CN110193657A - A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot - Google Patents
A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot Download PDFInfo
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- CN110193657A CN110193657A CN201910373096.9A CN201910373096A CN110193657A CN 110193657 A CN110193657 A CN 110193657A CN 201910373096 A CN201910373096 A CN 201910373096A CN 110193657 A CN110193657 A CN 110193657A
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- main shaft
- mounting plate
- synchronous
- friction welding
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
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Abstract
The invention discloses a kind of two-freedom friction welding (FW) mainshaft mechanisms suitable for industrial robot, it is related to the technical field of agitating friction weldering, including main shaft rack, the inside of main shaft rack is equipped with spindle slewing mechanism, the upper inside walls of main shaft rack are equipped with main shaft mounting plate, main shaft axial motion mechanism is installed on main shaft mounting plate, and the lower end of main shaft axial motion mechanism and the upper end of spindle slewing mechanism connect, the side of main shaft rack is equipped with transmission mechanism, transmission mechanism is connect with main shaft axial direction motion drive, the other side of main shaft rack is equipped with motor mounting plate, the upper end of motor mounting plate is equipped with the first driving motor, the inside of motor mounting plate is equipped with the first synchronous pulley, the motor shaft of first driving motor is connect with the first synchronous pulley, first synchronous pulley is sequentially connected by the first synchronous belt and spindle slewing mechanism, Side on motor mounting plate far from spindle carrier is equipped with synchronous belt tension mechanism.Have the characteristics that precision height, high production efficiency.
Description
Technical field
The present invention relates to agitating friction weldering technical field more particularly to it is a kind of suitable for industrial robot two from
By degree friction welding (FW) mainshaft mechanism.
Background technique
Agitating friction welds (friction stir weld, FSW) and most invents earlier than Britain, is a kind of self-locking hole connection skill
Art, weld seam is to generate frictional heat by agitating friction between stirring-head and welded piece under heat-machine synergy, in stirring-head
Under mechanical stirring and upset effect, via plastic deformation and dynamic recrystallization, the material at stirring-head rear forms fine and close solid phase and connects
Connector.Stirring-head is mounted on main shaft, and main shaft is the essential core functional component of friction welding apparatus.
Main shaft is in the market based on special plane, and if agitating friction weldering main shaft special plane still occupies market major part share, flexibility is stirred
Friction welding (FW) main shaft is mixed currently on the market also in space state, and the weldering of robot agitating friction has the advantage that compared with special plane
Agitating friction weldering is realized in the system integration of heavy-duty industrial robot and advanced welding main shaft equipment, soft by weld job is greatly improved
Property；Suitable for the welding manufacture of spatial complex infrastructure product, and further promote Automation of Welding degree and production efficiency；It uses
When robot Friction Stir Welding, since robot flexibility degree is high, welding process is stable and without artificial interference, is conducive to drop
Low production cost.Agitating friction suitable for heavy-duty industrial robot welds main shaft, as a kind of efficient, energy-saving and environmental protection type new
Type interconnection technique, the weldering of robot agitating friction have a vast market foreground.
Existing main shaft is mainly based on special plane, however special plane flexibility is low, cannot achieve complex parts processing, and main shaft is main
It realizes and moves axially by external axis, cannot achieve discrete axial adjustment, Adjustment precision is not high.
Summary of the invention
The purpose of the present invention is to provide a kind of two-freedom friction welding (FW) mainshaft mechanisms suitable for industrial robot, are used for
Solve above-mentioned technical problem.
The technical solution adopted by the invention is as follows:
A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot, including main shaft rack, main shaft gyration machine
Structure, main shaft mounting plate, main shaft axial motion mechanism, transmission mechanism, motor mounting plate, the first driving motor, the first synchronous pulley,
First synchronous belt and synchronous belt tension mechanism, the inside of the main shaft rack are equipped with the spindle slewing mechanism, and the main shaft returns
The lower end of rotation mechanism protrudes downward from the main shaft rack, and the upper inside walls of the main shaft rack are installed equipped with the main shaft
Plate, is equipped with the main shaft axial motion mechanism on the main shaft mounting plate, and the lower end of the main shaft axial motion mechanism with
The upper end of the spindle slewing mechanism connects, and the side of the main shaft rack is equipped with the transmission mechanism, the transmission mechanism
It is connect with the main shaft axial direction motion drive, the other side of the main shaft rack is equipped with the motor mounting plate, the electricity
The upper end of machine mounting plate is equipped with first driving motor, and the inside of the motor mounting plate is equipped with first synchronous belt
Wheel, the motor shaft of first driving motor connect with first synchronous pulley, and first synchronous pulley passes through described the
One synchronous belt and the spindle slewing mechanism are sequentially connected, wherein the one of the separate spindle carrier on the motor mounting plate
Side is equipped with the synchronous belt tension mechanism, synchronous belt tension mechanism band connection synchronous with described first.
Preferably, further including stirring tool installing handle, the stirring tool installing handle is located at the spindle slewing mechanism
Lower end.
Preferably, further including cooling device, the lower end of the spindle slewing mechanism is additionally provided with the cooling device.
Preferably, further including first pulley center distance regulation mechanism, the separate main shaft branch on the motor mounting plate
The side of frame is additionally provided with first pulley center distance regulation mechanism, described in the first pulley center distance regulation mechanism controls
One synchronous pulley.
Preferably, further including flange adaptor, the upper end of the main shaft rack is equipped with the flange adaptor, the method
There is mounting hole on blue adapter, the upper end of the main shaft rack is equipped with connecting hole, the connecting hole and the main shaft rack
Inside connection, the connecting hole are faced with the mounting hole.
Preferably, the transmission mechanism includes the second driving motor, the second synchronous belt, the second synchronous pulley, planet silk
Thick stick and installs case, the installs case are located at the side of the main shaft rack, second driving motor, second synchronous belt and
Second synchronous pulley is arranged at the inside of the installs case, and the motor shaft of second driving motor and described second
Synchronous pulley connection, second synchronous pulley are connect with second toothed belt transmission, and second synchronous belt passes through described
Planetary lead-screw is connect with the main shaft axial direction motion drive.
As a further preference, guide rail mounting surface is equipped with close to the side of the main shaft rack in the installs case.
It as a further preference, further include the second center distance of belt wheel adjustment mechanism, the second center distance of belt wheel adjustment
Mechanism is located at the side of the installs case, and the second center distance of belt wheel adjustment mechanism controls second synchronous pulley.
Above-mentioned technical proposal have the following advantages that or the utility model has the advantages that
(1) the two-freedom friction welding (FW) mainshaft mechanism in the present invention is equipped on industrial robot, is mainly directed towards light-weight metal
Material realizes that the welding such as aluminum alloy materials of bidimensional and 3 D complex curved surface, magnesium alloy materials etc. realize bidimensional and 3 D complex
The welding and drilling and milling operation of curved surface；
(2) sensor or main shaft that the two-freedom friction welding (FW) mainshaft mechanism in the present invention can be integrated using robot itself
Front end installs sensor and carries out power, location aware and then the quality control for realizing processing operation, and welding precision can be improved；
(3) dead axle shoulder mounting hole is reserved, it can be achieved that dead axle shoulder below the two-freedom friction welding (FW) mainshaft mechanism in the present invention
Agitating friction weldering.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the two-freedom friction welding (FW) mainshaft mechanism that the present invention is suitable for industrial robot.
In figure: 1, main shaft rack；2, spindle slewing mechanism；3, main shaft mounting plate；4, main shaft axial motion mechanism；5, motor
Mounting plate；6, the first driving motor；7, the first synchronous pulley；8, the first synchronous belt；9, synchronous belt tension mechanism；10, Beater operator
Has installing handle；11, cooling device；12, flange adaptor；13, the second driving motor；14, installs case.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Fig. 1 is the structural schematic diagram for the two-freedom friction welding (FW) mainshaft mechanism that the present invention is suitable for industrial robot, please be joined
As shown in Figure 1, a kind of preferred embodiment is shown, a kind of two-freedom friction welding (FW) main shaft suitable for industrial robot shown
Machine, including main shaft rack 1, spindle slewing mechanism 2, main shaft mounting plate 3, main shaft axial motion mechanism 4, transmission mechanism, motor peace
Loading board 5, the first driving motor 6, the first synchronous pulley 7, the first synchronous belt 8 and synchronous belt tension mechanism 9.Main shaft rack 1 it is interior
Portion is equipped with spindle slewing mechanism 2, and the lower end of spindle slewing mechanism 2 protrudes downward from main shaft rack 1, in the upside of main shaft rack 1
Wall is equipped with main shaft mounting plate 3, is equipped with main shaft axial motion mechanism 4, and main shaft axial motion mechanism 4 on main shaft mounting plate 3
Lower end connect with the upper end of spindle slewing mechanism 2.The side of main shaft rack 1 is equipped with transmission mechanism, transmission mechanism and main shaft
Axial motion mechanism 4 is sequentially connected, and the other side of main shaft rack 1 is equipped with motor mounting plate 5, and the upper end of motor mounting plate 5 is equipped with
First driving motor 6, the inside of motor mounting plate 5 are equipped with the first synchronous pulley 7, the motor shaft of the first driving motor 6 and
The connection of one synchronous pulley 7, the first synchronous pulley 7 are sequentially connected by the first synchronous belt 8 with spindle slewing mechanism 2.Wherein, motor
Side on mounting plate 5 far from spindle carrier 1 is equipped with synchronous belt tension mechanism 9, synchronous belt tension mechanism 9 and the first synchronous belt 7
Connection.In the present embodiment, two-freedom friction welding (FW) mainshaft mechanism can be rotated and be moved along the axis direction of main shaft, i.e., two freely
Rotation while degree friction welding (FW) mainshaft mechanism moves in the axial direction, transmitting when two-freedom friction welding (FW) mainshaft mechanism circumferentially rotates
Torque, axial movement transmitting pressure can apply forging force to workpiece to be processed.It is axially moved and forging force is provided and necessary is rubbed
Heat needed for power keeps welding is wiped, the plastic deformation of weld metal is realized under heat-machine synergy, robot feeding is completed
Welding.When in use, the first driving motor 6 drives the rotation of the first synchronous pulley 7, and the first synchronous pulley 7 passes through the first synchronous belt 8
Driving spindle swing mechanism 2 carries out circumferential movement, and transmission mechanism driving spindle axial motion mechanism 4 axially moves, main shaft
Axial motion mechanism 4 drives spindle slewing mechanism 2 to axially move, and applies forging force for workpiece to be processed.The synchronous belt of setting
Tension mechanism 9 be used for control the first synchronous belt 8 loosen and tensioner.
Further, as a kind of preferable embodiment, two-freedom friction welding (FW) mainshaft mechanism further includes stirring tool peace
Hilt 10, stirring tool installing handle 10 are located at the lower end of spindle slewing mechanism 2.Spindle slewing mechanism 2 is installed by stirring tool
10 connecting welding tool (stirring-head) of handle is moved along the bead direction of workpiece to be processed, by being integrated in robot in welding process
On force snesor perceive the size of lower pressure, pass through pressure value adjustment two-freedom friction welding (FW) mainshaft mechanism feed back
Axial movement, realize welding volume under pressure adjustment.
Further, as a kind of preferable embodiment, two-freedom friction welding (FW) mainshaft mechanism further includes cooling device 11,
The lower end of spindle slewing mechanism 2 is additionally provided with cooling device 11.As shown in Figure 1, cooling device 11 is located under spindle slewing mechanism 2
End and the upside for being located at stirring tool installing handle 10, for cooling down for spindle slewing mechanism 2.
Further, as a kind of preferable embodiment, two-freedom friction welding (FW) mainshaft mechanism further includes in first pulley
The heart away from adjustment mechanism (not shown), the side on motor mounting plate 5 far from spindle carrier 1 be additionally provided with first pulley center away from
Adjustment mechanism, the first synchronous pulley of first pulley center distance regulation mechanism controls 7.First pulley center distance regulation mechanism is for controlling
Make the first synchronous pulley 7 loosen and tensioner.
Further, as a kind of preferable embodiment, two-freedom friction welding (FW) mainshaft mechanism further includes flange adaptor
12, the upper end of main shaft rack 1 is equipped with flange adaptor 12, has mounting hole on flange adaptor 12, the upper end of main shaft rack 1 is set
There is connecting hole, connecting hole is connected to the inside of main shaft rack 1, and connecting hole is faced with mounting hole.Main shaft rack 1 is suitable by flange
Connection axis connection on orchestration 12 and robot.
Further, as a kind of preferable embodiment, transmission mechanism includes the second driving motor 13, the second synchronous belt
(not shown), the second synchronous pulley (not shown), planetary lead-screw (not shown) and installs case 14.Installs case 14
Positioned at the side of main shaft rack 1, the second driving motor 13, the second synchronous belt and the second synchronous pulley are arranged at installs case 14
Inside, and the motor shaft of the second driving motor 13 is connect with the second synchronous pulley, the second synchronous pulley and the second toothed belt transmission
Connection, the second synchronous belt are sequentially connected by planetary lead-screw and main shaft axial motion mechanism 4.Second synchronous belt drives planet silk
Thick stick, planetary lead-screw is by the power of the axial movement for being converted into main shaft axial motion mechanism 4 of the second driving motor 13, in turn
Complete the adjustment of 4 axial position of main shaft axial motion mechanism.
Further, as a kind of preferable embodiment, guide rail peace is equipped with close to the side of main shaft rack 1 in installs case 14
Dress face.The guide rail mounting surface of setting is used to realize the adjustment of two-freedom friction welding (FW) mainshaft mechanism axial position.
Further, as a kind of preferable embodiment, two-freedom friction welding (FW) mainshaft mechanism further includes in the second belt wheel
For the heart away from adjustment mechanism (not shown), the second center distance of belt wheel adjustment mechanism is located at the side of installs case 14, and the second belt wheel
The second synchronous pulley of center distance regulation mechanism controls.Second center distance of belt wheel adjustment mechanism is used to control putting for the second synchronous pulley
Pine and tensioner.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (8)
1. a kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot, which is characterized in that including main shaft rack, master
Axis swing mechanism, main shaft mounting plate, main shaft axial motion mechanism, transmission mechanism, motor mounting plate, the first driving motor, first
The inside of synchronous pulley, the first synchronous belt and synchronous belt tension mechanism, the main shaft rack is equipped with the spindle slewing mechanism, institute
The lower end for stating spindle slewing mechanism protrudes downward from the main shaft rack, and the upper inside walls of the main shaft rack are equipped with the master
Axle installing plate, is equipped with the main shaft axial motion mechanism on the main shaft mounting plate, and the main shaft axial motion mechanism
Lower end is connect with the upper end of the spindle slewing mechanism, and the side of the main shaft rack is equipped with the transmission mechanism, the biography
Motivation structure is connect with the main shaft axial direction motion drive, and the other side of the main shaft rack is equipped with the motor mounting plate,
The upper end of the motor mounting plate is equipped with first driving motor, and it is same that the inside of the motor mounting plate is equipped with described first
Belt wheel is walked, the motor shaft of first driving motor is connect with first synchronous pulley, and first synchronous pulley passes through institute
It states the first synchronous belt and the spindle slewing mechanism is sequentially connected, wherein far from the spindle carrier on the motor mounting plate
Side be equipped with the synchronous belt tension mechanism, synchronous belt tension mechanism band connection synchronous with described first.
2. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as described in claim 1, which is characterized in that also
Including stirring tool installing handle, the stirring tool installing handle is located at the lower end of the spindle slewing mechanism.
3. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as described in claim 1, which is characterized in that also
Including cooling device, the lower end of the spindle slewing mechanism is additionally provided with the cooling device.
4. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as described in claim 1, which is characterized in that also
Including first pulley center distance regulation mechanism, the side on the motor mounting plate far from the spindle carrier is additionally provided with described the
One center distance of belt wheel adjustment mechanism, the first synchronous pulley described in the first pulley center distance regulation mechanism controls.
5. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as described in claim 1, which is characterized in that also
Including flange adaptor, the upper end of the main shaft rack is equipped with the flange adaptor, has installation on the flange adaptor
The upper end in hole, the main shaft rack is equipped with connecting hole, and the connecting hole is connected to the inside of the main shaft rack, the connecting hole
It is faced with the mounting hole.
6. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as described in claim 1, which is characterized in that institute
Stating transmission mechanism includes the second driving motor, the second synchronous belt, the second synchronous pulley, planetary lead-screw and installs case, the installation
Case is located at the side of the main shaft rack, and second driving motor, second synchronous belt and second synchronous pulley are equal
The inside of the installs case is set, and the motor shaft of second driving motor is connect with second synchronous pulley, it is described
Second synchronous pulley is connect with second toothed belt transmission, and second synchronous belt passes through the planetary lead-screw and the main shaft
Axial motion mechanism transmission connection.
7. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as claimed in claim 6, which is characterized in that institute
It states and is equipped with guide rail mounting surface close to the side of the main shaft rack in installs case.
8. being suitable for the two-freedom friction welding (FW) mainshaft mechanism of industrial robot as claimed in claim 6, which is characterized in that also
Including the second center distance of belt wheel adjustment mechanism, the second center distance of belt wheel adjustment mechanism is located at the side of the installs case, and
The second center distance of belt wheel adjustment mechanism controls second synchronous pulley.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373096.9A CN110193657A (en) | 2019-05-06 | 2019-05-06 | A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373096.9A CN110193657A (en) | 2019-05-06 | 2019-05-06 | A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot |
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| CN110193657A true CN110193657A (en) | 2019-09-03 |
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| CN201910373096.9A Pending CN110193657A (en) | 2019-05-06 | 2019-05-06 | A kind of two-freedom friction welding (FW) mainshaft mechanism suitable for industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722278A (en) * | 2019-10-12 | 2020-01-24 | 广东省焊接技术研究所（广东省中乌研究院） | Electric arc welding and friction stir welding composite welding system |
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Application publication date: 20190903 |