度、高灵活性和工作空间大等特点。现有的机器人结构均无法满足搅拌摩擦焊接工作的需要，限制了搅拌摩擦焊技术在大型空间复杂曲面结构件上的应用，因而迫切需要研制同时具有串联式机器人与并联机器人结构优点的新型混联结构的搅拌摩擦焊接机器人。
针对现有搅拌摩擦焊接设备存在的一些技术难题，部分研究者提出了一些解决方案。申请号为201710859622.3的中国发明专利公开了一种重载搅拌摩擦焊机器人，是由两个以上并联结构机器人逐级串联在一起，形成同时具有串联和并联特征的混联机器人。该技术方案中的混联机器人虽兼具串联机器人灵活性高、工作空间大以及并联机器人刚度高、精度高、承载能力强、稳定性好的优点，但其结构过于复杂，控制困难，且能耗与成本较高。申请号为201810059766.5中国发明专利公开了一种搅拌摩擦焊接装置，包括机架、动平台和由三个分 支机构组成的并联机构，其并联机构为3PRS结构，并联机构再串联安装到水平布置的滑轨上，使得其具有空间两个平移两个转动共四个运动自由度，主要适用于大型火箭燃料贮箱筒段环缝焊接。申请号为201810515617.5的中国发明专利公开了一种刚柔协作搅拌摩擦焊装置，包括焊接机器人、设置在焊接机器人底部的搅拌头、工作平台以及呈120°角度均匀设置在工作平台的周围的三组柔索机构，通过调整柔索机构实现焊接机器人位置的调整，具有较高的刚度和加工精度，无法满足重载作业的要求，且其控制需要依赖三组柔索机构，降低了焊接作业的灵活性，作业空间也受到限制。申请号为201810090007.5的中国发明专利提出了一种大型板材的搅拌摩擦焊装置，包括基准机构、左右纵架、左右压紧机构、纵移架、升降架和搅拌摩擦焊头等，通过基准板对工件进行定位，仅适合于大型板材的搅拌摩擦焊接，无法满足其它复杂结构件的焊接需要。燕山大学的邹成、郑魁敬等设计了一种2UPR-UPS结构的三自由度并联搅拌摩擦焊接机器人，具有空间两个移动一个转动共三个运动自由度，解决了焊接设备结构刚度差和精度低的问题，但其运动自由度少，工作空间小，应用场合受限。
采用搅拌摩擦焊接厚结构件时，焊接过程中由于搅拌头与焊接材料之间的摩擦力产生较大的力矩，而传统串联式机器人结构刚度不够，在焊接过程中会产生弹性变形，从而影响焊接轨迹精度。单纯地增加串联式机器人的刚度，必然要提高机器人的吨位，导致整个焊接系统的重量大大增加。同时，传统串联机器人结构会使各个运动副的误差累计，且误差不可消除，也会影响焊接机器人的焊接精度。单纯采用现有并联机构也因其工作空间受限而无法直接使用。因此，需要根据搅拌摩擦焊接的实际需要研制一种混联式重载搅拌摩擦焊接机器人。
发明内容
本发明的目的是针对现有技术的不足，提供一种混联式重载搅拌摩擦焊接机器人，能够适应大型空间复杂曲面结构件，尤其是较厚工件的搅拌摩擦焊要求，具备较好的稳定性，又符合较小空间对设备灵活性的要求，提高搅拌摩擦焊接的精度和可靠性，降低设备制造与使用成本，可克服现有技术的缺陷。
本发明所要解决的技术问题采用以下技术方案来实现。
一种混联式重载搅拌摩擦焊接机器人，包括底座、回转台、升降装置、转接平台、并联工作臂、两自由度调姿机构和搅拌摩擦焊接机头。其中，所述的回转台的底部固定安装在底座上，所述的升降装置的底部固定安装在回转台的顶部，所述的升降装置的顶部与转接平台的底部固连，所述的并联工作臂的后端固定安装在转接平台上，所述的两自由度调姿机构固定安装在并联工作臂的前端，所述的搅拌摩擦焊接机头通过两自由度调姿机构与并联工作臂相连接。
所述的回转台用于实现升降装置、转接平台、并联工作臂的回转运动，所述的回转台包 括回转座、回转体、内齿圈、驱动齿轮和回转电机。其中，所述的回转座的底部通过螺钉固定安装在底座的顶部，用于安装、支撑回转体和回转电机；所述的回转体用于固定安装升降装置并将回转台的回转运动输出，所述的回转体与回转座之间通过止推轴承、径向轴承相连接；所述的内齿圈通过螺钉固定安装在回转体的内部，且内齿圈与驱动齿轮保持内啮合，用于将驱动齿轮和回转电机的转动传递给回转体；所述的回转电机通过螺钉固定安装在回转座内，为回转体的转动提供动力；所述的驱动齿轮固定安装在回转电机的输出轴上，且与回转电机的输出轴通过平键相连接。
所述的升降装置用于驱动转接平台与并联工作臂升降，进而调节搅拌摩擦焊接机头的工作高度。所述的升降装置包括第一升降立柱、第一导向柱、第二升降立柱、第二导向柱和中连板。其中，第一升降立柱与第二升降立柱为升降装置的升降运动驱动元件，用于驱动转接平台升降；第一导向柱与第二导向柱为非驱动元件，仅起提高升降装置的结构刚度与稳定性的作用；第一升降立柱、第一导向柱、第二升降立柱和第二导向柱对称布置在回转体的顶部，且其底部均通过螺钉与回转体相连接；所述的中连板固定安装在第一升降立柱、第一导向柱、第二升降立柱和第二导向柱的中部，且与第一升降立柱、第一导向柱、第二升降立柱、第二导向柱均通过螺钉相连接。所述的第一导向柱包括导套和导杆，所述的导杆与导套通过圆柱副相连接；第二导向柱与第一导向柱的结构完全相同。第一升降立柱、第二升降立柱采用双作用伺服液压缸或直流伺服电动推杆。
所述的转接平台包括水平安装座、倾斜安装座和U型梁，用于支撑、安装并联工作臂。在所述的水平安装座的底部设有四个对称布置的筒形连接座，在所述的水平安装座的底部后方还设有两个对称布置的下耳座，在所述的倾斜安装座的顶部设有两个对称布置的上耳座，所述的U型梁位于倾斜安装座的顶部，且与倾斜安装座的上耳座之间通过螺钉相连接。四个筒形连接座分别与第一升降立柱、第一导向柱、第二升降立柱、第二导向柱的顶部固连。
所述的并联工作臂为搅拌摩擦焊接机头的主要支撑机构，用于驱动搅拌摩擦焊接机头实现前后伸缩及俯仰摆动。所述的并联工作臂包括第一直线滑台、第二直线滑台、第三直线滑台、双联转动座、下转动座和末端动平台。其中，第一直线滑台、第二直线滑台位于第三直线滑台和下转动座的上方，第一直线滑台、第二直线滑台的前端与末端动平台分别通过第一前铰链、第二前铰链相连接，第一直线滑台的滑块、第二直线滑台的滑块与双联转动座分别通过第一后铰链、第二后铰链相连接；所述的第三直线滑台的前端与末端动平台通过第三前铰链相连接，所述的第三直线滑台的滑块与下转动座通过第三后铰链相连接；所述的双联转动座安装在倾斜安装座的顶部，且所述的双联转动座的两端与倾斜安装座的上耳座通过上摆动铰链相连接；所述的下转动座安装在水平安装座的下端，且所述的下转动座的两端与水平 安装座的下耳座通过下摆动铰链相连接。第一前铰链、第二前铰链、第一后铰链、第二后铰链的轴线相互平行，且与上摆动铰链的轴线相垂直；第三前铰链、下摆动铰链的轴线相互平行，且与第三后铰链的轴线相垂直；第一前铰链的轴线垂直于第三前铰链的轴线。第一驱动电机、第二驱动电机和第三驱动电机分别固定安装在第一直线滑台、第二直线滑台和第三直线滑台的后端，分别为第一直线滑台、第二直线滑台和第三直线滑台的直线往复移动提供动力。
所述的两自由度调姿机构是具有空间两维转动的两自由度串联机构，可驱动搅拌摩擦焊接机头实现绕水平轴线的转动和俯仰摆动。所述的两自由度调姿机构包括水平摆动电机、U型支架和俯仰推杆。其中，所述的水平摆动电机通过螺钉固定安装在末端动平台的后端面上，为U型支架及搅拌摩擦焊接机头绕水平轴线的转动提供动力；所述的U型支架的后端通过螺钉固定安装在水平摆动电机的输出法兰上，用于支撑、安装搅拌摩擦焊接机头和俯仰推杆；所述的搅拌摩擦焊接机头固定安装在U型支架的前端，且与U型支架通过第一末端铰链相连接；所述的俯仰推杆安装在U型支架内，用于驱动搅拌摩擦焊接机头实现俯仰摆动，所述的俯仰推杆的中部通过第二末端铰链与U型支架相连接，所述的俯仰推杆的上端通过第三末端铰链与搅拌摩擦焊接机头的后端相连接。
所述的搅拌摩擦焊接机头是搅拌摩擦焊接机器人执行搅拌摩擦焊接任务的末端执行装置，所述的搅拌摩擦焊接机头包括高速电主轴和搅拌头。其中，所述的高速电主轴的下端与U型支架通过第一末端铰链相连接，高速电主轴的后端与俯仰推杆的上端通过第三末端铰链相连接；所述的搅拌头固定安装在高速电主轴的输出端。
更优地，当被焊接工件上焊缝的水平尺寸较大时，可将本发明的底座安装在水平导轨上，并在底座内安装水平驱动电机及齿轮齿条机构，水平驱动电机通过齿轮齿条机构驱动底座沿水平导轨的往复移动，使本发明具有横向长距离移动的功能，以满足水平方向长焊缝焊接的需要。
从机构学的角度看，本发明的并联工作臂与转接平台构成一个3UPR结构的并联机构，具有前后移动和俯仰摆动两个运动自由度。本发明的并联工作臂与3UPS或2UPR-UPS结构的并联机构相比，其结构刚度更大，稳定性好，更适合于大负载搅拌摩擦焊接工作的需要。并联结构的并联工作臂与回转台、升降装置、两自由度调姿机构及水平导轨串联后一起构成一个具有冗余自由度的六自由度混联机构，冗余自由度主要是搅拌头的俯仰摆动，其目的是增加搅拌头工作时的灵活度。
使用时，先将被焊接工件固定好，然后根据被焊接工件的横向焊缝的尺寸选择是否需要驱动底座在水平导轨上往复移动；根据被焊接工件的高度尺寸调节转接平台的高度，并通过 调节第一升降立柱、第二升降立柱的伸缩量调节转接平台的高度；根据被焊接工件的前后方向焊缝的尺寸调节并联工作臂中的姿态，通过驱动第一驱动电机、第二驱动电机和第三驱动电机实现末端动平台姿态的调整。通过两自由度调姿机构中的水平摆动电机调节搅拌摩擦焊接机头的左右摆动角度，通过俯仰推杆调节搅拌头的倾斜角度。并联工作臂及搅拌摩擦焊接机头的整体角度可通过回转台进行调节。回转台、升降装置、并联工作臂与两自由度调姿机构协同调节确定搅拌头的最终姿态。
本发明的有益效果是，与现有的技术相比，本发明的搅拌头不仅运动自由度多，具有空间六个运动自由度，且工作空间大，可满足大尺寸空间复杂曲面构件的搅拌摩擦焊接工作需要；与传统串联结构的搅拌摩擦焊接设备相比，还具有工作负载大、精度高和能耗低等显著特点。此外，本发明还具有结构节凑，设备占用空间小、成本低、安全性高、操作维护简便等优点，可克服现有技术的缺陷。
附图说明
图1为本发明的总体结构(不含水平导轨)示意图；
图2为本发明的回转台的结构示意图；
图3为本发明的转接平台的结构示意图；
图4为本发明的并联工作臂的结构示意图；
图5为本发明的搅拌头与两自由度调姿机构装配关系示意图；
图6为本发明的工作状态示意图。
具体实施方式
为了使本发明所实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施例和图示，进一步阐述本发明。
如图1、图4和图6所示，一种混联式重载搅拌摩擦焊接机器人，包括底座1、回转台2、升降装置3、转接平台4、并联工作臂5、两自由度调姿机构6和搅拌摩擦焊接机头7。其中，所述的回转台2的底部固定安装在底座1上，所述的升降装置3的底部固定安装在回转台2的顶部，所述的升降装置3的顶部与转接平台4的底部固连，所述的并联工作臂5的后端固定安装在转接平台4上，所述的两自由度调姿机构6固定安装在并联工作臂5的前端，所述的搅拌摩擦焊接机头7通过两自由度调姿机构6与并联工作臂5相连接。
如图1、图2和图6所示，所述的回转台2用于实现升降装置3、转接平台4、并联工作臂5的回转运动，所述的回转台2包括回转座21、回转体22、内齿圈25、驱动齿轮26和回转电机27。其中，所述的回转座21的底部通过螺钉固定安装在底座1的顶部，用于安装、支撑回转体22和回转电机27；所述的回转体22用于固定安装升降装置3并将回转台2的回转运动输出，所述 的回转体22与回转座21之间通过止推轴承23、径向轴承24相连接；所述的内齿圈25通过螺钉固定安装在回转体22的内部，且内齿圈25与驱动齿轮26保持内啮合，用于将驱动齿轮26和回转电机27的转动传递给回转体22；所述的回转电机27通过螺钉固定安装在回转座21内，为回转体22的转动提供动力；所述的驱动齿轮26固定安装在回转电机27的输出轴上，且与回转电机27的输出轴通过平键相连接。
如图1和图6所示，所述的升降装置3用于驱动转接平台4与并联工作臂5升降，进而调节搅拌摩擦焊接机头7的工作高度。所述的升降装置3包括第一升降立柱31、第一导向柱32、第二升降立柱33、第二导向柱34和中连板35。其中，第一升降立柱31、第二升降立柱33为升降装置3的升降运动驱动元件，用于驱动转接平台4升降；第一导向柱32与第二导向柱34为非驱动元件，仅起提高升降装置3的结构刚度与稳定性的作用；第一升降立柱31、第一导向柱32、第二升降立柱33和第二导向柱34对称布置在回转体22的顶部，且其底部均通过螺钉与回转体22相连接；所述的中连板35固定安装在第一升降立柱31、第一导向柱32、第二升降立柱33和第二导向柱34的中部，且与第一升降立柱31、第一导向柱32、第二升降立柱33、第二导向柱34均通过螺钉相连接。所述的第一导向柱32包括导套321和导杆322，所述的导杆322与导套321通过圆柱副相连接；所述的第二导向柱34与第一导向柱32的结构完全相同。第一升降立柱31、第二升降立柱33均采用双作用伺服液压缸或直流伺服电动推杆。
如图1、图3和图6所示，所述的转接平台4包括水平安装座41、倾斜安装座42和U型梁43，用于支撑、安装并联工作臂5。在所述的水平安装座41的底部设有四个对称布置的筒形连接座411，在所述的水平安装座41的底部后方还设有两个对称布置的下耳座412，在所述的倾斜安装座42的顶部设有两个对称布置的上耳座421，所述的U型梁43位于倾斜安装座42的顶部，且与倾斜安装座42的上耳座421之间通过螺钉相连接。四个筒形连接座411分别与第一升降立柱31、第一导向柱32、第二升降立柱33、第二导向柱34的顶部固连。所述的倾斜安装座42与水平安装座41的夹角范围为30°-60°
如图1、图3、图4和图6所示，所述的并联工作臂5为搅拌摩擦焊接机头7的主要支撑机构，用于驱动搅拌摩擦焊接机头7实现前后伸缩及俯仰摆动。所述的并联工作臂5包括第一直线滑台51、第二直线滑台52、第三直线滑台53、双联转动座54、下转动座55和末端动平台56。其中，第一直线滑台51、第二直线滑台52位于第三直线滑台53和下转动座55的上方，第一直线滑台51、第二直线滑台52的前端与末端动平台56分别通过第一前铰链561、第二前铰链562相连接，第一直线滑台51的滑块、第二直线滑台52的滑块与双联转动座54分别通过第一后铰链541、第二后铰链542相连接；所述的第三直线滑台53的前端与末端动平台56通过第三前铰链563相连接，所述的第三直线滑台53的滑块与下转动座55通过第三后铰链551相连接；所述的 双联转动座54安装在倾斜安装座42的顶部，且所述的双联转动座54的两端与倾斜安装座42的上耳座421通过上摆动铰链543相连接；所述的下转动座55安装在水平安装座41的下端，且所述的下转动座55的两端与水平安装座41的下耳座412通过下摆动铰链552相连接。第一前铰链561、第二前铰链562、第一后铰链541、第二后铰链542的轴线相互平行，且与上摆动铰链543的轴线相垂直；第三前铰链563、下摆动铰链552的轴线相互平行，且与第三后铰链551的轴线相垂直；第一前铰链561的轴线垂直于第三前铰链563的轴线。第一驱动电机511、第二驱动电机521和第三驱动电机531分别固定安装在第一直线滑台51、第二直线滑台52和第三直线滑台53的后端，分别为第一直线滑台51、第二直线滑台52和第三直线滑台53的直线往复移动提供动力。
如图1、图5和图6所示，所述的两自由度调姿机构6是具有空间两维转动的两自由度串联机构，可驱动搅拌摩擦焊接机头7实现绕水平轴线的转动和俯仰摆动。所述的两自由度调姿机构6包括水平摆动电机61、U型支架62和俯仰推杆63。其中，所述的水平摆动电机61通过螺钉固定安装在末端动平台56的后端面上，为U型支架62及搅拌摩擦焊接机头7绕水平轴线的转动提供动力；所述的U型支架62的后端通过螺钉固定安装在水平摆动电机61的输出法兰上，用于支撑、安装搅拌摩擦焊接机头7和俯仰推杆63；所述的搅拌摩擦焊接机头7固定安装在U型支架62的前端，且与U型支架62通过第一末端铰链761相连接；所述的俯仰推杆63安装在U型支架62内，用于驱动搅拌摩擦焊接机头7实现俯仰摆动，所述的俯仰推杆63的中部通过第二末端铰链631与U型支架62相连接，所述的俯仰推杆63的上端通过第三末端铰链632与搅拌摩擦焊接机头7的后端相连接。
如图1、图5和图6所示，所述的搅拌摩擦焊接机头7是搅拌摩擦焊接机器人执行搅拌摩擦焊接任务的末端执行装置，所述的搅拌摩擦焊接机头7包括高速电主轴71和搅拌头72。其中，所述的高速电主轴71的下端与U型支架62通过第一末端铰链761相连接，所述的高速电主轴71的后端与俯仰推杆63的上端通过第三末端铰链632相连接；所述的搅拌头72固定安装在高速电主轴71的输出端。
如图6所示，更进一步地，当被焊接工件上焊缝的水平尺寸较大时，可将本发明的底座1安装在水平导轨8上，并在底座1内安装水平驱动电机及齿轮齿条机构，水平驱动电机通过齿轮齿条机构驱动底座1沿水平导轨8的往复移动，使本发明具有横向长距离移动的功能，以满足水平方向长焊缝焊接的需要。
回转电机27、水平摆动电机61采用伺服减速电机；第一驱动电机511、第二驱动电机521和第三驱动电机531均采用直流伺服电机；所述的俯仰推杆63采用伺服电动推杆。
使用时，先将被焊接工件固定好，然后根据被焊接工件的横向焊缝的尺寸选择是否需要 驱动底座1在水平导轨8上往复移动；根据被焊接工件的高度尺寸调节转接平台4的高度，并通过调节升降装置3中第一升降立柱31、第二升降立柱33的伸缩量调节转接平台4的高度；根据被焊接工件的前后方向焊缝的尺寸调节并联工作臂5中的姿态，通过驱动第一驱动电机511、第二驱动电机521和第三驱动电机531实现末端动平台56姿态的调整。通过两自由度调姿机构6中的水平摆动电机61调节搅拌摩擦焊接机头7的左右摆动角度，通过俯仰推杆63调节搅拌头72的倾斜角度。并联工作臂5及搅拌摩擦焊接机头7的整体角度可通过回转台2进行调节。回转台2、升降装置3、并联工作臂5与两自由度调姿机构6协同调节确定搅拌头72的最终姿态。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”“顶”、“底”、“内”、“外”、“横向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (7)

  1. 一种混联式重载搅拌摩擦焊接机器人，包括底座、回转台、升降装置、转接平台、并联工作臂、两自由度调姿机构和搅拌摩擦焊接机头，其特征在于：所述的回转台的底部固定安装在底座上，所述的升降装置的底部固定安装在回转台的顶部，所述的升降装置的顶部与转接平台的底部固连，所述的并联工作臂的后端固定安装在转接平台上，所述的两自由度调姿机构固定安装在并联工作臂的前端，所述的搅拌摩擦焊接机头通过两自由度调姿机构与并联工作臂相连接；
    所述的回转台包括回转座、回转体、内齿圈、驱动齿轮和回转电机，所述的回转座的底部通过螺钉固定安装在底座的顶部，所述的回转体与回转座之间通过止推轴承、径向轴承相连接，所述的内齿圈通过螺钉固定安装在回转体的内部，且内齿圈与驱动齿轮保持内啮合，所述的回转电机通过螺钉固定安装在回转座内，所述的驱动齿轮固定安装在回转电机的输出轴上，且与回转电机的输出轴通过平键相连接；
    所述的升降装置包括第一升降立柱、第一导向柱、第二升降立柱、第二导向柱和中连板，第一升降立柱与第二升降立柱为升降装置的升降运动驱动元件，第一升降立柱、第一导向柱、第二升降立柱和第二导向柱对称布置在回转体的顶部，且其底部均通过螺钉与回转体相连接，所述的中连板固定安装在第一升降立柱、第一导向柱、第二升降立柱和第二导向柱的中部，且与第一升降立柱、第一导向柱、第二升降立柱、第二导向柱均通过螺钉相连接；所述的第一导向柱包括导套和导杆，所述的导杆与导套通过圆柱副相连接，第二导向柱与第一导向柱的结构完全相同；
    所述的转接平台包括水平安装座、倾斜安装座和U型梁，在所述的水平安装座的底部设有四个对称布置的筒形连接座，在所述的水平安装座底部后方还设有两个对称布置的下耳座，在所述的倾斜安装座的顶部设有两个对称布置的上耳座，所述的U型梁位于倾斜安装座的顶部，且与倾斜安装座的上耳座之间通过螺钉相连接；四个筒形连接座分别与第一升降立柱、第一导向柱、第二升降立柱、第二导向柱的顶部固连；
    所述的两自由度调姿机构包括水平摆动电机、U型支架和俯仰推杆，所述的水平摆动电机通过螺钉固定安装在并联工作臂的末端动平台的后端面上；所述的U型支架的后端通过螺钉固定安装在水平摆动电机的输出法兰上，所述的搅拌摩擦焊接机头固定安装在U型支架的前端，且与U型支架通过第一末端铰链相连接；所述的俯仰推杆安装在U型支架内，所述的俯仰推杆的中部通过第二末端铰链与U型支架相连接，所述的俯仰推杆的上端通过第三末端铰链与搅拌摩擦焊接机头的后端相连接；
    所述的搅拌摩擦焊接机头包括高速电主轴和搅拌头，所述的高速电主轴的下端与U型支架通过第一末端铰链相连接，所述的高速电主轴的后端与俯仰推杆的上端通过第三末端铰链相连接；所述的搅拌头固定安装在高速电主轴的输出端。
  2. 根据权利要求1所述的一种混联式重载搅拌摩擦焊接机器人，其特征在于：所述的并 联工作臂包括第一直线滑台、第二直线滑台、第三直线滑台、双联转动座、下转动座和末端动平台，第一直线滑台、第二直线滑台位于第三直线滑台和下转动座的上方，第一直线滑台、第二直线滑台的前端与末端动平台分别通过第一前铰链、第二前铰链相连接，第一直线滑台的滑块、第二直线滑台的滑块与双联转动座分别通过第一后铰链、第二后铰链相连接；所述的第三直线滑台的前端与末端动平台通过第三前铰链相连接，所述的第三直线滑台的滑块与下转动座通过第三后铰链相连接；所述的双联转动座安装在倾斜安装座的顶部，且所述的双联转动座的两端与倾斜安装座的上耳座通过上摆动铰链相连接；所述的下转动座安装在水平安装座的下端，且所述的下转动座的两端与水平安装座的下耳座通过下摆动铰链相连接；第一驱动电机、第二驱动电机和第三驱动电机分别固定安装在第一直线滑台、第二直线滑台和第三直线滑台的后端。
  3. 根据权利要求2所述的一种混联式重载搅拌摩擦焊接机器人，其特征在于：所述的第一前铰链的轴线与第二前铰链、第一后铰链、第二后铰链的轴线相互平行，且与上摆动铰链的轴线相垂直；第三前铰链、下摆动铰链的轴线相互平行，且与第三后铰链的轴线相垂直；第一前铰链的轴线垂直于第三前铰链的轴线。
  4. 根据权利要求1所述的一种混联式重载搅拌摩擦焊接机器人，其特征在于：所述的倾斜安装座与水平安装座的夹角范围为30°-60°。
  5. 根据权利要求1所述的一种混联式重载搅拌摩擦焊接机器人，其特征在于：回转电机、水平摆动电机采用伺服减速电机，所述的俯仰推杆采用伺服电动推杆。
  6. 根据权利要求2所述的一种混联式重载搅拌摩擦焊接机器人，其特征在于：第一驱动电机、第二驱动电机和第三驱动电机均采用直流伺服电机。
  7. 根据权利要求1所述的一种混联式重载搅拌摩擦焊接机器人，其特征在于：第一升降立柱、第二升降立柱均采用双作用伺服液压缸或直流伺服电动推杆。
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