CN106392301A - Friction stir welding (FSW) machine and control method thereof - Google Patents
Friction stir welding (FSW) machine and control method thereof Download PDFInfo
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- CN106392301A CN106392301A CN201611074864.3A CN201611074864A CN106392301A CN 106392301 A CN106392301 A CN 106392301A CN 201611074864 A CN201611074864 A CN 201611074864A CN 106392301 A CN106392301 A CN 106392301A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/125—Rotary tool drive mechanism
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- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a friction stir welding (FSW) machine and a control method thereof and is used for solving the technical problem of poor control precision of existing FSW machines. According to the technical scheme, the rotary and linear driving force is directly applied to a stir shaft, and a stir head is driven to move. A rotary rotor and a linear rotor are fixed on the stir shaft, a rotary stator drives the rotary rotor to drive the stir shaft to rotate after being electrified, and a linear stator drives the linear rotor to drive the stir shaft to reciprocate up and down after being electrified. The displacement and the pressure of the stir shaft are directly controlled by the linear stator and the linear rotor, and the mass and the inertia of the stir shaft are much smaller than those of a spindle box, so that a control system has the high dynamic response speed. The height of the spindle box is roughly adjusted through a ball screw firstly in the Z-axis displacement direction, the height of the stir shaft is fine adjusted through the linear stator and the linear rotor in the Z'-axis displacement direction, and problems about precise control on the displacement and the pressure of the stir head are solved.
Description
Technical field
The present invention relates to a kind of friction-welding machine, and in particular to a kind of friction stir welding machine, further relates to this agitating friction weldering
The control method of machine.
Background technology
Agitating friction weldering (Friction Stir Welding, FSW) is the principle based on friction welding technology, is welded by Britain
Connect institute in a kind of solid phase joining technique of invention in 1991.The stirring-head press-in welded piece of high-speed rotation, stirring-head
The shaft shoulder and mixing needle occur friction to produce frictional heat with the metal material of surrounding, and frictional heat makes the mother metal of stirring-head near zone be subject to
Heat and there is plastic deformation, advance along welding direction with stirring-head, the metal of thermoplastification with stirring-head agitation by front
Portion transfers to rear portion, and realizes being welded solid diffusivity between metal under the forging and stamping effect of the stirring-head shaft shoulder.In existing skill
In art, driving stirring-head to insert workpiece to be welded has two ways：Ball-screw drives and hydraulic-driven.
Document 1 " Authorization Notice No. is the Chinese utility model patent of CN202763278U " discloses a kind of agitating friction weldering
Machine, including cutter, down-feed screw, vertical lift change speed gear box, the upright both sides of cutter are provided with down-feed screw, vertically
Leading screw one end is connected with described vertical lift change speed gear box.Although this technology can adjust master by the ball-screw on cutter both sides
The axial height of axle box, controls the axial feed displacement of stirring-head, but ball-screw is easy to wear, long-time service precision cannot
Ensure.Main spindle box total quality is big, and in motor process, inertia is big.So by motor-vertical lift change speed gear box-vertical silk
Thick stick-main spindle box adjusting displacement and the pressure of stirring-head, system response time slow it is difficult to realize the displacement of stirring-head, pressure
Accurately closed loop control.
Document 2 " Authorization Notice No. is the Chinese invention patent of CN103273188B " discloses a kind of two-chip type wheel hub stirring
Friction welding apparatus, including auger pin, thrust ball bearing, push pedal, strain force sensor, hydraulic jack, rotational pressure axle,
Travelling spline and frequency control motor, wherein, described auger pin is threadedly secured in the first end of rotational pressure axle, rotation
Hydraulic jack is run through at second end of pressure axis, and the second end end is connected with frequency control motor by travelling spline；Described rotation
The first end turning pressure axis is provided with thrust ball bearing, be provided between described thrust ball bearing and hydraulic jack for pressure detecting and
The strain force sensor controlling；Be provided with thrust ball bearing seat outside described thrust ball bearing, described thrust ball bearing seat with should
It is provided with the push pedal for conducting pressure between variant force transducer.This technology is that the specific agitating friction weldering for chip wheel hub sets
Standby, whole hydraulic system (hydraulic cylinder) is integrated in main spindle box, main shaft makes piston rod although hydraulic-driven master can be passed through
Axle realizes vertical feed campaign, but because the main shaft as piston rod rotates while axially-movable again, cylinder body
Sealing poor, have an oil leakage phenomenon, produce and reveal, thus being difficult to the displacement of stirring-head, the accurate closed loop control of pressure.
Content of the invention
Poor in order to overcome the shortcomings of existing friction stir welding machine control accuracy, the present invention provide a kind of friction stir welding machine and
Its control method.Rotation and linear driving force are directly applied on shaft the present invention, drive stirring-head motion.Rotation mover
It is both secured on shaft with linear mover, drive shaft rotation by driving rotation mover after rotatable stator energising, linearly
Shaft is driven to pump by driving linear mover after stator energising.Directly control stirring using linearly determining mover
The displacement of axle and pressure, because the quality of shaft and the quality of inertia ratio main spindle box and inertia are much smaller, control system is dynamic
Fast response time.Ball-screw coarse adjustment main spindle box height is first passed through on Z axis direction of displacement, Z axial displacement direction is passed through again
Linearly determine mover accurate adjustment shaft height, thus realizing the accurate closed loop control of stirring-head displacement and pressure.
The technical solution adopted for the present invention to solve the technical problems is：A kind of friction stir welding machine, is characterized in：Including
Stirring-head 10, main spindle box 7, crossbeam 20, column 21 and base 28, described shaft 15 is located in the middle part of main spindle box 7, described stirring-head
10 are arranged on shaft 15 bottom, and shaft 15 upper and lower ends are respectively arranged with Linear Rotation bushing 17 and thrust bearing 16；Institute
State and outside shaft 15, be provided with rotation mover iron core 8, rotation mover iron core 8 two ends are provided with rotation mover winding 9；Described rotation
Mover iron core 8 is correspondingly arranged on rotatable stator iron core 2, and rotatable stator iron core 2 two ends are provided with rotatable stator winding 1；Described stir
Mix and be additionally provided with linear mover iron core 12 outside axle 15, linear mover iron core 12 has exterior notch, and the embedded linear mover of copper
Sliver 11；Described linear mover iron core 12 is correspondingly arranged on linear motor stator iron core 5, and linear motor stator iron core 5 has inner tank mouths, embeds
Linear stator winding 6；Between described rotation mover iron core 8 and rotatable stator iron core 2, linear mover iron core 12 and linear motor stator
It is respectively kept with air gap 19 between iron core 5；It is provided with cooling tube 4, cooling outside described rotatable stator iron core 2 and linear motor stator iron core 5
Pipe 4 two ends are connected with cooling liquid inlet 18 and cooling liquid outlet 14；Between described shaft 15 and rotation mover iron core 8, stir
Mix between axle 15 and linear mover iron core 12, between rotation mover iron core 8 and rotatable stator iron core 2, linear mover iron core 12 with
It is respectively arranged with nonmagnetic layer 13 between linear motor stator iron core 5；Described rotation mover iron core 8 and linear mover iron core 12 it
Between, between rotatable stator iron core 2 and linear motor stator iron core 5, between rotatable stator iron core 2 and cooling tube 4, linear motor stator iron core 5
It is respectively arranged with electro-magnetic screen layer 3 and cooling tube 4 between；It is provided with the 3rd ball-screw 33 outside described main spindle box 7；3rd ball
Leading screw 33 is passed through hanging device 34 and is connected with crossbeam 20；It is provided with the first slide unit 25, the first slide unit 25 immediately below described crossbeam 20
It is correspondingly arranged on the first ball-screw 24；It is provided with the second slide unit 27, the second slide unit 27 correspondence sets below described first slide unit 25
It is equipped with the second ball-screw 26.
Described rotation mover iron core 8, rotation mover winding 9, rotatable stator iron core 2 are being stirred respectively with rotatable stator winding 1
Mix one group of each setting in axle 15 top and the bottom；Described linear mover iron core 12, linear motor stator iron core 5 and linear motor stator winding 6 are in stirring
One group of axle 15 middle part setting.
Described first ball-screw 24, the second ball-screw 26, the 3rd ball-screw 33 respectively by the first servomotor 35,
Second servomotor 29, the 3rd servomotor 31 drive；Also pacify between described 3rd ball-screw 33 and the 3rd servomotor 31
Equipped with band brake apparatus 32.
It is correspondingly arranged on angular displacement sensor 22, line position respectively at described stirring-head 10, shaft 15, the first slide unit 25
Displacement sensor 30 and pressure transducer 23.
Described shaft 15 is made up of the first shaft 43 and the second shaft 44, and the second shaft 44 upper end is fixedly installed
There is travelling spline 42, travelling spline 42 is matched with travelling spline housing 41, and travelling spline housing 41 is fixedly installed on the first shaft
43 lower ends；Described first shaft 43 drives the second shaft 44 to rotate and then make by travelling spline housing 41 and travelling spline 42
Stirring-head 10 rotates；Do in the sliding space that described second shaft 44 leaves between travelling spline 42 and travelling spline housing 41
Axially reciprocating, the first shaft 43 keeps axially static i.e. the first shaft 43 only to rotate not doing axial straight line fortune
Dynamic, the second shaft 44 had not only rotated but also had done axial linear movement.
A kind of control method of above-mentioned friction stir welding machine, is characterized in comprising the following steps：
Step one, workpiece to be welded is fixed on the first slide unit 25, the 3rd servomotor 31 drives the 3rd ball-screw 33
Whole main spindle box 7 is driven to move downward, linear mover iron core 12 is in the centre position of linear motor stator iron core 5；
Step 2, it is passed through three-phase alternating current to rotatable stator winding 1, rotatable stator winding 1 produces a rotating excitation field, quiet
With respect to rotating excitation field setting in motion, now, rotation mover winding 9 cuts the magnetic force of rotating excitation field to rotation mover winding 9 only
Line and produce faradic current, this faradic current is interacted with rotating excitation field again and produces electromagnetic force, and the electromagnetism that electromagnetic force produces turns
Square drives rotation mover iron core 8, and along the rotation of rotating excitation field direction together with the shaft 15 being fixedly connected with rotation mover iron core 8
Turn, the rotating speed of rotating excitation field is exactly the synchronous rotational speed of shaft 15；The power frequency of conversion input rotatable stator winding 1 and voltage
Control the rotating speed of shaft 15；The phase sequence changing input rotation mover winding 9 alternating current changes the direction of rotating excitation field, thus controlling
The direction of rotation of shaft 15 processed；
Step 3, to be mixed 10 will contact workpiece to be welded before, the 3rd ball-screw 33 stop motion, band brake apparatus 32
Start, the height and position of the 3rd ball-screw 33 self-locking fixed main shaft case 7；It is passed through three-phase alternating current to linear motor stator winding 6,
Produce straight-line traveling wave magnetic field in air gap 19, static linear mover sliver 11 is with respect to travelling-magnetic-field setting in motion, now line
Property mover sliver 11 cutting travelling-magnetic-field and produce faradic current, the magnetic field interaction in this faradic current and air gap 19 produces
Electromagnetic push, linear mover iron core 12 and the shaft 15 that is fixedly connected with linear mover iron core 12 are in the presence of electromagnetic push
Move along a straight line together；The power frequency of conversion input linear stator winding 6 and voltage control the linear motion of shaft 15 fast
Degree；The phase sequence changing input linear mover winding alternating current changes the direction of travelling-magnetic-field thus controlling the motion speed of shaft 15
Degree；
Step 4, stirring-head 10, under the drive of shaft 15, rotate and are downwardly into workpiece to be welded；Linear Rotation bushing
17 enable shaft 15 linear reciprocal movement while rotary motion, thrust bearing 16 shaft 15 axially loaded and
When gap is excessive, limit the range of movement of shaft 15, prevent shaft 15 axial float excessive；
Step 5, the first servomotor 35 drive the first ball-screw 24 and drive the first slide unit 25 to move forward and backward, real
Existing workpiece to be welded feed motion in the X-axis direction, adjusts the rotating speed of the first servomotor 35 and welder is treated in direction of rotation control
The X-axis feed speed of part and direction, realize retreating and advance；
Step 6, the second servomotor 29 drive the second ball-screw 26 and drive the second slide unit 27 and the first slide unit 25 to do
Move forward and backward, realize workpiece to be welded feed motion in the Y-axis direction, adjust rotating speed and the direction of rotation of the second servomotor 29
Control Y-axis feed speed and the direction of workpiece to be welded, realize retreating and advance；
Stirring-head 10 axle that step 7, linear movement pick-up 30, angular displacement sensor 22 and pressure transducer 23 are gathered
To displacement, rotating speed and force information back to computer, send an instruction to each controlled motor by after computer integrated optimizing,
Form computer closed loop control system.
The invention has the beneficial effects as follows：Rotation and linear driving force are directly applied on shaft the present invention, and drive is stirred
Mix head motion.Rotation mover is both secured on shaft with linear mover, by driving rotation mover band after rotatable stator energising
Dynamic shaft rotation, drives shaft to pump by driving linear mover after linear motor stator energising.Using linear
Determine displacement and pressure that mover directly controls shaft, because the quality of shaft and the quality of inertia ratio main spindle box and inertia are little
Much, control system rapid dynamic response speed.Ball-screw coarse adjustment main spindle box height is first passed through on Z axis direction of displacement, in Z
Pass through again on axial displacement direction linearly to determine mover accurate adjustment shaft height, the precise control solving stirring-head displacement with pressure is asked
Topic.
Describe the present invention below in conjunction with drawings and Examples in detail.
Brief description
Fig. 1 is the front view of friction stir welding machine in the embodiment of the present invention 1.
Fig. 2 is the right view of friction stir welding machine in the embodiment of the present invention 1.
Fig. 3 is the headstock structure schematic diagram of friction stir welding machine in the embodiment of the present invention 1.
Fig. 4 is the partial enlarged drawing of main spindle box air gap in the embodiment of the present invention 1.
The headstock structure schematic diagram of friction stir welding machine in Fig. 5 embodiment of the present invention 2.
Fig. 6 is the front view of friction stir welding machine in the embodiment of the present invention 3.
Fig. 7 is the right view of friction stir welding machine in the embodiment of the present invention 3.
Fig. 8 is the headstock structure schematic diagram of friction stir welding machine in the embodiment of the present invention 3.
Fig. 9 is the partial enlarged drawing of main spindle box air gap in the embodiment of the present invention 3.
Figure 10 is the main spindle box of friction stir welding machine and rotary oil cylinder structural representation in the embodiment of the present invention 4.
In figure, 1- rotatable stator winding, 2- rotatable stator iron core, 3- electro-magnetic screen layer, 4- cooling tube, 5- linear motor stator ferrum
Core, 6- linear motor stator winding, 7- main spindle box, 8- rotates mover iron core, and 9- rotates mover winding, 10- stirring-head, and 11- linearly moves
Sub- sliver, 12- linear mover iron core, 13- nonmagnetic layer, 14- cooling liquid outlet, 15- shaft, 16- thrust bearing, 17- line
Property rotary liner, 18- cooling liquid inlet, 19- air gap, 20- crossbeam, 21- column, 22- angular displacement sensor, 23- pressure sensing
Device, 24- first ball-screw, 25- first slide unit, 26- second ball-screw, 27- second slide unit, 28- base, 29- second watches
Take motor, 30- linear movement pick-up, 31- the 3rd servomotor, 32- band brake apparatus, 33- the 3rd ball-screw, 34- mounting dress
Put, 35- first servomotor, 36- rotary oil cylinder, 37- servo valve, 38- piston rod, 39- rotary oil cylinder fixing device, 40- presses
Gap sensor, 41- moves about spline housing, and 42- moves about spline, 43- first shaft, 44- second shaft.
Specific embodiment
Following examples reference picture 1-10.
Embodiment 1：Reference picture 1-4, friction stir welding machine of the present invention and its displacement, compress control method, including stirring-head
10th, main spindle box 7, crossbeam 20, column 21, base 28, described stirring-head 10 is arranged on shaft 15 bottom, and shaft is two about 15
End is provided with Linear Rotation bushing 17 and thrust bearing 16；It is fixedly installed rotation mover iron core 8, rotation outside described shaft 15
Mover iron core 8 two ends are provided with rotation mover winding 9；Described rotation mover iron core 8 is correspondingly arranged on rotatable stator iron core 2, rotation
Turn stator core 2 two ends and be provided with rotatable stator winding 1；It is further fixedly arranged on linear mover iron core 12 outside described shaft 15
(secondary iron core), linear mover iron core 12 has exterior notch, and embedded copper linear mover sliver 11 (secondary sliver)；Described
Linear mover iron core 12 is correspondingly arranged on linear motor stator iron core 5 (primary iron core), and linear motor stator iron core 5 has inner tank mouths, embeds
Linear stator winding 6 (armature winding)；Described rotation mover iron core 8 and rotatable stator iron core 2 between, linear mover iron core 12
It is respectively kept with air gap 19 and linear motor stator iron core 5 between；Described rotatable stator iron core 2 and linear motor stator iron core 5 are provided with outward cold
But pipe 4, cooling tube 4 two ends are connected with cooling liquid inlet 18 and cooling liquid outlet 14；In described shaft 15 and rotation mover ferrum
Between core 8, between shaft 15 and linear mover iron core 12, between rotation mover iron core 8 and rotatable stator iron core 2, linearly move
It is respectively arranged with nonmagnetic layer 13 between sub- iron core 12 and linear motor stator iron core 5；In described rotation mover iron core 8 and linear mover
Between iron core 12, between rotatable stator iron core 2 and linear motor stator iron core 5, between rotatable stator iron core 2 and cooling tube 4, linearly fixed
It is respectively arranged with electro-magnetic screen layer 3 between sub- iron core 5 and cooling tube 4.
It is provided with the 3rd ball-screw 33 outside described main spindle box 7；3rd ball-screw 33 passes through hanging device 34 and crossbeam
20 are connected；It is provided with the first slide unit 25, the first slide unit 25 is correspondingly arranged on the first ball-screw 24 immediately below described crossbeam 20；Institute
State and below the first slide unit 25, be provided with the second slide unit 27, the second slide unit 27 is correspondingly arranged on the second ball-screw 26.
Described rotation mover iron core 8, rotation mover winding 9, rotatable stator iron core 2 are being stirred respectively with rotatable stator winding 1
Mix one group of each setting in axle 15 top and the bottom；Described linear mover iron core 12, linear motor stator iron core 5 and linear motor stator winding 6 are in stirring
One group of axle 15 middle part setting.
Described first ball-screw 24, the second ball-screw 26, the 3rd ball-screw 33 respectively by the first servomotor 35,
Second servomotor 29, the 3rd servomotor 31 drive；Also pacify between described 3rd ball-screw 33 and the 3rd servomotor 31
Equipped with band brake apparatus 32.
It is correspondingly arranged on angular displacement sensor 22, line position respectively at described stirring-head 10, shaft 15, the first slide unit 25
Displacement sensor 30 and pressure transducer 23.
Friction stir welding machine and its displacement, compress control method, are characterized in that this control method is further comprising the steps of：
Workpiece to be welded is fixed on the first slide unit 25 step 1., and the 3rd servomotor 31 drives the 3rd ball-screw 33 to carry
Move whole main spindle box 7 to move downward, linear mover iron core 12 is in the centre position of linear motor stator iron core 5；
Step 2. is passed through three-phase alternating current to rotatable stator winding 1, and rotatable stator winding 1 produces a rotating excitation field, quiet
With respect to rotating excitation field setting in motion, now, rotation mover winding 9 will cut the magnetic of rotating excitation field to rotation mover winding 9 only
The line of force and produce faradic current, this faradic current is interacted with rotating excitation field again and produces electromagnetic force, the electromagnetism that electromagnetic force produces
Torque actuated rotation mover iron core 8 and the shaft 15 being secured to connect rotate along rotating excitation field direction together, rotary magnetic
The rotating speed of field is exactly the synchronous rotational speed of shaft 15；Controlled by the power frequency and voltage of conversion input rotatable stator winding 1
The rotating speed of shaft 15 processed；By the phase sequence changing input rotation mover winding 9 alternating current change the direction of rotating excitation field from
And control the direction of rotation of shaft 15；
Before step 3. will contact workpiece to be welded for be mixed 10, the 3rd ball-screw 33 stop motion, band brake apparatus 32
Start, the height and position of the 3rd ball-screw 33 self-locking fixed main shaft case 7；It is passed through three-phase alternating current to linear motor stator winding 6,
Produce straight-line traveling wave magnetic field in air gap 19, static linear mover sliver 11 is with respect to travelling-magnetic-field setting in motion, now line
Property mover sliver 11 will cut travelling-magnetic-field and produce faradic current, the magnetic field interaction in this faradic current and air gap 19 produces
Raw electromagnetic push, linear mover iron core 12 and the shaft 15 being secured to connect do straight line in the presence of electromagnetic push together
Motion；Control the point-to-point speed of shaft 15 by the power frequency and voltage converting input linear stator winding 6；Logical
Cross the direction to change travelling-magnetic-field for the phase sequence changing input linear mover winding alternating current thus controlling the motion of shaft 15
Speed；
Step 4. stirring-head 10, under the drive of shaft 15, rotates and is downwardly into workpiece to be welded；Linear Rotation bushing
17 make shaft 15 while rotary motion again can with linear reciprocal movement, thrust bearing 16 in shaft 15 axially loaded and
When gap is excessive, limit the range of movement of shaft 15, prevent shaft 15 axial float excessive；
Step 5. first servomotor 35 drives the first ball-screw 24 and drives the first slide unit 25 to move forward and backward, thus
Realize workpiece to be welded feed motion in the X-axis direction, by adjusting rotating speed and the direction of rotation of the first servomotor 35
Control X-axis feed speed and the direction of workpiece, realize retreating and advance；
Step 6. second servomotor 29 drives the second ball-screw 26 and drives the second slide unit 27 and the first slide unit 25 to do
Move forward and backward, thus realizing workpiece to be welded feed motion in the Y-axis direction, by adjust the second servomotor 29 rotating speed and
Direction of rotation can control Y-axis feed speed and the direction of workpiece, realizes retreating and advances；
The stirring-head 10 that step 7. linear movement pick-up 30, angular displacement sensor 22, pressure transducer 23 are gathered is axially
Displacement, rotating speed, force information back send an instruction to each controlled motor to computer, then by after computer integrated optimizing,
Thus forming computer closed loop control system.
Embodiment 2：With reference to Fig. 5, on the basis of embodiment 1, main spindle box 7 internal structure and control method are different,
Remaining structure and control method are identical.The first shaft 43 and the second shaft will be divided into by shaft 15 in embodiment 1
44, the first shaft 43 only rotates and does not do axial linear movement, and the second shaft 44 had not only rotated but also done axial direction
Linear motion.Friction stir welding machine of the present invention and its displacement, compress control method, including stirring-head 10, main spindle box 7, crossbeam 20,
Column 21, base 28, described stirring-head 10 is arranged on the second shaft 44 bottom, and the setting of the second shaft 44 upper and lower ends is wired
Property rotary liner 17 and thrust bearing 16；Linear mover iron core 12 (secondary ferrum is fixedly installed outside described second shaft 44
Core), linear mover iron core 12 has exterior notch, and embedded copper linear mover sliver 11 (secondary sliver)；Described linearly move
Sub- iron core 12 is correspondingly arranged on linear motor stator iron core 5 (primary iron core), and linear motor stator iron core 5 has inner tank mouths, is embedded with linear
Stator winding 6 (armature winding)；Described second shaft 44 upper end is fixedly installed travelling spline 42, travelling spline 42 with travelling
Spline housing 41 matches, and travelling spline housing 41 is fixedly installed on the first shaft 43 lower end；Described travelling spline 42 and travelling flower
The sliding space for the second shaft 44 axial movement is left between key set 41；Described first shaft 43 upper and lower ends are provided with
Thrust bearing 16；It is fixedly installed rotation mover iron core 8, rotation mover iron core 8 two ends are provided with outside described first shaft 43
Rotation mover winding 9；Described rotation mover iron core 8 is correspondingly arranged on rotatable stator iron core 2, and rotatable stator iron core 2 two ends are arranged
There is rotatable stator winding 1；Between described rotation mover iron core 8 and rotatable stator iron core 2, linear mover iron core 12 and linear motor stator
It is respectively kept with air gap 19 between iron core 5；It is provided with cooling tube 4, cooling outside described rotatable stator iron core 2 and linear motor stator iron core 5
Pipe 4 two ends are connected with cooling liquid inlet 18 and cooling liquid outlet 14；Described first shaft 43 and rotation mover iron core 8 it
Between, between the second shaft 44 and linear mover iron core 12, between rotation mover iron core 8 and rotatable stator iron core 2, linear mover
It is respectively arranged with nonmagnetic layer 13 between iron core 12 and linear motor stator iron core 5；In described rotation mover iron core 8 and linear mover ferrum
Between core 12, between rotatable stator iron core 2 and linear motor stator iron core 5, between rotatable stator iron core 2 and cooling tube 4, linear motor stator
It is respectively arranged with electro-magnetic screen layer 3 between iron core 5 and cooling tube 4.
It is provided with the 3rd ball-screw 33 outside described main spindle box 7；3rd ball-screw 33 passes through hanging device 34 and crossbeam
20 are connected；It is provided with the first slide unit 25, the first slide unit 25 is correspondingly arranged on the first ball-screw 24 immediately below described crossbeam 20；Institute
State and below the first slide unit 25, be provided with the second slide unit 27, the second slide unit 27 is correspondingly arranged on the second ball-screw 26.
Described first ball-screw 24, the second ball-screw 26, the 3rd ball-screw 33 respectively by the first servomotor 35,
Second servomotor 29, the 3rd servomotor 31 drive；Also pacify between described 3rd ball-screw 33 and the 3rd servomotor 31
Equipped with band brake apparatus 32.
Be correspondingly arranged on respectively at described stirring-head 10, the second shaft 44, the first slide unit 25 angular displacement sensor 22,
Linear movement pick-up 30 and pressure transducer 23.
Friction stir welding machine and its displacement, compress control method, are characterized in that this control method is further comprising the steps of：
Workpiece to be welded is fixed on the first slide unit 25 step 1., and the 3rd servomotor 31 drives the 3rd ball-screw 33 to carry
Move whole main spindle box 7 to move downward, linear mover iron core 12 is in the centre position of linear motor stator iron core 5；
Step 2. is passed through three-phase alternating current to rotatable stator winding 1, and rotatable stator winding 1 produces a rotating excitation field, quiet
With respect to rotating excitation field setting in motion, now, rotation mover winding 9 will cut the magnetic of rotating excitation field to rotation mover winding 9 only
The line of force and produce faradic current, this faradic current is interacted with rotating excitation field again and produces electromagnetic force, the electromagnetism that electromagnetic force produces
Torque actuated rotation mover iron core 8 and the first shaft 43 being secured to connect rotate along rotating excitation field direction together, the
One shaft 43 drives the second shaft 44 to rotate by travelling spline housing 41 and travelling spline 42 and then makes stirring-head 10 synchronous
Rotation, the rotating speed of rotating excitation field is exactly the synchronous rotational speed of stirring-head 10；Power frequency by conversion input rotatable stator winding 1
And voltage is controlling the rotating speed of stirring-head 10；Rotary magnetic is changed by the phase sequence changing input rotation mover winding 9 alternating current
The direction of field is thus control the direction of rotation of stirring-head 10；
Before step 3. will contact workpiece to be welded for be mixed 10, the 3rd ball-screw 33 stop motion, band brake apparatus 32
Start, the height and position of the 3rd ball-screw 33 self-locking fixed main shaft case 7；It is passed through three-phase alternating current to linear motor stator winding 6,
Produce straight-line traveling wave magnetic field in air gap 19, static linear mover sliver 11 is with respect to travelling-magnetic-field setting in motion, now line
Property mover sliver 11 will cut travelling-magnetic-field and produce faradic current, the magnetic field interaction in this faradic current and air gap 19 produces
Raw electromagnetic push, linear mover iron core 12 and the second shaft 44 being secured to connect do in the presence of electromagnetic push together
Linear motion；The straight line of the second shaft 44 is controlled to transport by the power frequency and voltage converting input linear stator winding 6
Dynamic speed；The direction of travelling-magnetic-field is changed thus controlling second to stir by the phase sequence changing input linear mover winding alternating current
Mix the movement velocity of axle 44；
Step 4. stirring-head 10, under the drive of the second shaft 44, rotates and is downwardly into workpiece to be welded；Second stirring
Axially reciprocating is done in the sliding space that axle 44 leaves between travelling spline 42 and travelling spline housing 41, thus the first stirring
Axle 43 keeps axially static, and the second shaft 44 and linear mover iron core 12 axially move；Linear Rotation bushing 17 makes second
Shaft 44 while rotary motion again can with linear reciprocal movement, thrust bearing 16 in the second shaft 44 axially loaded and
When gap is excessive, limit the range of movement of the second shaft 44, prevent the second shaft 44 axial float excessive；
Step 5. first servomotor 35 drives the first ball-screw 24 and drives the first slide unit 25 to move forward and backward, thus
Realize workpiece to be welded feed motion in the X-axis direction, by adjusting rotating speed and the direction of rotation of the first servomotor 35
Control X-axis feed speed and the direction of workpiece, realize retreating and advance；
Step 6. second servomotor 29 drives the second ball-screw 26 and drives the second slide unit 27 and the first slide unit 25 to do
Move forward and backward, thus realizing workpiece to be welded feed motion in the Y-axis direction, by adjust the second servomotor 29 rotating speed and
Direction of rotation can control Y-axis feed speed and the direction of workpiece, realizes retreating and advances；
The stirring-head 10 that step 7. linear movement pick-up 30, angular displacement sensor 22, pressure transducer 23 are gathered is axially
Displacement, rotating speed, force information back send an instruction to each controlled motor to computer, then by after computer integrated optimizing,
Thus forming computer closed loop control system.
Embodiment 3：Reference picture 6-9, friction stir welding machine of the present invention and its displacement, compress control method, including stirring-head
10th, main spindle box 7, crossbeam 20, column 21, base 28, described stirring-head 10 is arranged on shaft 15 bottom, and shaft is two about 15
End is provided with Linear Rotation bushing 17 and thrust bearing 16；It is fixedly installed rotation mover iron core 8, rotation outside described shaft 15
Mover iron core 8 two ends are provided with rotation mover winding 9；Described rotation mover iron core 8 is correspondingly arranged on rotatable stator iron core 2, rotation
Turn stator core 2 two ends and be provided with rotatable stator winding 1；Gas is left between described rotation mover iron core 8 and rotatable stator iron core 2
Gap 19；It is provided with cooling tube 4, cooling tube 4 two ends are connected with cooling liquid inlet 18 and are gone out with coolant outside described rotatable stator iron core 2
Mouth 14；Described shaft 15 and rotation mover iron core 8 between, rotation mover iron core 8 and rotatable stator iron core 2 between set respectively
It is equipped with nonmagnetic layer 13；It is provided with electro-magnetic screen layer 3 between described rotatable stator iron core 2 and cooling tube 4；Described shaft 15
Upper end is connected with rotary oil cylinder 36 by piston rod 38, and rotary oil cylinder 36 outer wall is provided with rotary oil cylinder fixing device 39, rotation
Oil-cylinder fixer 39 is arranged on main spindle box 7.
Described main spindle box 7 and rotary oil cylinder fixing device 39 outer wall are provided with the 3rd ball-screw 33；3rd ball-screw
33 are connected with crossbeam 20 by hanging device 34；It is provided with the first slide unit 25, the first slide unit 25 is corresponding immediately below described crossbeam 20
It is provided with the first ball-screw 24；It is provided with the second slide unit 27, the second slide unit 27 is correspondingly arranged on below described first slide unit 25
Second ball-screw 26.
Described first ball-screw 24, the second ball-screw 26, the 3rd ball-screw 33 respectively by the first servomotor 35,
Second servomotor 29, the 3rd servomotor 31 drive；Also pacify between described 3rd ball-screw 33 and the 3rd servomotor 31
Equipped with band brake apparatus 32；Described rotary oil cylinder 36 is controlled by servo valve 37.
It is correspondingly arranged on corner respectively at described stirring-head 10, shaft 15, the oil-feed of servo valve 37 and return line
Displacement sensor 22, linear movement pick-up 30 and differential pressure pickup 40.
Friction stir welding machine and its displacement, compress control method, are characterized in that this control method is further comprising the steps of：
Workpiece to be welded is fixed on the first slide unit 25 step 1., and the 3rd servomotor 31 drives the 3rd ball-screw 33 to carry
Move whole main spindle box 7 to move downward, piston rod 38 is in the centre position of rotary oil cylinder 36；
Step 2. is passed through three-phase alternating current to rotatable stator winding 1, and rotatable stator winding 1 produces a rotating excitation field, quiet
With respect to rotating excitation field setting in motion, now, rotation mover winding 9 will cut the magnetic of rotating excitation field to rotation mover winding 9 only
The line of force and produce faradic current, this faradic current is interacted with rotating excitation field again and produces electromagnetic force, the electromagnetism that electromagnetic force produces
The shaft 15 that torque actuated rotates mover iron core 8 and is secured to connect rotates along rotating excitation field direction together and (rotates oil
The piston rod 38 of cylinder 36 also and then rotates), the rotating speed of rotating excitation field is exactly the synchronous rotational speed of shaft 15；By conversion input rotation
Turn the power frequency of stator winding 1 and voltage to control the rotating speed of shaft 15；Exchanged by changing input rotation mover winding 9
The direction to change rotating excitation field for the phase sequence of electricity is thus control the direction of rotation of shaft 15；
Before step 3. will contact workpiece to be welded for be mixed 10, the 3rd ball-screw 33 stop motion, band brake apparatus 32
Start, the height and position of the 3rd ball-screw 33 self-locking fixed main shaft case 7；Hydraulic oil enters rotary oil cylinder 36 through servo valve 37
Interior, drive piston rod 38 and drive shaft 15 to move along a straight line；Enter hydraulic fluid flow rate control in rotary oil cylinder 36 by controlling
The feed speed of piston rod 38 processed so reach control stirring-head 10 insertion welded piece speed；Stirring is adjusted by servo valve 37
The Z axle direction of feed of axle 15, realizes retreating and advances；
Step 4. stirring-head 10, under the drive of shaft 15, rotates and is downwardly into workpiece to be welded；Linear Rotation bushing
17 make the shaft 15 again can (piston rod 38 of rotary oil cylinder 36 can be simultaneously real with linear reciprocal movement while rotary motion
Now rotation and linear movement), thrust bearing 16, when shaft 15 axially loaded and gap are excessive, limits the motion of shaft 15
Scope, prevents shaft 15 axial float excessive；
Step 5. first servomotor 35 drives the first ball-screw 24 and drives the first slide unit 25 to move forward and backward, thus
Realize workpiece to be welded feed motion in the X-axis direction, by adjusting rotating speed and the direction of rotation of the first servomotor 35
Control X-axis feed speed and the direction of workpiece, realize retreating and advance；
Step 6. second servomotor 29 drives the second ball-screw 26 and drives the second slide unit 27 and the first slide unit 25 to do
Move forward and backward, thus realizing workpiece to be welded feed motion in the Y-axis direction, by adjust the second servomotor 29 rotating speed and
Direction of rotation can control Y-axis feed speed and the direction of workpiece, realizes retreating and advances；
The stirring-head 10 that step 7. linear movement pick-up 30, angular displacement sensor 22, differential pressure pickup 40 are gathered is axially
Displacement, rotating speed, force information back send an instruction to each controlled motor to computer, then by after computer integrated optimizing,
Thus forming computer closed loop control system.
Embodiment 4：With reference to Figure 10, on the basis of embodiment 3, main spindle box 7 internal structure and control method are different,
Remaining structure and control method are identical.The first shaft 43 and the second shaft will be divided into by shaft 15 in embodiment 3
44, the first shaft 43 only rotates and does not do axial linear movement, and the second shaft 44 had not only rotated but also done axial direction
Linear motion.Friction stir welding machine of the present invention and its displacement, compress control method, including stirring-head 10, main spindle box 7, crossbeam 20,
Column 21, base 28, described stirring-head 10 is arranged on the second shaft 44 bottom, and the second shaft 44 is provided with Linear Rotation
Bushing 17；It is fixedly installed rotation mover iron core 8, rotation mover iron core 8 two ends are provided with rotation outside described first shaft 43
Mover winding 9；Described rotation mover iron core 8 is correspondingly arranged on rotatable stator iron core 2, and rotatable stator iron core 2 two ends are provided with rotation
Turn stator winding 1；Air gap 19 is left between described rotation mover iron core 8 and rotatable stator iron core 2；Described rotatable stator iron core 2
It is provided with outward cooling tube 4, cooling tube 4 two ends are connected with cooling liquid inlet 18 and cooling liquid outlet 14；In described first shaft
43 and rotation mover iron core 8 between, rotation mover iron core 8 and rotatable stator iron core 2 between be respectively arranged with nonmagnetic layer 13；?
It is provided with electro-magnetic screen layer 3 between described rotatable stator iron core 2 and cooling tube 4；Described second shaft 44 upper end is fixedly installed
There is travelling spline 42, travelling spline 42 is matched with travelling spline housing 41, and travelling spline housing 41 is fixedly installed on the first shaft
43 lower ends；The sliding space for the second shaft 44 axial movement is left between described travelling spline 42 and travelling spline housing 41；
Described travelling spline 42 is fixedly connected with piston rod 38, and piston rod 38 passes through from having inside the first shaft 43 of hollow structure
It is connected with rotary oil cylinder 36, piston rod 38 is provided with Linear Rotation bushing 17；Described rotary oil cylinder 36 outer wall is provided with rotation
Oil-cylinder fixer 39, rotary oil cylinder fixing device 39 is arranged on main spindle box 7.
Described main spindle box 7 and rotary oil cylinder fixing device 39 outer wall are provided with the 3rd ball-screw 33；3rd ball-screw
33 are connected with crossbeam 20 by hanging device 34；It is provided with the first slide unit 25, the first slide unit 25 is corresponding immediately below described crossbeam 20
It is provided with the first ball-screw 24；It is provided with the second slide unit 27, the second slide unit 27 is correspondingly arranged on below described first slide unit 25
Second ball-screw 26.
Described first ball-screw 24, the second ball-screw 26, the 3rd ball-screw 33 respectively by the first servomotor 35,
Second servomotor 29, the 3rd servomotor 31 drive；Also pacify between described 3rd ball-screw 33 and the 3rd servomotor 31
Equipped with band brake apparatus 32；Described rotary oil cylinder 36 is controlled by servo valve 37.
It is correspondingly arranged on respectively at described stirring-head 10, the second shaft 44, the oil-feed of servo valve 37 and return line
Angular displacement sensor 22, linear movement pick-up 30 and differential pressure pickup 40.
Friction stir welding machine and its displacement, compress control method, are characterized in that this control method is further comprising the steps of：
Workpiece to be welded is fixed on the first slide unit 25 step 1., and the 3rd servomotor 31 drives the 3rd ball-screw 33 to carry
Move whole main spindle box 7 to move downward, piston rod 38 is in the centre position of rotary oil cylinder 36；
Step 2. is passed through three-phase alternating current to rotatable stator winding 1, and rotatable stator winding 1 produces a rotating excitation field, quiet
With respect to rotating excitation field setting in motion, now, rotation mover winding 9 will cut the magnetic of rotating excitation field to rotation mover winding 9 only
The line of force and produce faradic current, this faradic current is interacted with rotating excitation field again and produces electromagnetic force, the electromagnetism that electromagnetic force produces
The first shaft 43 that torque actuated rotates mover iron core 8 and is secured to connect rotates along rotating excitation field direction together and (revolves
Turn the piston rod 38 of oil cylinder 36 also and then to rotate), the first shaft 43 drives the by travelling spline housing 41 and travelling spline 42
Two shafts 44 rotate and then make stirring-head 10 synchronous rotary (piston rod 38 of rotary oil cylinder 36 is also driven by travelling spline 42 simultaneously
Dynamic rotation), the rotating speed of rotating excitation field is exactly the synchronous rotational speed of stirring-head 10；Electric current by conversion input rotatable stator winding 1
Frequency and voltage are controlling the rotating speed of stirring-head 10；Rotation is changed by the phase sequence changing input rotation mover winding 9 alternating current
Turn the direction in magnetic field thus controlling the direction of rotation of stirring-head 10；
Before step 3. will contact workpiece to be welded for be mixed 10, the 3rd ball-screw 33 stop motion, band brake apparatus 32
Start, the height and position of the 3rd ball-screw 33 self-locking fixed main shaft case 7；Hydraulic oil enters rotary oil cylinder 36 through servo valve 37
Interior, drive piston rod 38 and drive the second shaft 44 to move along a straight line by travelling spline 42；Enter rotation oil by controlling
In cylinder 36, hydraulic fluid flow rate controls the feed speed of piston rod 38 and then reaches control stirring-head 10 insertion welded piece speed；Logical
Cross the Z axle direction of feed that servo valve 37 adjusts the first shaft 43, realize retreating and advance；
Step 4. stirring-head 10, under the drive of the second shaft 44, rotates and is downwardly into workpiece to be welded；Linear Rotation
Bushing 17 makes the second shaft 44 again can (piston rod 38 of rotary oil cylinder 36 can with linear reciprocal movement while rotary motion
To realize rotation and linear movement simultaneously), thrust bearing 16, when the first shaft 43 axially loaded and gap are excessive, limits the
The range of movement of one shaft 43, prevents the first shaft 43 axial float excessive；
Step 5. first servomotor 35 drives the first ball-screw 24 and drives the first slide unit 25 to move forward and backward, thus
Realize workpiece to be welded feed motion in the X-axis direction, by adjusting rotating speed and the direction of rotation of the first servomotor 35
Control X-axis feed speed and the direction of workpiece, realize retreating and advance；
Step 6. second servomotor 29 drives the second ball-screw 26 and drives the second slide unit 27 and the first slide unit 25 to do
Move forward and backward, thus realizing workpiece to be welded feed motion in the Y-axis direction, by adjust the second servomotor 29 rotating speed and
Direction of rotation can control Y-axis feed speed and the direction of workpiece, realizes retreating and advances；
The stirring-head 10 that step 7. linear movement pick-up 30, angular displacement sensor 22, differential pressure pickup 40 are gathered is axially
Displacement, rotating speed, force information back send an instruction to each controlled motor to computer, then by after computer integrated optimizing,
Thus forming computer closed loop control system.
Claims (6)
1. a kind of friction stir welding machine it is characterised in that：Including stirring-head (10), main spindle box (7), crossbeam (20), column (21)
With base (28), in the middle part of main spindle box (7), described stirring-head (10) is arranged on shaft (15) bottom to described shaft (15)
Portion, shaft (15) upper and lower ends are respectively arranged with Linear Rotation bushing (17) and thrust bearing (16)；Described shaft (15)
It is provided with outward rotation mover iron core (8), rotation mover iron core (8) two ends are provided with rotation mover winding (9)；Described rotation mover
Iron core (8) is correspondingly arranged on rotatable stator iron core (2), and rotatable stator iron core (2) two ends are provided with rotatable stator winding (1)；Institute
State and be additionally provided with linear mover iron core (12) outside shaft (15), linear mover iron core (12) has exterior notch, and embedded copper
Producing linear mover sliver (11)；Described linear mover iron core (12) is correspondingly arranged on linear motor stator iron core (5), linear motor stator iron core
(5) have inner tank mouths, be embedded with linear stator winding (6)；Between described rotation mover iron core (8) and rotatable stator iron core (2),
Linearly it is respectively kept with air gap (19) between mover iron core (12) and linear motor stator iron core (5)；Described rotatable stator iron core (2) and line
Property stator core (5) outside be provided with cooling tube (4), cooling tube (4) two ends are connected with cooling liquid inlet (18) and cooling liquid outlet
(14)；Between described shaft (15) and rotation mover iron core (8), between shaft (15) and linear mover iron core (12),
Between rotation mover iron core (8) and rotatable stator iron core (2), divide between linear mover iron core (12) and linear motor stator iron core (5)
It is not provided with nonmagnetic layer (13)；Between described rotation mover iron core (8) and linear mover iron core (12), rotatable stator iron core
(2) and linear motor stator iron core (5) between, between rotatable stator iron core (2) and cooling tube (4), linear motor stator iron core (5) and cooling
It is respectively arranged with electro-magnetic screen layer (3) between pipe (4)；It is provided with the 3rd ball-screw (33) outside described main spindle box (7)；3rd rolling
Ballscrew (33) is passed through hanging device (34) and is connected with crossbeam (20)；It is provided with the first slide unit immediately below described crossbeam (20)
(25), the first slide unit (25) is correspondingly arranged on the first ball-screw (24)；It is provided with second sliding below described first slide unit (25)
Platform (27), the second slide unit (27) is correspondingly arranged on the second ball-screw (26).
2. friction stir welding machine according to claim 1 it is characterised in that：Described rotation mover iron core (8), rotation mover
Winding (9), rotatable stator iron core (2) and rotatable stator winding (1) respectively arrange one group in shaft (15) top and the bottom respectively；Described
Linear mover iron core (12), linear motor stator iron core (5) arrange one group with linear motor stator winding (6) in the middle part of shaft (15).
3. friction stir welding machine according to claim 1 it is characterised in that：Described first ball-screw (24), the second rolling
Ballscrew (26), the 3rd ball-screw (33) are respectively by the first servomotor (35), the second servomotor (29), the 3rd servo electricity
Machine (31) drives；It is also equipped with band brake apparatus (32) between described 3rd ball-screw (33) and the 3rd servomotor (31).
4. friction stir welding machine according to claim 1 it is characterised in that：Described stirring-head (10), shaft (15),
First slide unit (25) place is correspondingly arranged on angular displacement sensor (22), linear movement pick-up (30) and pressure transducer respectively
(23).
5. friction stir welding machine according to claim 1 it is characterised in that：Described shaft (15) is by the first shaft
(43) and the second shaft (44) is constituted, and the second shaft (44) upper end is fixedly installed travelling spline (42), travelling spline
(42) match with travelling spline housing (41), travelling spline housing (41) is fixedly installed on the first shaft (43) lower end；Described
One shaft (43) drives the second shaft (44) rotation by travelling spline housing (41) and travelling spline (42) and then makes stirring
Head (10) rotation；The sliding space that described second shaft (44) is left between travelling spline (42) and travelling spline housing (41)
Inside do axially reciprocating, static i.e. the first shaft (43) of the first shaft (43) holding axial direction only rotates and do not do axle
To linear motion, the second shaft (44) had not only rotated but also had done axial linear movement.
6. a kind of control method of friction stir welding machine described in claim 1 is it is characterised in that comprise the following steps：
Step one, workpiece to be welded is fixed on the first slide unit (25), the 3rd servomotor (31) drives the 3rd ball-screw
(33) whole main spindle box (7) is driven to move downward, linear mover iron core (12) is in the centre position of linear motor stator iron core (5)；
Step 2, it is passed through three-phase alternating current to rotatable stator winding (1), rotatable stator winding (1) produces a rotating excitation field, quiet
With respect to rotating excitation field setting in motion, now, rotating excitation field is cut in rotation mover winding (9) for rotation mover winding (9) only
The magnetic line of force and produce faradic current, this faradic current is interacted with rotating excitation field again and produces electromagnetic force, the electricity that electromagnetic force produces
Magnetic torque drives rotation mover iron core (8), and along rotation together with the shaft (15) being fixedly connected with rotation mover iron core (8)
Magnetic direction rotates, and the rotating speed of rotating excitation field is exactly the synchronous rotational speed of shaft (15)；Conversion input rotatable stator winding (1)
Power frequency and the rotating speed of voltage control shaft (15)；The phase sequence changing input rotation mover winding (9) alternating current changes rotation
Turn the direction in magnetic field, thus controlling the direction of rotation of shaft (15)；
Before step 3, head to be mixed (10) will contact workpiece to be welded, the 3rd ball-screw (33) stop motion, band brake apparatus
(32) start, the height and position of the 3rd ball-screw (33) self-locking fixed main shaft case (7)；It is passed through to linear motor stator winding (6)
Three-phase alternating current, produces straight-line traveling wave magnetic field, static linear mover sliver (11) is with respect to travelling-magnetic-field in air gap (19)
Setting in motion, now linear mover sliver (11) cutting travelling-magnetic-field and produce faradic current, this faradic current and air gap (19)
In magnetic field interaction produce electromagnetic push, linear mover iron core (12) and with stirring that linear mover iron core (12) is fixedly connected
Mix axle (15) to move along a straight line together in the presence of electromagnetic push；Conversion input linear stator winding (6) power frequency and
Voltage controls the point-to-point speed of shaft (15)；The phase sequence changing input linear mover winding alternating current changes travelling-magnetic-field
Direction thus controlling the movement velocity of shaft (15)；
Step 4, stirring-head (10), under the drive of shaft (15), rotate and are downwardly into workpiece to be welded；Linear Rotation bushing
(17) enable shaft (15) linear reciprocal movement while rotary motion, thrust bearing (16) is in shaft (15) axially
When stress and gap are excessive, limit the range of movement of shaft (15), prevent shaft (15) axial float excessive；
Step 5, the first servomotor (35) drive the first ball-screw (24) and drive the first slide unit (25) to move forward and backward,
Realize workpiece to be welded feed motion in the X-axis direction, adjust the rotating speed of the first servomotor (35) and direction of rotation control is treated
The X-axis feed speed of welder's part and direction, realize retreating and advance；
Step 6, the second servomotor (29) drive the second ball-screw (26) and drive the second slide unit (27) and the first slide unit
(25) move forward and backward, realize workpiece to be welded feed motion in the Y-axis direction, adjust the second servomotor (29) rotating speed and
Direction of rotation controls Y-axis feed speed and the direction of workpiece to be welded, realizes retreating and advances；
The stirring-head that step 7, linear movement pick-up (30), angular displacement sensor (22) and pressure transducer (23) are gathered
(10) axial displacement, rotating speed and force information back, to computer, are controlled by sending an instruction to each after computer integrated optimizing
Motor processed, forms computer closed loop control system.
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| CN201611074864.3A CN106392301B (en) | 2016-11-30 | 2016-11-30 | Friction stir welding machine and its control method |
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| CN107443757A (en) * | 2017-08-11 | 2017-12-08 | 西安奥若特材料技术有限公司 | A kind of thermoplastic agitating friction weldering control system and its control method |
| CN107790871A (en) * | 2017-12-08 | 2018-03-13 | 上海航天设备制造总厂有限公司 | The outer welder of aluminium-alloy pipe auger friction welding (FW) welding by both sides double-faced forming |
| CN108098130A (en) * | 2017-12-28 | 2018-06-01 | 河北泰利振特科技有限公司 | A kind of agitating friction welds equipment |
| CN108188563A (en) * | 2017-12-28 | 2018-06-22 | 河北泰利振特科技有限公司 | A kind of application method of agitating friction welding equipment |
| CN108971742A (en) * | 2018-10-12 | 2018-12-11 | 湖南文理学院 | A kind of agitating friction weldering of the stirring-head without the shaft shoulder |
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| CN116197795B (en) * | 2023-02-10 | 2023-12-19 | 无锡市明鑫数控磨床有限公司 | Vertical grinder based on fixed bearing ring of electromagnetic centerless fixture |
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| CN116275459B (en) * | 2023-04-25 | 2023-11-17 | 惠州市华盛源机电有限公司 | Welding equipment for friction welding |
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