CN112548318A - Friction stir welding device - Google Patents
Friction stir welding device Download PDFInfo
- Publication number
- CN112548318A CN112548318A CN202011511340.2A CN202011511340A CN112548318A CN 112548318 A CN112548318 A CN 112548318A CN 202011511340 A CN202011511340 A CN 202011511340A CN 112548318 A CN112548318 A CN 112548318A
- Authority
- CN
- China
- Prior art keywords
- axis
- rotating pair
- rotatably connected
- connecting piece
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/125—Rotary tool drive mechanism
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention relates to the technical field of friction welding, in particular to a friction stir welding device. The friction stir welding device comprises an installation platform, an execution platform, a stirring head, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain. The mounting platform is provided with a first connecting part, a second connecting part, a third connecting part and a fourth connecting part, the execution platform is provided with a fifth connecting part, a sixth connecting part and a seventh connecting part, and the stirring head is arranged on the execution platform. Each branched chain comprises a body and a telescopic part, the first body is connected with the first connecting part, the first telescopic part is connected with the fifth connecting part, the second body is connected with the second connecting part, the second telescopic part is connected with the sixth connecting part, the third body is connected with the third connecting part, the fourth body is connected with the fourth connecting part, and the third telescopic part and the fourth telescopic part are connected with the seventh connecting part.
Description
Technical Field
The invention relates to the technical field of friction welding, in particular to a friction stir welding device.
Background
Friction stir welding is a novel welding method, and utilizes a special stirring head to extend into the joint of a workpiece, the stirring head rotates at a high speed while advancing, and a large amount of heat is generated through the high-speed rotation of the stirring head, so that the metal at the welding part is in a thermoplastic state, and forms a whole under the pressure action of the stirring head. Compared with the traditional fusion welding, the welding method has the advantages of environmental protection, no pollution, low residual stress and small workpiece deformation, and has wide application in the connection of lead alloy, magnesium alloy, aluminum alloy, copper alloy, steel, titanium alloy and the like. During the welding of the workpieces, because a large pressure is required to be applied to the workpieces, a large upsetting force is generated during the welding, resulting in deformation of the welding apparatus.
The invention patent application with application publication number CN103909518A discloses a redundant drive space friction stir welding parallel-serial robot, which is actually a friction stir welding device, and the friction stir welding device comprises a fixed platform, a movable platform, and a first branch, a second branch, a third branch and a fourth branch which are connected between the movable platform and the fixed platform. Because, the same degree of freedom of structure and restriction of first branch and third branch of this friction stir welding device, the same degree of freedom of restriction of the structure of second branch and fourth branch, consequently, third branch and fourth branch must symmetrical arrangement, and second branch and fourth branch must symmetrical arrangement, just can avoid friction stir welding device to appear the jamming in the course of the work, from this, this friction stir welding device is higher to the assembly precision requirement, difficult realization. In addition, since the two symmetrically arranged branches limit the same degree of freedom, the friction stir welding device has a virtual constraint, resulting in an insufficiently concise overall structure of the friction stir welding device.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention provides a friction stir welding device, which aims to solve the technical problem that the friction stir welding device in the prior art is high in assembly precision requirement.
According to the friction stir welding apparatus of the embodiment of the present invention, the friction stir welding apparatus includes:
a mounting platform having a first connection portion, a second connection portion, a third connection portion, and a fourth connection portion;
an execution platform having a fifth connection, a sixth connection, and a seventh connection;
the stirring head is arranged on the execution platform;
the first branch chain comprises a first body and a first telescopic part, the first telescopic part is movably arranged on the first body along the extending direction of the first body, the first body is rotatably connected with the first connecting part around a first axis and a second axis, the first axis is perpendicular to the second axis, and the first telescopic part is rotatably connected with the fifth connecting part around a third axis;
the second branch chain comprises a second body and a second telescopic part, the second telescopic part is movably arranged on the second body along the extending direction of the second body, the second body is rotatably connected with the second connecting part around a fourth axis, the second telescopic part is rotatably connected with the sixth connecting part around a fifth axis and a sixth axis, and the fifth axis is perpendicular to the sixth axis;
a third branch chain, which includes a third body and a third telescopic portion, the third telescopic portion being movably disposed on the third body along an extending direction of the third body, wherein the third body is rotatably connected with the third connecting portion about a seventh axis and an eighth axis, the seventh axis being perpendicular to the eighth axis, the third telescopic portion is rotatably connected with the seventh connecting portion about a ninth axis, a tenth axis and an eleventh axis, the ninth axis being perpendicular to the tenth axis, the eleventh axis being perpendicular to each of the ninth axis and the tenth axis, and each of the ninth axis and the tenth axis intersecting with the eleventh axis at the same point; and
the fourth body is movably arranged on the fourth body along the extending direction of the fourth body, the fourth body is rotatably connected with the fourth connecting portion around a twelfth axis and a thirteenth axis, the twelfth axis is perpendicular to the thirteenth axis, and the fourth telescopic portion is rotatably connected with the seventh connecting portion around the ninth axis, the tenth axis and the eleventh axis.
The friction stir welding device provided by the embodiment of the invention has the advantages of low assembly precision requirement, convenience in welding operation, low processing and manufacturing cost and the like.
In some embodiments, each of the first, second, third, and fourth branches is an electric cylinder.
In some embodiments, further comprising: the first connecting piece is fixedly connected with the second connecting piece, the first connecting piece is rotatably connected with the first connecting part to form a first rotating pair, the axis of the rotating pair of the first rotating pair is the first axis, the second connecting piece is rotatably connected with the first body to form a second rotating pair, and the axis of the rotating pair of the second rotating pair is the second axis;
the first connecting seat is rotatably connected with the first telescopic portion to form a third rotating pair, the axis of the rotating pair of the third rotating pair is the third axis, and the first connecting seat is fixedly connected with the fifth connecting portion.
In some embodiments, further comprising: the fourth connecting piece is rotatably connected with the second connecting part to form a fourth rotating pair, the axis of the rotating pair of the fourth rotating pair is the fourth axis, and the fourth connecting piece is fixedly connected with the second body; and
the fifth connecting piece is fixedly connected with the second connecting seat, the fifth connecting piece is rotatably connected with the second telescopic part to form a fifth revolute pair, the axis of the revolute pair of the fifth revolute pair is the fifth axis, the second connecting seat is rotatably connected with the sixth connecting part to form a sixth revolute pair, and the axis of the revolute pair of the sixth revolute pair is the sixth axis.
In some embodiments, further comprising:
the seventh connecting piece is fixedly connected with the eighth connecting piece, the seventh connecting piece is rotatably connected with the third connecting part to form a seventh rotating pair, the axis of the rotating pair of the seventh rotating pair is the seventh axis, the eighth connecting piece is rotatably connected with the third body to form an eighth rotating pair, and the axis of the rotating pair of the eighth rotating pair is the eighth axis;
the ninth connecting piece is rotatably connected with the third telescopic part to form a ninth rotating pair, the axis of a rotating pair of the ninth rotating pair is the ninth axis, the ninth connecting piece is rotatably connected with the tenth connecting piece to form a tenth rotating pair, the axis of a rotating pair of the tenth rotating pair is the tenth axis, the tenth connecting piece is rotatably connected with the third connecting seat to form an eleventh rotating pair, the axis of a rotating pair of the eleventh rotating pair is the eleventh axis, and the third connecting seat is fixedly connected with the seventh connecting part; and
the twelfth connecting piece is fixedly connected with the thirteenth connecting piece, the twelfth connecting piece is rotatably connected with the fourth connecting part to form a twelfth rotating pair, the axis of the rotating pair of the twelfth rotating pair is the twelfth axis, the thirteenth connecting piece is rotatably connected with the fourth body to form a thirteenth rotating pair, and the axis of the rotating pair of the thirteenth rotating pair is the thirteenth axis;
the fourth telescopic part is rotatably connected with the ninth connecting piece to form a fourteenth revolute pair, and the revolute pair axis of the fourteenth revolute pair is collinear with the revolute pair axis of the ninth revolute pair.
In some embodiments, the friction stir welding device comprises a ball joint comprising a ball seat and a ball pin, the ball pin fixedly connected to each of the third and fourth telescoping portions, the ball seat fixedly connected to the seventh connecting portion.
In some embodiments, further comprising:
the device comprises a base, a first guide rail and a second guide rail, wherein the base is provided with the first guide rail which extends along a first direction;
the first sliding table is slidably mounted on the first guide rail, a second guide rail is arranged on the first sliding table and extends along a second direction, the mounting platform is slidably mounted on the second guide rail, and the first direction is perpendicular to the second direction.
In some embodiments, further comprising:
the second sliding table is slidably arranged on the second guide rail; and
the link, the second slip table with installation platform follows the third direction is set up apart, the link has relative first end and second end in the third direction, the link the first end with the second slip table is connected, the link the second end with installation platform connects, the third direction perpendicular to first direction with each in the second direction.
In some embodiments, each of the second sliding table, the link frame, and the mounting platform is plate-shaped, the second sliding table and the mounting platform are parallel to each other, and the link frame is perpendicular to each of the second sliding table and the mounting platform.
In some embodiments, further comprising:
a first reinforcing rib connected to each of the connecting frame and the mounting platform; and
and the second reinforcing rib is connected with each of the second sliding table and the connecting frame.
Drawings
FIG. 1 is a schematic structural view of a friction stir welding apparatus according to one embodiment of the present invention.
FIG. 2 is a schematic structural view of a friction stir welding apparatus according to one embodiment of the present invention (base not shown).
Fig. 3 is an enlarged view at a in fig. 2.
Fig. 4 is a schematic view of the structure of fig. 2 from another view angle.
FIG. 5 is a diagram of the operating state of a friction stir welding apparatus according to one embodiment of the present invention.
Reference numerals: a friction stir welding apparatus 100; a base 1; a first guide rail 2; a first slide table 3; a second guide rail 4; a mounting platform 5; a second slide table 51; a connecting frame 52; the first reinforcing ribs 53; a second reinforcing bead 54; a first connection portion 501; a second connection portion 502; a third connecting portion 503; a fourth connection portion 504; a first branch 6; a first connector 601; a second connector 602; a first body 603; a first telescoping section 604; a first connection mount 605; a second branch 7; a fourth connecting member 701; a second body 702; a second expansion section 703; a fifth connecting member 704; a second connecting socket 705; a third branch chain 8; a seventh connecting member 801; an eighth connecting member 802; a third body 803; a third telescopic part 804; a ninth connecting member 805; a tenth connecting member 806; a third connecting seat 807; a fourth branch 9; a twelfth connector 901; a thirteenth connecting member 902; a fourth body 903; a fourth expansion part 904; an execution platform 10; a fifth connection portion 1001; a sixth connecting portion 1002; a seventh connecting portion 1003; a stirring head 11; a workpiece 12 to be welded; a first workpiece support device 1301; a second workpiece support 1302; and a third workpiece support 1303.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1-5, a friction stir welding apparatus 100 according to an embodiment of the present invention includes a mounting platform 5, an execution platform 10, a stir head 11, a first branch chain 6, a second branch chain 7, a third branch chain 8, and a fourth branch chain 9. The mounting platform 5 has a first connecting portion 501, a second connecting portion 502, a third connecting portion 503, and a fourth connecting portion 504. The mixing head 11 is provided on the execution platform 10, and the execution platform 10 has a fifth connecting part 1001, a sixth connecting part 1002 and a seventh connecting part 1003.
The first link 6 includes a first body 603 and a first telescopic portion 604, and the first telescopic portion 604 is movably provided on the first body 603 along an extending direction of the first body 603. The first body 603 is rotatably connected to the first connecting portion 501 about a first axis perpendicular to a second axis, and the first telescopic portion 604 is rotatably connected to the fifth connecting portion 1001 about a third axis.
The second branch chain 7 includes a second body 702 and a second expansion part 703, and the second expansion part 703 is movably provided on the second body 702 along the extending direction of the second body 702. The second body 702 is rotatably connected to the second connecting portion 502 about a fourth axis, and the second flexible portion 703 is rotatably connected to the sixth connecting portion 1002 about a fifth axis perpendicular to the sixth axis and a sixth axis.
The third branch chain 8 includes a third body 803 and a third telescopic part 804, and the third telescopic part 804 is movably provided on the third body 803 in an extending direction of the third body 803. Wherein the third body 803 is rotatably connected with the third connecting portion 503 about a seventh axis perpendicular to the eighth axis and an eighth axis, the third telescopic portion 804 is rotatably connected with the seventh connecting portion 1003 about a ninth axis perpendicular to the tenth axis, a tenth axis perpendicular to each of the ninth axis and the tenth axis, and each of the ninth axis and the tenth axis intersects the eleventh axis at the same point.
The fourth branch 9 includes a fourth body 903 and a fourth expansion part 904, and the fourth expansion part 904 is movably provided on the fourth body 903 along the extending direction of the fourth body 903. Wherein the fourth body 903 is rotatably connected with the fourth connecting portion 504 about a twelfth axis and a thirteenth axis, the twelfth axis being perpendicular to the thirteenth axis. The fourth telescopic part 904 is rotatably connected to the seventh connecting part 1003 about a ninth axis, a tenth axis and an eleventh axis.
Each of the first branch chain 6, the second branch chain 7, the third branch chain 8 and the fourth branch chain 9 of the friction stir welding device 100 according to the embodiment of the present invention is connected to the mounting platform 5 and the execution platform 10, respectively, to form a redundant closed-loop parallel mechanism, and by adjusting the first branch chain 6, the second branch chain 7, the third branch chain 8 and the fourth branch chain 9, the execution platform 11 can move in a direction perpendicular to the mounting platform 5, and the execution platform 11 can swing in two different directions, so as to adjust the posture of the stirring head 11.
The third branch chain 8 and the fourth branch chain 9 of the friction stir welding device 100 according to the embodiment of the present invention each have six degrees of freedom, and thus the third branch chain 8 and the fourth branch chain 9 do not limit the degree of freedom of the execution platform 10, only the first branch chain 6 and the second branch chain 7 are used to limit the degree of freedom of the execution platform 10, and the degrees of freedom limited by the first branch chain 6 and the second branch chain 7 are different, and thus any two of the first branch chain 6, the second branch chain 7, the third branch chain 8, and the fourth branch chain 9 do not need to be symmetrically arranged, and compared with the prior art in which the first branch chain and the third branch chain must be symmetrically arranged and the second branch chain and the fourth branch chain must be symmetrically arranged, the precision requirement for assembling of each branch chain in the friction stir welding device 100 with the mounting platform 5 and the execution platform 10 is low, and the assembling of the friction stir welding device 100 is convenient to achieve.
In addition, when the friction stir welding device in the prior art is used, the first branched chain and the third branched chain or the second branched chain and the fourth branched chain are asymmetric due to stress, and then the friction stir welding device is clamped, so that the welding operation is affected. The friction stir welding apparatus 100 according to the embodiment of the present invention does not have the above-described problems, thereby facilitating the welding operation by the friction stir welding apparatus 100 according to the embodiment of the present invention.
In addition, since the third telescopic part 804 and the fourth telescopic part 904 are both connected with the seventh connecting part 1003, the third telescopic part 804 and the fourth telescopic part 904 can be connected with the seventh connecting part 1003 through the same connecting structure, and therefore, the processing and manufacturing cost of the friction stir welding device 100 can be reduced.
Therefore, the friction stir welding device 100 according to the embodiment of the present invention has the advantages of low assembly precision requirement, convenient welding operation, low manufacturing cost, etc.
The friction stir welding device 100 according to the embodiment of the invention comprises a mounting platform 5, an execution platform 10, a stirring head 11, a first branch chain 6, a second branch chain 7, a third branch chain 8 and a fourth branch chain 9, wherein the stirring head 11 is arranged on the execution platform 10.
In some embodiments, each of first branch 6, second branch 7, third branch 8, and fourth branch 9 is an electric cylinder. The cylinder block of the first branch chain 6 constitutes a first body 603, and the cylinder arm of the first branch chain 6 constitutes a first telescopic portion 604. The cylinder block of the second branch chain 7 constitutes the second body 702, and the cylinder arm of the second branch chain 7 constitutes the second expansion/contraction portion 703. The cylinder block of the third branch chain 8 constitutes the third body 803, and the cylinder arm of the third branch chain 8 constitutes the third expansion portion 804. The cylinder block of the fourth branch 9 constitutes the fourth body 903, and the cylinder arm of the fourth branch 9 constitutes the fourth expansion/contraction portion 904. Thus, it is convenient to realize the movement of the first stretchable part 604 in the extending direction of the first body 603, the movement of the second stretchable part 703 in the extending direction of the second body 702, the movement of the third stretchable part 804 in the extending direction of the third body 803, and the movement of the fourth stretchable part 904 in the extending direction of the fourth body 903.
Preferably, the first telescopic part 604 is not rotatable around the axis of the first body 603, and the second telescopic part 703 is not rotatable around the axis of the second body 702, so that the first branch chain 6 and the second branch chain 7 are preferably electric cylinders which are not rotatable around their axes.
As shown in fig. 1 to 5, the mounting platform 5 has a first connecting portion 501, a second connecting portion 502, a third connecting portion 503, and a fourth connecting portion 504. The execution platform 10 has a fifth connection part 1001, a sixth connection part 1002, and a seventh connection part 1003.
As shown in fig. 1-4, in some embodiments, the friction stir welding apparatus 100 further comprises a first connector 601, a second connector 602, and a first connector mount 605. The first connector 601 is fixedly connected with the second connector 602. The first connecting member 601 is rotatably connected to the first connecting portion 501 to form a first rotating pair, and a rotating pair axis of the first rotating pair is a first axis. The second connecting member 602 is rotatably connected to the first body 603 to form a second revolute pair, and the revolute pair axis of the second revolute pair is a second axis. The first connection seat 605 and the first expansion part 604 are rotatably connected to form a third rotation pair, the axis of the rotation pair of the third rotation pair is a third axis, and the first connection seat 605 and the fifth connection part 1001 are fixedly connected.
The connection of the first body 603 of the first branch chain 6 and the first connecting portion 501 of the mounting platform 5 and the connection of the first telescopic portion 604 of the first branch chain 6 and the fifth connecting portion 1001 of the actuator platform 10 are thereby facilitated.
As shown in fig. 1-4, in some embodiments, the friction stir welding device 100 further includes a fourth connector 701, a fifth connector 704, and a second connector holder 1. The fourth connecting member 701 is rotatably connected to the second connecting portion 502 to form a fourth rotating pair, the axis of the fourth rotating pair is a fourth axis, and the fourth connecting member 701 is fixedly connected to the second body 702. The fifth link 704 is rotatably connected to the second expansion part 703 to form a fifth revolute pair, and a revolute pair axis of the fifth revolute pair is a fifth axis. The second connecting seat 1 is rotatably connected with the sixth connecting portion 1002 to form a sixth rotating pair, and the axis of the sixth rotating pair is a sixth axis.
Therefore, the connection between the second body 702 of the second branch chain 7 and the second connection portion 502 of the mounting platform 5 and the connection between the second expansion portion 703 of the second branch chain 7 and the sixth connection portion 1002 of the execution platform 10 are conveniently realized.
As shown in fig. 1-4, in some embodiments, friction stir welding apparatus 100 further comprises seventh connector 801, eighth connector 802, ninth connector 805, tenth connector 806, third connector block 807, twelfth connector 901, and thirteenth connector 902. The seventh connecting member 801 is fixedly connected to the eighth connecting member 802, the seventh connecting member 801 is rotatably connected to the third connecting portion 503 to form a seventh revolute pair, and a revolute pair axis of the seventh revolute pair is a seventh axis. The eighth connecting member 802 is rotatably connected to the third body 803 to form an eighth revolute pair, and the revolute pair axis of the eighth revolute pair is an eighth axis.
The ninth link 805 is rotatably connected to the third telescopic portion 804 to form a ninth revolute pair, and a revolute pair axis of the ninth revolute pair is a ninth axis. The ninth link 805 and the tenth link 806 are rotatably connected to form a tenth revolute pair, and a revolute pair axis of the tenth revolute pair is a tenth axis. The tenth connecting member 806 is rotatably connected to the third connecting seat 807 to form an eleventh rotating pair, and the axis of the eleventh rotating pair is an eleventh axis. The third connecting seat 807 is fixedly connected to the seventh connecting portion 1003.
The twelfth connector 901 is fixedly connected with the thirteenth connector 902. The twelfth link 901 is rotatably connected to the fourth link 504 to form a twelfth revolute pair, and a revolute pair axis of the twelfth revolute pair is a twelfth axis. The thirteenth link 902 is rotatably connected to the fourth body 903 to form a thirteenth revolute pair, and a revolute pair axis of the thirteenth revolute pair is a thirteenth axis. The fourth expansion part 904 is rotatably connected to the ninth link 805 to form a fourteenth revolute pair, and a revolute pair axis of the fourteenth revolute pair is collinear with a revolute pair axis of the ninth revolute pair.
Thereby, the connection of the third main body 803 of the third branch chain 8 with the third connecting part 503 of the mounting platform 5, the connection of the third telescopic part 804 of the third branch chain 8 with the seventh connecting part 1003 of the actuating platform 10, the connection of the fourth main body 903 of the fourth branch chain 9 with the fourth connecting part 504 of the mounting platform 5 and the connection of the fourth telescopic part 904 of the fourth branch chain 9 with the seventh connecting part 1003 of the actuating platform 10 are conveniently realized.
In some embodiments, the friction stir welding apparatus 100 further comprises a ball joint comprising a ball socket fixedly connected to each of the third telescoping portion 804 and the fourth telescoping portion 904 and a ball pin fixedly connected to the seventh connecting portion 1003. Therefore, the third telescopic part 804 and the fourth telescopic part can be rotatably connected with the seventh connecting part 1003 around the ninth axis, the tenth axis and the eleventh axis, and the connecting structure is simple.
As shown in fig. 1 and 5, in some embodiments, the friction stir welding apparatus 100 further includes a base 1 and a first sliding table 3, the base 1 is provided with a first guide rail 2, and the first guide rail 2 extends in a first direction. First slip table 3 slidable mounting is equipped with second guide rail 4 on first guide rail 2 on the first slip table 3, and second guide rail 4 extends along the second direction, and mounting platform 5 slidable mounting is on second guide rail 4. The first direction is perpendicular to the second direction.
Wherein the first direction may be left and right, and the second direction may be up and down.
In the prior art, for the welding of some large-scale complex curved surface workpieces, a friction stir welding device is required to have enough working space besides the requirement of having larger rigidity. The first sliding table 3 of the friction stir welding device 100 of the embodiment of the invention can slide along a first direction relative to the base 1, and the mounting platform 5 can slide along a second direction relative to the first sliding table 3, so that the base 1, the first sliding table 3 and the mounting platform 5 form two serial mechanisms, and the serial mechanisms have the characteristic of large working range, so that the working space of the friction stir welding device 100 can be increased, and the friction stir welding device 100 of the embodiment of the invention has the advantages of high rigidity and large working space, and can be suitable for welding large-scale complex curved surface workpieces.
In addition, the first sliding table 3 and the first guide rail 2 can be used for realizing the translation of the stirring head 11 along the first direction, the mounting platform 5 and the second guide rail 4 can be used for realizing the translation of the stirring head 11 along the second direction, and further the position adjustment of the stirring head 11 can be realized.
As shown in fig. 1 and 5, in some embodiments, the friction stir welding apparatus 100 further includes a second slide table 51 and a link frame 52, the second slide table 51 being slidably mounted on the second guide rail 4. The second slide table 51 and the mounting platform 5 are provided at a spacing in the third direction, the link frame 52 has a first end and a second end opposite in the third direction, the first end of the link frame 52 is connected to the second slide table 51, and the second end of the link frame 52 is connected to the mounting platform 5.
This third direction can be fore-and-aft direction, second slip table 51 and mounting platform 5 are along the spaced setting of third direction, second slip table 51 makes mounting platform 5 slidable mounting on second guide rail 4 with the cooperation of second guide rail 4, first body 603, second body 702, third body 803 and fourth body 903 are connected with mounting platform 5, avoid interfering mutually between first body 603, second body 702, third body 803 and fourth body 903 and the second guide rail 4 from this, thereby, not only conveniently install mounting platform 5 on second guide rail 4, and conveniently carry out first body 603, second body 702, third body 803 and fourth body 903 and mounting platform 5's connection. In addition, the first body 603, the second body 702, the third body 803 and the fourth body 903 can be effectively prevented from interfering with the second guide rail 4 in the friction stir welding process.
In some embodiments, as shown in fig. 1 and 5, each of the second sliding table 51, the link frame 52, and the mounting platform 5 is plate-shaped, the second sliding table 51 and the mounting platform 5 are parallel to each other, and the link frame 52 is perpendicular to each of the second sliding table 51 and the mounting platform 5. Thereby facilitating the design and processing of the second slide table 51, the link frame 52, and the mounting platform 5.
In some embodiments, as shown in fig. 1 and 5, the friction stir welding apparatus 100 further includes a first reinforcing rib 53 and a second reinforcing rib 54, the first reinforcing rib 53 being connected to each of the link frame 52 and the mounting platform 5, and the second reinforcing rib 54 being connected to each of the second slide table 51 and the link frame 52. Therefore, the overall structural strength of the second sliding table 51, the connecting frame 52 and the mounting platform 5 can be effectively increased, and the structural strength of the friction stir welding device 100 can be further improved.
As shown in fig. 5, when welding a workpiece using the friction stir welding apparatus 100 of the present invention, the workpiece 12 to be welded is placed on the workpiece support means, that is, the workpiece 12 to be welded is placed on the first workpiece support means 1301, the second workpiece support means 1302, and the third workpiece support means 1303, and the welding operation is performed on the portion to be welded of the workpiece 12 to be welded using the friction stir welding apparatus 100.
The mounting platform 5, the first branched chain 6, the second branched chain 7, the third branched chain 8, the fourth branched chain 9 and the execution platform 10 form a redundant driving parallel mechanism, the redundant driving parallel mechanism has movement with one degree of freedom and rotation with two degrees of freedom, and the movement with one degree of freedom can be movement in the front-back direction. The base 1, the first sliding table 3 and the mounting platform 5 constitute a serial mechanism having movements of two degrees of freedom, which may be movements in the left-right direction and the up-down direction. Thus, the friction stir welding apparatus 100 according to the embodiment of the present invention is a five-degree-of-freedom series-parallel mechanism.
The friction stir welding device 100 of the embodiment of the invention has the advantages of high rigidity, large working space, high dynamic response and the like, can bear larger upsetting force, can well complete the welding task of large-scale complex parts, and has wide application prospect. In addition, although the friction stir welding device uses a redundant parallel mechanism, the third branch chain 8 and the fourth branch chain 9 share three connecting pieces, namely the third branch chain 8 and the fourth branch chain 9 share the same connecting structure, so that the processing and manufacturing cost is reduced as much as possible.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A friction stir welding apparatus comprising:
a mounting platform having a first connection portion, a second connection portion, a third connection portion, and a fourth connection portion;
an execution platform having a fifth connection, a sixth connection, and a seventh connection;
the stirring head is arranged on the execution platform;
the first branch chain comprises a first body and a first telescopic part, the first telescopic part is movably arranged on the first body along the extending direction of the first body, the first body is rotatably connected with the first connecting part around a first axis and a second axis, the first axis is perpendicular to the second axis, and the first telescopic part is rotatably connected with the fifth connecting part around a third axis;
the second branch chain comprises a second body and a second telescopic part, the second telescopic part is movably arranged on the second body along the extending direction of the second body, the second body is rotatably connected with the second connecting part around a fourth axis, the second telescopic part is rotatably connected with the sixth connecting part around a fifth axis and a sixth axis, and the fifth axis is perpendicular to the sixth axis;
a third branch chain, which includes a third body and a third telescopic portion, the third telescopic portion being movably disposed on the third body along an extending direction of the third body, wherein the third body is rotatably connected with the third connecting portion about a seventh axis and an eighth axis, the seventh axis being perpendicular to the eighth axis, the third telescopic portion is rotatably connected with the seventh connecting portion about a ninth axis, a tenth axis and an eleventh axis, the ninth axis being perpendicular to the tenth axis, the eleventh axis being perpendicular to each of the ninth axis and the tenth axis, and each of the ninth axis and the tenth axis intersecting with the eleventh axis at the same point; and
the fourth body is movably arranged on the fourth body along the extending direction of the fourth body, the fourth body is rotatably connected with the fourth connecting portion around a twelfth axis and a thirteenth axis, the twelfth axis is perpendicular to the thirteenth axis, and the fourth telescopic portion is rotatably connected with the seventh connecting portion around the ninth axis, the tenth axis and the eleventh axis.
2. The friction stir welding apparatus of claim 1 wherein each of the first, second, third, and fourth branches is an electric cylinder.
3. The friction stir welding apparatus of claim 1 further comprising: the first connecting piece is fixedly connected with the second connecting piece, the first connecting piece is rotatably connected with the first connecting part to form a first rotating pair, the axis of the rotating pair of the first rotating pair is the first axis, the second connecting piece is rotatably connected with the first body to form a second rotating pair, and the axis of the rotating pair of the second rotating pair is the second axis;
the first connecting seat is rotatably connected with the first telescopic portion to form a third rotating pair, the axis of the rotating pair of the third rotating pair is the third axis, and the first connecting seat is fixedly connected with the fifth connecting portion.
4. The friction stir welding apparatus of claim 1 further comprising: the fourth connecting piece is rotatably connected with the second connecting part to form a fourth rotating pair, the axis of the rotating pair of the fourth rotating pair is the fourth axis, and the fourth connecting piece is fixedly connected with the second body; and
the fifth connecting piece is fixedly connected with the second connecting seat, the fifth connecting piece is rotatably connected with the second telescopic part to form a fifth revolute pair, the axis of the revolute pair of the fifth revolute pair is the fifth axis, the second connecting seat is rotatably connected with the sixth connecting part to form a sixth revolute pair, and the axis of the revolute pair of the sixth revolute pair is the sixth axis.
5. The friction stir welding apparatus of claim 1 further comprising:
the seventh connecting piece is fixedly connected with the eighth connecting piece, the seventh connecting piece is rotatably connected with the third connecting part to form a seventh rotating pair, the axis of the rotating pair of the seventh rotating pair is the seventh axis, the eighth connecting piece is rotatably connected with the third body to form an eighth rotating pair, and the axis of the rotating pair of the eighth rotating pair is the eighth axis;
the ninth connecting piece is rotatably connected with the third telescopic part to form a ninth rotating pair, the axis of a rotating pair of the ninth rotating pair is the ninth axis, the ninth connecting piece is rotatably connected with the tenth connecting piece to form a tenth rotating pair, the axis of a rotating pair of the tenth rotating pair is the tenth axis, the tenth connecting piece is rotatably connected with the third connecting seat to form an eleventh rotating pair, the axis of a rotating pair of the eleventh rotating pair is the eleventh axis, and the third connecting seat is fixedly connected with the seventh connecting part; and
the twelfth connecting piece is fixedly connected with the thirteenth connecting piece, the twelfth connecting piece is rotatably connected with the fourth connecting part to form a twelfth rotating pair, the axis of the rotating pair of the twelfth rotating pair is the twelfth axis, the thirteenth connecting piece is rotatably connected with the fourth body to form a thirteenth rotating pair, and the axis of the rotating pair of the thirteenth rotating pair is the thirteenth axis;
the fourth telescopic part is rotatably connected with the ninth connecting piece to form a fourteenth revolute pair, and the revolute pair axis of the fourteenth revolute pair is collinear with the revolute pair axis of the ninth revolute pair.
6. The friction stir welding apparatus of claim 1 wherein the friction stir welding apparatus comprises a ball joint comprising a ball seat and a ball pin, the ball pin fixedly connected to each of the third and fourth telescoping portions, the ball seat fixedly connected to the seventh connecting portion.
7. The friction stir welding apparatus of any of claims 1-6 further comprising:
the device comprises a base, a first guide rail and a second guide rail, wherein the base is provided with the first guide rail which extends along a first direction;
the first sliding table is slidably mounted on the first guide rail, a second guide rail is arranged on the first sliding table and extends along a second direction, the mounting platform is slidably mounted on the second guide rail, and the first direction is perpendicular to the second direction.
8. The friction stir welding apparatus of claim 7 further comprising:
the second sliding table is slidably arranged on the second guide rail; and
the link, the second slip table with installation platform follows the third direction is set up apart, the link has relative first end and second end in the third direction, the link the first end with the second slip table is connected, the link the second end with installation platform connects, the third direction perpendicular to first direction with each in the second direction.
9. The friction stir welding apparatus of claim 8 wherein each of the second slide table, the link frame, and the mounting platform is plate-shaped, the second slide table and the mounting platform are parallel to each other, and the link frame is perpendicular to each of the second slide table and the mounting platform.
10. The friction stir welding apparatus of claim 8 further comprising:
a first reinforcing rib connected to each of the connecting frame and the mounting platform; and
and the second reinforcing rib is connected with each of the second sliding table and the connecting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511340.2A CN112548318B (en) | 2020-12-18 | 2020-12-18 | Friction stir welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511340.2A CN112548318B (en) | 2020-12-18 | 2020-12-18 | Friction stir welding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112548318A true CN112548318A (en) | 2021-03-26 |
| CN112548318B CN112548318B (en) | 2021-12-21 |
Family
ID=75030473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011511340.2A Active CN112548318B (en) | 2020-12-18 | 2020-12-18 | Friction stir welding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112548318B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN103909518A (en) * | 2014-03-11 | 2014-07-09 | 浙江理工大学 | Hybrid robot for stirring friction welding in redundant drive space |
| CN105834576A (en) * | 2016-05-03 | 2016-08-10 | 浙江理工大学 | Redundant-driven friction stir welding parallel robot |
| US20170080519A1 (en) * | 2014-05-14 | 2017-03-23 | Acergy France SAS | Fabrication of Pipe Strings Using Friction Stir Welding |
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| CN109648188A (en) * | 2019-02-18 | 2019-04-19 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN110216658A (en) * | 2019-06-12 | 2019-09-10 | 清华大学 | A kind of five degree of freedom parallel connection machining robot with four branches |
-
2020
- 2020-12-18 CN CN202011511340.2A patent/CN112548318B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN103909518A (en) * | 2014-03-11 | 2014-07-09 | 浙江理工大学 | Hybrid robot for stirring friction welding in redundant drive space |
| US20170080519A1 (en) * | 2014-05-14 | 2017-03-23 | Acergy France SAS | Fabrication of Pipe Strings Using Friction Stir Welding |
| CN105834576A (en) * | 2016-05-03 | 2016-08-10 | 浙江理工大学 | Redundant-driven friction stir welding parallel robot |
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| CN109648188A (en) * | 2019-02-18 | 2019-04-19 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN110216658A (en) * | 2019-06-12 | 2019-09-10 | 清华大学 | A kind of five degree of freedom parallel connection machining robot with four branches |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112548318B (en) | 2021-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8661926B2 (en) | Robot manipulator and robot system | |
| CN100480003C (en) | Series parallel robot in five degrees of freedom | |
| CN102059697B (en) | Translating branch chain and parallel robot using same | |
| US20100252973A1 (en) | Clamping device for holding and clamping components | |
| CN108748086B (en) | Large-stroke hybrid processing robot device for complex curved surface | |
| CN108789357B (en) | Large-scale structural part machining device based on force-controlled series-parallel robot | |
| CN109195753B (en) | Working device using parallel link mechanism | |
| US11273602B2 (en) | Coupled positioners | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN109605339B (en) | Multi-freedom-degree parallel mechanism | |
| CN108621130A (en) | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R | |
| CN110253539A (en) | A kind of complete cycle 3-freedom parallel mechanism | |
| JP5433895B2 (en) | TIG welding head and automatic welding apparatus provided with the TIG welding head | |
| US20140360993A1 (en) | Multi-function and multi-vehicle-type robot apparatus for common use | |
| CN112548318B (en) | Friction stir welding device | |
| KR101486098B1 (en) | Articulated welding robot | |
| CN110509257B (en) | Posture-adjustable adsorption type machining robot | |
| KR101296537B1 (en) | Clamping apparatus for automated robot | |
| CN110815187B (en) | Three-freedom-degree parallel mechanism without accompanying movement | |
| JP5517147B2 (en) | Transfer device | |
| JP2005088069A (en) | Spot welding equipment | |
| CN116275762B (en) | Welding robot based on parallel mechanism | |
| CN217530847U (en) | Multi-degree-of-freedom manipulator | |
| CN216730242U (en) | Multi-angle welding gun for automobile production | |
| CN214868446U (en) | Automatic welding device for oil cylinder outer cover assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |