CN105263665B - Use the instrument of series connection and the agitating friction welder and method of anvil block - Google Patents

Abstract

The present invention describes for while welds the agitating friction welding of the both sides at arcing engagement（FSW）Apparatus and method.FSW methods, which are included on the outer surface of joint, operates FSW instruments and anvil block and simultaneously another FSW instruments and anvil block are operated on the inner surface of the joint the step of.Anvil block by with FSW instruments it is juxtaposed in a manner of position, and moved in series with FSW instruments, so as to provide the supporting force to FSW instruments during they are operated.

Description

Use the instrument of series connection and the agitating friction welder and method of anvil block

Technical field

The field of present subject matter is agitating friction welding.

Background technology

The description of background technology includes information that can be useful in present subject matter is understood.It is it is not an admission that provided herein Any information is the prior art or related to presently claimed subject matter or any disclosure explicitly or implicitly referred to Document is the prior art.

Agitating friction welds（“FSW”）It is solid-state welding process, wherein rotating instrument（Hereinafter referred to as " FSW instruments "）Heating With two workpiece for mixing seam crossing.More specifically, rotation instrument has pin and shoulder, when instrument rotates, pin and shoulder quilt It is pressed into seam, so as to generate frictional heat between instrument and workpiece.Generate enough heat so that workpiece area is plasticized and mixes It closes.The shoulder of FSW instruments helps that plasticized region is caused to mix, so as to engage these workpiece in seam crossing（That is agitating friction Welding）.Rotation FSW instruments are advanced along seam length, to form solder joints line between two workpiece.It can be by R.S. The written Friction Stir Welding and Processing of Mishra et al.（Materials Science and Engineering R 50 (2005) 1-78）（Agitating friction welds and technique（Materials Science and Engineering R 50（2005）1- 78））In see elaborating for FSW techniques.

FSW provide much be better than other welding procedures the advantages of, be partly due to FSW occur at lower temperatures and The fact that without packing material.Some in FSW advantages include：In the better mechanical performance of weld；Smaller porosity, receipts Contracting amount and distortion；Seldom or non-toxic cigarette discharges；Without consumable packing material；And it is easy to automate.However, there are still with The relevant various problems of FSW, including outlet opening and and anvil（anvil）Seat or the associated weight of clamping device and cost, usually It is needed to offset the power from FSW tool heads.

The a variety of method and apparatus for agitating friction welding are described in the patent literature.For example, give U.S. of Kay No. 2005/0139640 friction stir welding method for describing more welding beads using FSW instruments of state's patent application publication.Make For another example, the U.S. Patent No. 8,056,797 for authorizing Packer et al. describes and can weld multiple agitating frictions Tool heads perform the mandrel that can be expanded of welding simultaneously on tube outer surface.

All material and bibliography cited herein are incorporated by reference into same degree, as each independent with reference to text It offers and is noted particularly and individually and is incorporated by reference into.The definition or use of term in the bibliography being incorporated to and sheet The term that text provides definition is inconsistent or during contradiction, be applicable in provided herein is term definition, and inapplicable bibliography In term definition.

In this application it is particularly interesting that at arcing engagement（arcuate joint）It is welded while both sides, such as The joint formed by two pipe sections.The U.S. Patent No. 6,419,142 for authorizing Larsson describes tool there are two opposite FSW instruments FSW devices（Referring to the Figures 5 and 6 and the 5th column of Larsson, 35-62 rows）.However, such as by the applicant Best understanding, it appears that be that Larsson is only contemplated while welded from joint one side（Additional plumb joint is being placed on first Supporter is used only as during the opposite place of the closing line of welding；Referring to the 6th column of Larsson, 25-27 rows）.Larsson Fail provide at the different position along joint simultaneously welds joint both sides agitating friction welder and side Method.

Therefore, there are still the needs to improved agitating friction welder and method.

The content of the invention

Present subject matter is provided wherein to equipment, system and the side of the agitating friction welding simultaneously of the both sides at arcing engagement Method.The FSW techniques are included on the outer surface of joint the step of operating the first FSW instruments and the first anvil block.The technique further includes When the first FSW instruments and the second anvil block still in operation, the 2nd FSW instruments and the are simultaneously operated on the inner surface of joint The step of two anvil blocks.First anvil block and the second anvil block position to provide juxtaposition to the 2nd FSW instruments and the first FSW instruments respectively Power.It first FSW instruments, the 2nd FSW instruments, the first anvil block and the second anvil block each while is moved in series along joint It is dynamic, to generate welding region in joint.

The FSW techniques optionally include the following steps, i.e., are sent a telegram here using multiple sensors and process rule and/or target Monitor and control subly FSW techniques.

In the other aspects of some embodiments, which may include following steps, i.e., once having welded the first arc Shape joint makes the 2nd FSW instruments and the second anvil block be marched to along track at the second arcing engagement.

In the other other aspects of some embodiments, which may include following steps, i.e., along joint Inner surface operates dressing tool（Such as cutting tool, milling tool, sander）Or heating/cooling element, and trail second FSW instruments.

Present subject matter also provides FSW devices, the inner surface that is used to weld at arcing engagement and for providing juxtaposition Operate the supporting force of the external FSW instruments on the outer surface of joint.

In the one side of some embodiments, FSW devices include the anvil block and FSW works by arm and/or frame connection Tool.FSW instruments and anvil block can be operated from the inner surface at arcing engagement, and be configured to the motor simultaneously edge via driving anvil block Closing line traveling.FSW devices may also comprise the second walking mechanism, be configured to FSW devices being moved away from simultaneously from the first joint Move to the second joint.In some embodiments, this walking mechanism includes leg and wheel, and engagement is arranged on workpiece Track on inner surface（Such as the interior intracavitary in pipe）.

A variety of purposes, feature, aspect and the advantage of present subject matter by from preferred embodiment it is described below together with Attached drawing becomes more apparent upon, and in the accompanying drawings, similar label indicates similar component.

Description of the drawings

Fig. 1 be and meanwhile agitating friction welding joint opposite side method.

Fig. 2 is the method using the opposite side of three FSW instruments agitating friction welding simultaneously joint.

Fig. 3 is that there are two FSW instruments and the schematic diagram of the control system of the FSW systems of two anvil blocks for controlling tool.

Fig. 4 a and 4b show the joint formed between the end of two pipe sections.

Fig. 4 c are the section views of the joint of Fig. 4 a and 4b that friction welding is just being stirred according to the method for Fig. 1.

Fig. 5 is another exemplary section of the joint of Fig. 4 a and 4b that friction welding is just being stirred according to the method for Fig. 1 View.

Fig. 6 is the section view of the joint of Fig. 4 a and 4b that friction welding is just being stirred according to the method for Fig. 2.

Fig. 7 is the side view for the inner surface of welded pipe and for supporting the FSW devices of external FSW devices.

Fig. 8 is the side view for the inner surface of welded pipe and for supporting another FSW devices of external FSW devices.

Fig. 9 is the close-up view for the FSW instruments for being pierced into joint.

Figure 10 a are the side views of FSW devices and walking mechanism.

Figure 10 b are the FSW devices of Figure 10 a and the front view of walking mechanism.

Specific embodiment

Following discussion provides the various exemplary embodiment of present subject matter.Although each embodiment represents invention element Single combination, but present subject matter is considered all possible combinations for including disclosed element.Therefore, if an implementation Mode includes element A, B and C, and second embodiment includes element B and D, then even if not explicitly disclosed, present subject matter It is considered other remaining combinations including A, B, C or D.

It should be appreciated that disclosed technology provides a variety of Advantageous techniques effects, including being used to weld arcing engagement simultaneously The improved FSW devices of the opposite both sides at place.

Fig. 1 is shown for the method 100 at agitating friction welding arcing engagement, such as the end by engaging two pipe sections Portion and the joint formed.In step 110, the first FSW instruments are operated on the outer surface of joint（Such as with pin and shoulder The instrument in portion）, and operate the 2nd FSW instruments simultaneously on the inner surface of the joint.The FSW instruments by rotating the instrument, Being pierced into joint with the instrument causes joint to be heated and from two workpiece（Such as two pipe sections）Material mixed It is miscellaneous and the instrument is made to advance along joint, so as to form along the welding region of joint length to operate.FSW instruments It is operated simultaneously at different locations along joint, separates angular distance.

In the step 120, the first anvil block is arranged on the inner surface of joint and opposite with the first FSW instruments（That is, with One FSW instruments are located at the same position on joint, but on the opposite side of joint）, and when the first FSW tool operations with When generating welding region, advance to provide supporting to joint in series with the first FSW instruments（Such as power）.Similarly, in step In rapid 130, the second anvil block is arranged on it is on the outer surface of joint and opposite with the 2nd FSW instruments, and when the 2nd FSW tool operations During generating welding region, advance to provide supporting to joint in series with the 2nd FSW instruments（Such as power）.

During operation, the outer surface that the first FSW instruments are pierced into depth piercing joint with first, and the 2nd FSW instruments The inner surface for being pierced into depth piercing joint with second.First and second piercing depth can be equal to each other or different from each other.It is pierced into Depth can be substantially fixed through welding procedure or may depend on other technological parameters and change.In some realities of method 100 It applies in mode, the first and second piercing depth are both at least 50%, 60% or even the 80% of the thickness of joint.With this side Formula, method 100 ensure that welding region will pass through the whole thickness of joint and generate, and reduce or eliminate with it is lack of penetration （LOP）The defects of related.

Fig. 2 is shown for the method 200 at agitating friction welding arcing engagement.Method 200 is similar to method 100, however, The step 210 of method 200 is included by rotating the 3rd FSW instruments and the 3rd FSW instruments being made to be pierced into depth along engagement with the 3rd The outer surface at place, which is advanced, to be come the 3rd FSW instruments are operated on the outer inner surface of joint the step of.Method 200 also includes step 240, step 240 needs that the 3rd anvil block is made to advance in a manner of opposite with the 3rd FSW instruments on the inner surface of joint, with 3rd juxtaposition power of the 3rd FSW instruments of supporting is provided during operation.Those skilled in the art will realize in the above method In may include additional FSW instruments without departing from present inventive concept.In addition, those skilled in the art will realize upper State in method, can at the arcing engagement on simultaneously use the instruments of non-FSW instruments with FSW instruments, such as cutter, buffer, Milling tool, sander and heating element.

In some embodiments, FSW instruments and anvil block are controlled by control system.Fig. 3 is shown for control method 100 The schematic diagram of the control system 300 of technological parameter.The example of technological parameter may include the rotary speeies of FSW instruments, gait of march, It is pierced into depth, is pierced into power and the angle of attack.Other technological parameters may include the gait of march and supporting force of anvil block.In addition other Technological parameter may include the gait of march and temperature that are placed in heating/cooling element near joint or joint.Above-mentioned technique Parameter is provided only as illustrative purposes, and is not intended to the scope of limitation present subject matter.

Control system 300 includes control module 310.Control module 310 is constructed to perform one group of electronics of multiple functions The instruction that can be performed.The instruction can be stored in database 340 as director data object（Such as non-transitory Electronic saving is situated between Matter）On.Computation processor（It is not shown）Available for accessing the director data object, and electronically perform the instruction.Control system 300 also include sensor interface 320, sensor interface 320 be configured to from FSW instruments 350, FSW instruments 352, FSW anvil blocks 360, And 362 receiving sensor signal of FSW anvil blocks.Sensor interface 320 transmits these signals with control module 310,310 structure of module It makes to store the sensor signal as the sensing data object on database 340.Control module 310 also can be from other devices Receiving sensor signal, such as heating/cooling element or cutter, buffer and other dressing tools.

Control module 310 is configured to by sensor signal compared with pre-defined rule, to determine for changing technological parameter It is recommended that.Pre-defined rule is stored in as rule objects on database 340.The example of pre-defined rule may include for solder joints Profile is heated/cooled down in the expectation at place（Such as time span under specific temperature, rate of temperature change）, for the expectation of FSW instruments Depth is pierced into, it is expected to be pierced into power or is even capable of the precedence table of desired control parameter, each parameter is respectively provided with weighted value.

The suggestion can be via user interface（Such as printout, sound signal or video are shown（It is not shown））It is presented to User（Such as solder technologist）.User then may be selected perform the suggestion, in this case, control module 310 via Actuator interface 330 sends control signals to FSW instruments 350, FSW instruments 352, FSW anvil blocks 360 and FSW anvil blocks 362 In it is at least one.Control module 310 is also configured to just automatically send control signal without user interaction.When passing through device One of when receiving control signal, via actuator（Such as motor, hydraulic system, heating/cooling element etc.）Change technique control System.It should be appreciated that FSW instruments 350, FSW instruments 352, FSW anvil blocks 360 and FSW anvil blocks 362 can refer in a broad sense With with the relevant very multipart subsystem of FSW techniques, such as sensor, actuator, FSW instruments and anvil block.FSW instruments 350th, each in FSW instruments 352, FSW anvil blocks 360 and FSW anvil blocks 362 may each comprise the list with partial control system Only son's system.

The jointly owned United States Patent (USP) Shen submitted on November 15th, 2012 is also described in for the control system of FSW devices It please sequence number the 13/677586th（Apply ' 586）In, it is incorporated herein by reference.Those skilled in the art will realize It can implement to many inventive concepts described in the application of ' 586 in control system 300.

Fig. 4 a show the first pipe section 401 and the second pipe section 402.Pipe section 401 has hollow inside 403（It is for example, interior Chamber）, the wall thickness 404, outer surface 405, inner surface 406 and the length 407 that are limited by internal diameter and outer diameter.Pipe section 402 also has Hollow inside, wall thickness, outer surface and inner surface and length, although not necessarily identical with 401 size of pipe section.Pipe section 401 Accurate dimension, size, composition and general construction with 402 may depend on specific application and change.It is any to be suitable for agitating friction The construction of welding is expected.

When engaging the end of pipe section 401 and 402, as shown in Figure 4 b, they form inside continuous hollow and are connect with arc 410 at conjunction.When welds joint 410, pipe section 401 and 402 can be with other component combinations using to convey gas, water, dirt Water or any fluid.Pipe section 401 and 402 can also be used for storage or comprising substance.

In some embodiments, the average thickness of pipe section 401 is substantially equal to the average thickness of the second pipe section 402 Degree.For having big outer diameter（Such as 4 feet, 6 feet or even greater than 10 feet）Pipe section for, manufacturing process is often led It causes with the pipe section changed substantially on thickness.In some embodiments, FSW method and systems described herein provide notable FSW instruments more than the variation on pipe section wall thickness are pierced into depth.For example, the first and second pipe sections can have the change on wall thickness Change, which is less than first and is pierced into depth（That is the piercing depth of the first FSW instruments）Depth is pierced into second（I.e. second The piercing depth of FSW instruments）In smaller 20%, 10% or even 5%.

In some applications, the first and second piercing depth are at least inches, are in some cases 1 inch.In addition, First and second piercing depth can start at inch, and cumulative to 1 inch or more.

In the other aspects of some embodiments, the first pipe section and the second pipe section are each respectively provided at least 3 inches Wall thickness.In these embodiments, the piercing depth of FSW instruments is preferably at least the 50% of wall thickness（For example, at least 1 again English It is very little), and the variation on wall thickness is less than the 1% of piercing depth（Such as 0.015 inch）.However, these values provided are mainly used for example The property shown purpose, and those skilled in the art will recognize that inventive concepts described herein can be applied to a variety of wall thickness and have At the arcing engagement of the thickness change of a variety of degree.

Fig. 4 c show just be stirred at the arcing engagement of friction welding 410 section view according to method 100.FSW instruments 420 operate to generate FSW welding at arcing engagement 410 on outer surface 405.As shown in arrow 422, FSW instruments around Axis 421 rotates, and by arrow 423（Such as clockwise）It advances on shown direction along joint 410.Anvil block 424 with FSW instruments 420 are simultaneously advanced, and juxtaposition power is provided on inner surface 406.

In addition, FSW instruments 430 are rotated and advanced on inner surface 406 on direction 433, while anvil block 434 is with FSW Instrument 430 is advanced and the offer juxtaposition power on outer surface 405.FSW instruments 420 and FSW instruments 430 angulately with the angle that is separated 440.Fig. 4 c are shown in about 135 degree of angle 440.However, FSW instruments 420 and FSW instruments 430 can separate suitable for specific application Any number of degrees.In some embodiments, if angle 440 is only set in mass dryness fraction, and in other embodiments, angle 440 is set At the maximum angular distance of 180 degree, as shown in Figure 5.It is also contemplated that angle 440 can run through process reform（Such as 420 He of FSW instruments The gait of march of FSW instruments 430 can set with different constant speeds or can set with different acceleration and/or deceleration）.

In Fig. 4 c, FSW instruments 430 are located at before FSW instruments 420, and are " leading " instrument.In other embodiment In, FSW instruments 420 may be set to lead instrument, while FSW instruments 430 " trailing " are later.

In other aspects, FSW instruments 420 and FSW instruments 430 may span across at arcing engagement 410 whole length（It is i.e. complete 360 degree）Or the only a part of joint 410（Such as 180 degree）It advances.However, in some embodiments of method 100, At least a portion of the operating time of FSW instruments 420 and the operating time of FSW instruments 430 are temporarily be overlapped（Such as they are grasped simultaneously Make at least some times）, to reduce the total time completed needed for welding.

In some applications, FSW instruments 420 and FSW instruments 430 can be with the constructors of substantially noninterlace（For example, angle 440 be 0 degree or only several years）, so as to eliminate the needs to anvil block 424 and 434.In this applications, in welding process period, FSW instruments 420 and FSW instruments 430, which are respectively, provides each other with juxtaposition power.However, when FSW instruments 420 and FSW instruments 430 are direct During juxtaposition（Such as angle 440 is substantially 0 degree）, the piercing depth of the combination of FSW instruments 420 and FSW instruments 430 will no more than Wall thickness 404, without being contacted with obtaining each other.FSW instruments 420 and 430 alternate angle distance of FSW instruments is made to allow larger group It closes and is pierced into depth, to ensure the complete welding region through wall thickness 404.In addition, larger piercing depth allows with larger wall FSW techniques are performed at thick arcing engagement.

In the application along the high welding quality of the whole length of joint 410 is needed, FSW instruments 420 and FSW instruments 430 can advance in 410 whole length of each comfortable joint, to ensure that the entire wall thickness 404 through joint 410 forms welding section Domain.

Fig. 6 shows the modification of method 200.FSW instruments 620 are operated on 610 outer surface 605 at the arcing engagement, and The side of arrow 623 travels upwardly.Anvil block 624 operates on inner surface 606, and simultaneously arrow 623 direction uplink come in for FSW instruments 620 provide juxtaposition power.In addition, FSW instruments 630 with previously for described in Fig. 4 c（Such as 430 He of FSW instruments FSW instruments 434）Similar manner and anvil block 634 operate together.FSW instruments 630 angulately separate angle of release 640 with FSW instruments 620.

Method shown in Fig. 6 also includes FSW instruments 650, is operated on inner surface 606, and passes through 654 juxtaposition of anvil block.To the greatest extent Pipe method 200 needs the 3rd FSW instruments operated on the outer surface at arcing engagement, but method as shown in Figure 6 is shown The 3rd FSW instruments operated at arcing engagement on inner surface（Such as FSW instruments 650）.Those skilled in the art will realize It arrives, as allowed by space, power and other constraintss, then additional FSW instruments and other instruments（Such as cutter, polishing Machine, heating/cooling element）It can simultaneously be operated in the inner surface and the outer surface at arcing engagement.

Fig. 7 shows the FSW devices 700 operated on 710 inner surface 706 at the arcing engagement.Device 700 includes arm 705a.It is FSW instruments 712 in the end of arm 705a, is clamped by head 715 and be removably connected with head 715.Such as As shown in arrow 717, head 715 is around axis 716 compared with arm 705a rotation FSW instruments 712.Head 715 may also include more Kind sensor（Such as force snesor, potentiometer, accelerometer etc.）, to measure the parameter in relation to FSW techniques（Such as it is pierced into deep Degree, Angle Position, rotary speed, temperature etc.）.

Device 700 also includes arm 705b.It is anvil block 730 in the end of arm 705b.Anvil block 730 is in attachment device It is revolvably connected with arm 705b at 735, and is driven by motor 740.Attachment device 735 may include bearing joint or be suitable for Other any revolvable attachment devices that anvil block 730 is allowed to be rotated compared with arm 705b.When being driven by motor 740, anvil Seat 730 is just being rotated up as shown in arrow 742, and is advanced forward on direction 745.

Arm 705a and 705b is connected via hydraulic press 720.Hydraulic press 720 be configured to such as by arrow 721 Suo Shi in arm It is expanded between portion 705a and 705b.Press 720 generates the first power via FSW instruments 712 on inner surface 706, and via anvil block 730 generate the second power on inner surface 706.Device 700 provides a kind of while the welds joint 710 at a position interior table Face 706 and another position provides the device of supporting force for external FSW instruments on joint 710.

Fig. 8 shows the device 800 operated on 810 inner surface 806 at the arcing engagement.Device 800 is included via hydraulic pressure The arm 805a that machine 820 is connected indirectly with arm 805b.It is FSW instruments 812 in arm 805a ends, by head 815 Removably and revolvably keep.During the operation of device 800, head 815 arrow 817 Suo Shi such as by rotating FSW Instrument 812, to generate FSW welding regions inside at arcing engagement 810.

Device 800 also includes arm 805b.It is anvil block 830 in the end of arm 805b.Anvil block 830 is in attachment device It is revolvably connected with arm 805b at 835, and is driven by motor 840.Attachment device 835 may include bearing joint or be suitable for Other any revolvable attachment devices that anvil block 830 is allowed to be rotated compared with arm 805b.When being driven by motor 840, anvil Seat 830 is just being rotated up as shown in arrow 842, and is advanced forward on direction 845.

Hydraulic press 820 is configured to such as by being expanded arrow 821 Suo Shi between arm 805a and 805b.Hydraulic press 820 passes through The first power is generated on inner surface 806 by FSW instruments 812, and the second power is generated on inner surface 806 via anvil block 830.

In addition, device 800 includes the arm 807a being connected indirectly with arm 807b via hydraulic press 822.Arm 807b It is similar to arm 805b and press 820 respectively in structure with press 822, and operate in a similar manner.However, arm 807a with Arm 805a the difference is that, have be located at the cutting tool 811 of its end rather than FSW instruments.Cutting tool 811 It is operated on inner surface 806, to provide finishing cutting after the generation welding region of FSW instruments 812.

Arm 805a and arm 807a are connected via attachment device 860, and form angle 865.Attachment device 860 can be rigidity Attachment device is kept constant wherein operating hour angle 865 in device 800.Attachment device 860 may also comprise the connection dress that can be rotated It puts, so as to which arm 805a be allowed to be rotated compared with arm 807a（Such as before the operation of device 800, period, and/or afterwards）. In this embodiment, during FSW techniques, angle 865 is adjustable and controlled.

Each pair of arm independently generates two power on inner surface 806.Paired power can be independent by hydraulic press 820 and 822 Ground controls.In some embodiments, device 800 may also include to sense many kinds of parameters and characteristic in relation to FSW techniques Sensor.In addition, the controllable parameter of device 800（Such as power, gait of march, rotary speed, piercing depth, component locations etc.）It can It is connected during FSW techniques with control system（Such as backfeed loop）And adjust, there is preferred temperature heating/cooling wheel to generate Welding that is wide and/or it is expected to be pierced into depth.

Device 700 and 800 can with operated on the outer surface at arcing engagement it is other（External）FSW devices make simultaneously With.The position of anvil block 730,830 and/or 870 can be controlled and synchronous with external FSW devices, to provide juxtaposition and the external dress of supporting The FSW instruments put（Or other instruments）Power.

Fig. 9 shows to be pierced into the close-up view for the FSW instruments 910 that depth 915 is pierced into joint 905.Depth 915 is pierced into be more than The 50% of the wall thickness 904 of joint 905.In some embodiments, the above method and system are using more than engagement to be welded 50%, 60% or even 80% FSW instruments of the thickness at place are pierced into depth.Simultaneously with deep piercing depth（For example, more than engagement The 50% of the thickness at place）The both sides opposite from joint（It is such as inside and outside）Two or more FSW instruments are operated, can be subtracted It is few（）Complete time and the reduction of welding（）It is lack of penetration（LOP）Both possibilities of defect.In addition, FSW as described herein Method and system allows to have the welding at the arcing engagement of larger thickness.

Figure 10 a show to be fitted with the FSW of the walking mechanism for advancing along the length for the pipe section for forming joint 710 The side view of device 700.The walking mechanism includes four legs, can be observed from the side perspective view in Figure 10 therein Only two legs（Such as leg 1001 and 1002）.Each leg, which has, to be coordinated into the wheel in track 1005 and 1006（Such as it takes turns Son 1003 and 1004）.Track 1005 and 1006 is removably placed in interior intracavitary, and along the pipe section for forming joint 710 Length.

When device 700 is properly located along the pipe portion segment length at joint 710, the leg of walking mechanism is via liquid Press 720 is retracted, so as to which device 720 be allowed to be rotated in pipe section inner annular.When the welding of joint 710 is completed, dress Putting 700 then can be by the leg and wheel of extension traveling mechanism with engagement rail 1005 and 1006, and then makes 700 edge of device The traveling of track 1005 and 1006（Referring to the arrow 1010 in Figure 10）, to be further transferred to new engagement along pipe portion segment length Place.By using the motor that the wheel with walking mechanism is connected or other suitable for 700 weight of mobile device can be used What mechanism manually pushes or pull on device 700.

Figure 10 b show to be fitted with the front view of the device 700 of walking mechanism.The perspective shows the leg of walking mechanism How to be outwards at an angle of so that between leg（And in the rotating path of FSW instruments 712 and anvil block 730）Orbit portion Section can be removed that device 700 is allowed to rotate in welding process period.

The front view of Figure 10 b also shows that anvil block 730 obtains the surface of the contact of rotation with the inner surface 706 of joint 710. The surface of anvil block 730 may include expendable material 731, such as in the jointly owned United States Patent (USP) Shen that on November 21st, 2012 submits Please be described in sequence number the 13/683126th, content is incorporated herein by reference.

As used herein, and unless context dictates otherwise, term " being connected to " is intended to include being directly connected to（Wherein that Two elements of this connection are in contact with each other）Be indirectly connected with（Wherein at least one add ons are located between two elements）Two Person.Therefore, term " being connected to " and " with ... be connected " be synonymous use.

Although above-mentioned example is focused primarily at welding arcing engagement, those skilled in the art will realize this Many inventive concepts described in text can be similarly applicable to flat joint, irregular curved joint and other joints Construction.

As used in this paper specifications and in subsequent claims, "a", "an" and "the" Meaning includes plural reference object, unless in addition context clearly indicates.Equally, as this paper is used herein, " interior " contains Justice include " inside " and " on ", unless in addition context clearly indicates.

The value scope of this paper is enumerated, and is intended merely as individually indicating to fall into the simple table of each separate value in the range of this Up to method.Unless in addition instruction herein, each separate value is incorporated in the specification, as it is individually enumerated herein.Herein All methods can be performed with any proper order, unless in addition indicating or being in addition shown clearly in by context herein Contradiction.Any and all example or exemplary language that particular implementation on this paper provides（Such as " such as "）'s It uses, is only intended for preferably illustrating present subject matter, and be not intended to requiring in addition that the present subject matter of protection causes model The limitation placed.In the present specification, no language is construed as instruction to putting into practice important any undesired of present subject matter The element of protection.

The alternative element of present invention disclosed herein theme or the grouping of embodiment should not be construed as limiting.Each group structure Part can individually or with any combinations of the other components of the group or the other elements found herein be pointed out and be claimed.For Convenient and/or patentability reason, one or more components of group may include to remove in group or in group.When occur it is any this When class includes or deletes, this specification is considered as herein including amended group, used so as to complete in the appended claims All marlcush groups（Markush group）Written description.

Those skilled in the art will be apparent to the skilled artisan that in addition to those having been described above it is possible also much to change, Conceive without departing from the disclosure herein.Therefore, outside removing within the scope of the appended claims, present subject matter is unrestricted System.In addition, when illustrating both book and the appended claims, all terms should be with consistent with the context broadest Possibility mode explain.Particularly, term " comprising " and "comprising" should be construed to refer in a manner of non-exclusive element, component or Step, so as to indicate referenced element, component or step can together with other elements, component or step that reference is not known by Presentation, utilization or combination.Be related in specification and claims selected from by A, B, C ... and group that N is formed in During at least one in something, the text should be construed to need only one element in the group rather than A that N or B is added to add N Deng.

Claims (20)

1. a kind of method for the arcing engagement that agitating friction welding is formed by the first pipe section and the second pipe section, including：

Simultaneously（）By rotating the first FSW instruments and the first FSW instruments being made to be pierced into depth along the joint with first Outer surface advance come on the outer surface of the joint operate the first FSW instruments；And（）By rotating the 2nd FSW works Have and make the inner surface that the 2nd FSW instruments are pierced into depth along the joint with second to advance to come in the joint The 2nd FSW instruments are operated on inner surface；

The first anvil block is made to advance in a manner of opposite with the first FSW instruments on the inner surface of the joint, to grasp The the first juxtaposition power for supporting the first FSW instruments is provided during work, wherein the first anvil block passes through attachment device and the first arm energy It rotatably connects, and the 2nd FSW instruments are revolvably connected by head with the second arm；Wherein the first arm and the second arm pass through liquid Press connects；

The second anvil block is made to advance in a manner of opposite with the 2nd FSW instruments on the outer surface of the joint, to grasp The the second juxtaposition power for supporting the 2nd FSW instruments is provided during work.

2. the method for claim 1, wherein the first piercing depth and the second piercing depth are described first At least the 50% of pipe section and at least one thickness in second pipe section.

3. the method for claim 1, wherein the average thickness of first pipe section is substantially equal to second pipe The average thickness of section.

4. method as claimed in claim 3, wherein, first pipe section and second pipe section each have tube thickness On variation, be less than described first be pierced into depth and it is described second be pierced into depth in smaller 10%.

5. the method for claim 1, wherein the first piercing depth and the second piercing depth are at least English It is very little.

6. the method for claim 1, wherein the first piercing depth and the second piercing depth are at least 1 English It is very little.

7. the method for claim 1, wherein first pipe section and second pipe section each have at least 3 The thickness of inch.

8. the method for claim 1, wherein the first FSW instruments and the 2nd FSW instruments are deviated with 180 degree Amount operates on the outer surface and the inner surface respectively.

9. the method as described in claim 1, further comprising the steps of：By rotating the 3rd FSW instruments and making the 3rd FSW The outer surface that instrument is pierced into depth along the joint with the 3rd, which is advanced, to be come on the outer surface of the joint with described the One FSW instruments and the 2nd FSW instruments are simultaneously operated the 3rd FSW instruments.

It is 10. a kind of for the outer surface for the arcing engagement that welding is formed by the first pipe section and the second pipe section and Nei Biao simultaneously The stirring friction welding system in face, including：

First FSW instruments are configured to rotation and are pierced into outer surface traveling of the depth along the joint with first；

2nd FSW instruments are configured to rotation and are pierced into inner surface traveling of the depth along the joint with second, and simultaneously First FSW instruments are advanced along the outer surface of the joint；

First anvil block, be configured to by with the first FSW instruments it is juxtaposed in a manner of along the joint inner surface advance, To provide the first relative to force；

Second anvil block, be configured to by with the 2nd FSW instruments it is juxtaposed in a manner of along the joint outer surface advance, To provide the second relative to force；And

Engine is controlled, the electronic storage medium including processor and with the password being able to carry out is configured to monitor and control It is operated while making the first FSW instruments, the 2nd FSW instruments, first anvil block and second anvil block,

Wherein the first anvil block is revolvably connected by attachment device with the first arm, and the 2nd FSW instruments pass through head and second Arm revolvably connects；Wherein the first arm is connected with the second arm by hydraulic press.

11. stirring friction welding system as claimed in claim 10 further includes at least one sensor, it is used to sense described First FSW instruments, the 2nd FSW instruments, first anvil block and at least one position in second anvil block, with And for generating the signal for being provided to the control engine.

12. stirring friction welding system as claimed in claim 10 further includes at least one sensor, it is used to sense described The rotation of first FSW instruments and the 2nd FSW instruments, gait of march are pierced into power and are pierced at least one in depth.

13. stirring friction welding system as claimed in claim 10, further includes：

First walking mechanism moves the first anvil block along the length of first pipe section and the inner cavity of second pipe section And the 2nd FSW instruments.

14. stirring friction welding system as claimed in claim 10 further includes the 3rd instrument, it is connected with the 3rd anvil block, and It can be operated from the 3rd inner surface of the joint.

15. stirring friction welding system as claimed in claim 14, wherein, the 3rd instrument is selected from by FSW instruments, cutter And the group that milling tool is formed.

16. stirring friction welding system as claimed in claim 10, wherein, the anvil block includes expendable material, and described Anvil block removably connects, and is configured to be formed when being pierced into the part of welding by the first FSW instruments.

17. stirring friction welding system as claimed in claim 10, further includes sensor, can operate to lead described first It is at least one in FSW instruments, the 2nd FSW instruments, first anvil block and second anvil block.

18. stirring friction welding system as claimed in claim 10, further includes sensor, can operate to trail described first It is at least one in FSW instruments, the 2nd FSW instruments, first anvil block and second anvil block.

19. stirring friction welding system as claimed in claim 18, wherein, the sensor is configured to monitor described second The transfer movement of FSW instruments.

20. stirring friction welding system as claimed in claim 18, wherein, the sensor is configured to determine described second The revolvable pin of FSW instruments is arranged on the depth in the wall of the joint.