WO2019140869A1 - 一种搅拌摩擦焊接装置及包括其的搅拌摩擦焊接*** - Google Patents

一种搅拌摩擦焊接装置及包括其的搅拌摩擦焊接*** Download PDF

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Publication number
WO2019140869A1
WO2019140869A1 PCT/CN2018/094418 CN2018094418W WO2019140869A1 WO 2019140869 A1 WO2019140869 A1 WO 2019140869A1 CN 2018094418 W CN2018094418 W CN 2018094418W WO 2019140869 A1 WO2019140869 A1 WO 2019140869A1
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Prior art keywords
pair
friction stir
stir welding
platform
moving
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PCT/CN2018/094418
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English (en)
French (fr)
Inventor
吴军
于广
张彬彬
崔恒春
***
高颖
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清华大学
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Priority to US16/964,160 priority Critical patent/US11260469B2/en
Publication of WO2019140869A1 publication Critical patent/WO2019140869A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—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
    • 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
    • B23K20/126—Workpiece support, i.e. backing or clamping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/26—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0538—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

Definitions

  • the present invention relates to the field of mechanical manufacturing, and in particular to a friction stir welding apparatus and a friction stir welding system including the same.
  • Friction stir welding is carried out by a special type of stirring head while rotating, and heat is generated by friction between the stirring head and the member to be welded, and the generated frictional heat causes the welded part to be partially in a thermoplastic state and under the pressure of the stirring head.
  • the front end is plastically flowed to the rear, thereby pressure welding the parts to be welded into one piece. Since the method is solid phase welding, the heating process has the characteristics of high energy density, fast heat input speed, and the like, so that the welding deformation is small, and the residual stress after welding is small. At the same time, the friction stir welding process does not produce arc radiation, smoke and splash, and the noise is low, which is a green production process. Therefore, friction stir welding is widely used.
  • the existing friction stir welding device often adopts a series structure, which has five-axis simultaneous machining capability, but a large forging force is generated during the machining process, and the forging force leads to the series connection.
  • the structure is deformed, which affects the welding quality and welding precision.
  • the welding equipment is required to have sufficient rigidity.
  • an object of the present invention is to provide a friction stir welding apparatus and a friction stir welding system therewith, which solve the problems of low rigidity of the existing friction stir welding apparatus, resulting in low welding quality and low welding precision.
  • an aspect of the invention provides a friction stir welding apparatus comprising:
  • a rack comprising a rack platform and a frame supporting the rack platform, the upper surface and the lower surface of the rack platform are provided with a pair of slide rails disposed opposite to each other;
  • a stirring head is mounted on one surface of the moving platform
  • a first branching mechanism comprising: a first moving pair, a first rotating pair, a telescopic rod and a first ball pair connected in sequence, wherein the first moving pair is movable along a pair of sliding rails on an upper surface of the rack platform, The rotation axis of the first rotating pair is parallel to the surface of the slide rail on the upper surface of the frame platform, and the first ball pair is connected to one side of the moving platform without the stirring head;
  • each of the second branching mechanism and the third branching mechanism comprising a third moving pair, a second rotating pair, a third link and a second ball pair sequentially connected
  • the third moving pair is movable along a pair of sliding rails along a lower surface of the rack platform, and a rotation axis of the second rotating pair is perpendicular to a surface composed of a sliding rail of a lower surface of the rack platform, the second ball
  • the pair is connected to one side of the moving platform where the stirring head is not installed.
  • the first branching mechanism, the second branching mechanism and the third branching mechanism are both hinged with the moving platform, and the center point of the hinge is evenly distributed with respect to the center of the moving platform.
  • the plane formed by the third link of the second branching mechanism and the third branching mechanism is parallel to the plane composed of the sliding rails of the lower surface of the frame platform.
  • the telescopic rod includes a first link, a second moving pair and a second link that are sequentially connected, and the second link moves along the first link by the second moving pair.
  • the second moving pair is a driving mechanism of the servo motor to drive the screw.
  • the first moving pair and the third moving pair are driving mechanisms of a dual servo motor driving rack and pinion.
  • the first ball pair and the second ball pair are a ball joint or a composite ball joint in which three vertical rotation axes intersect at one point.
  • another aspect of the present invention provides a friction stir welding system including the friction stir welding device and the fastening device as described above, the fastening device for fixing a member to be welded by the stirring The head is welded to the part to be welded.
  • the system further includes a working platform on which a chute is disposed, the fastening device being mounted in the chute and movable along the chute.
  • the fastening means comprises a pair of fasteners disposed opposite each other, the member to be welded being located between the two fasteners, the axes of rotation of the two fasteners being in the same line.
  • the present invention has the following advantages and benefits:
  • the invention adopts a parallel mechanism composed of a first branching mechanism, a second branching mechanism and a third branching mechanism, so that the friction stir welding device of the invention has four degrees of freedom, and can realize two-dimensional rotation and two-dimensional moving motion of the movable platform. Form, it is easier to control the position and posture of the moving platform.
  • the invention has the characteristics of high rigidity, low inertia, high dynamic performance and high precision, and the parallel mechanism is simple and compact in structure, strong in load capacity, small in moving parts, and easy to realize high-speed movement, and can satisfy large rocket fuel storage in the aviation field. Precision welding with high quality and precision required for the jointing of the ring section of the box section.
  • the present invention uses a pair of fasteners that are adjustable in span to secure the member to be welded, increasing the diameter and overall length of the butt joint of the barrel section.
  • Figure 1 is a schematic view showing the structure of the friction stir welding device of the present invention
  • FIG. 2 is a schematic view of the friction stir welding system of the present invention.
  • the friction stir welding device of the present invention comprises a parallel mechanism composed of a first branching mechanism, a second branching mechanism and a third branching mechanism, and a moving platform. 4 and the frame, the parallel mechanism is connected between the moving platform 4 and the frame.
  • the rack includes a rack platform 51 and a frame 52 supporting the rack platform 51.
  • the rack platform 51 is mounted on the frame body 52.
  • the upper surface and the lower surface of the rack platform 51 are provided with a pair of sliding surfaces facing each other.
  • the upper surface and the lower surface of the rack platform 51 are parallel, and the planes of the two pairs of slide rails respectively disposed thereon are parallel.
  • a stirring head 41 is mounted on one surface of the movable platform 4, and heat is generated by friction between the stirring head and the member to be welded, so that the welding member is partially in a thermoplastic state, and plastically flows from the front end to the rear portion under the pressure of the stirring head. Thereby, the parts to be welded are pressure welded as a whole.
  • the parallel mechanism in the present invention includes a first branching mechanism, a second branching mechanism, and a third branching mechanism, and the first branching mechanism, the second branching mechanism, and the third branching mechanism are both connected between the frame and the moving platform.
  • the first branching mechanism includes a first moving pair 101, a first rotating pair 102, a telescopic rod, and a first ball pair 106 that are sequentially connected.
  • the first moving pair 101 is movable along a pair of sliding rails 53 on the upper surface of the rack platform 51.
  • the rotation axis of the first rotating pair 102 is parallel to the surface composed of the sliding rails 53 on the upper surface of the rack platform, and one end of the telescopic rod
  • the first rotating pair 102 is connected, and the other end of the telescopic rod is connected to the first ball pair 106.
  • the first ball pair 106 is connected to one side of the moving platform 4 where the stirring head 41 is not mounted.
  • the first moving pair 101 moves along the slide rail 53, thereby driving the movement of the first rotating pair 102, the telescopic rod, the first ball pair 106, and the movable platform 4 connected thereto.
  • the telescopic rod is rotatable about the first rotating pair 102, thereby driving the rotation of the first ball pair 106 and the moving platform 4.
  • the second branching mechanism and the third branching mechanism have exactly the same mechanism, and each includes a third moving pair 201, a second rotating pair 202, a third link 203, and a second ball pair 204, which are sequentially connected, and the third moving pair 201
  • a pair of slide rails 53 along the lower surface of the frame platform 51 are movable, and a rotation axis of the second rotation pair 202 is perpendicular to a surface composed of a slide rail of a lower surface of the frame platform, and one end of the third link 203 is connected to the second rotation pair. 202.
  • the other end of the third link 203 is connected to the second ball pair 204.
  • the second ball pair 204 is connected to one side of the movable platform 4 where the stirring head 41 is not mounted.
  • the third moving pair 201 moves along the sliding rail to move the second rotating pair 202, the third connecting rod 203, the second ball pair 204 and the moving platform 4 connected thereto, and the third connecting rod 203 can surround the second rotating pair 202 Rotation, which in turn drives the rotation of the second ball pair 204 and the movable platform 4.
  • the parallel mechanism has the characteristics of simple and compact structure, high rigidity, strong load capacity, small moving component quality and easy realization of high-speed movement, so that the friction stir welding device of the invention has high rigidity, high dynamic performance and high precision.
  • the friction stir welding device of the invention has four degrees of freedom, can realize the two-dimensional rotation of the moving platform and the two-dimensional moving motion form, and is easy to control the position and posture of the moving platform, thereby meeting the welding requirements of the welded parts, and ensuring Higher welding accuracy.
  • the telescopic rod in the first branching mechanism includes a first link 103, a second moving pair 104, and a second link 105 that are sequentially connected, and the second link 105 passes through the second moving pair 104 along the first
  • the link moves 103 to effect telescopic movement of the first branching mechanism.
  • the diameter of the second link 105 is slightly smaller than the diameter of the first link 103, so that the second link 105 is inserted into the first link 103, or the diameter of the second link 105 is slightly larger than the diameter of the first link 103.
  • the second link 105 is conveniently sleeved on the outer circumference of the first link 103.
  • the first moving pair 101, the second moving pair 104, and the second branching mechanism of the first branching mechanism, and the third moving pair 201 of the third branching mechanism are all driving pairs.
  • the first moving pair 101 and the third moving pair 201 respectively drive the gear rack of the double servo motor to realize the movement of the three branches, thereby realizing the moving platform along the sliding rail direction.
  • the second moving pair 104 uses a driving mechanism of the servo motor to drive the screw, and realizes the telescopic movement of the first branching mechanism, thereby realizing the movement of the moving platform in the direction of the first link and the second link.
  • the first ball pair 106 of the first branching mechanism, the second branching mechanism, and the second ball pair 204 of the third branching mechanism are a ball joint or a composite ball joint in which three vertical rotating shafts intersect at one point, so that the three branching mechanisms It is hinged with the moving platform and can rotate around the platform.
  • the first branching mechanism, the second branching mechanism, and the third branching mechanism are respectively hinged to the movable platform 4 through the first ball pair 106 and the second ball pair 204.
  • each hinge center point is opposite to the moving platform 4.
  • the center is evenly distributed, and each hinge center point forms an equilateral triangle.
  • the hinge point of the first branching mechanism and the moving platform is located at the apex above the equilateral triangle, and the hinge points of the second branching mechanism and the third branching mechanism and the moving platform are respectively located under the equilateral triangle.
  • the second branching mechanism and the third branching mechanism are symmetrically arranged with respect to the moving platform.
  • the two third links 203 of the second branching mechanism and the third branching mechanism are located in the same plane, and the plane formed is parallel to the surface composed of the sliding rails 53 on the lower surface of the rack platform 51.
  • FIG. 2 is a schematic view of the friction stir welding system of the present invention.
  • the system includes the friction stir welding device 1000 and the fastening device as described above.
  • the fastening device is used for fixing the member to be welded 6, and the member to be welded 6 is welded by the agitating head 41.
  • the heat generated by the friction between the agitating head 41 and the member to be welded 6 causes the member to be welded 6 to be partially in a thermoplastic state, and the stirring head 41 is provided.
  • Rotating and moving under the action of the parallel mechanism the welding of the workpiece 6 to be welded is completed under the action of the stirring head pressure.
  • the three branches of the parallel mechanism enable the agitating head 41 on the moving platform 4 to have four degrees of freedom, which can realize the rotation in two directions and the movement in two directions, thereby improving the welding precision.
  • the friction stir welding system further includes a working platform 7 on which a chute is disposed, the fastening device is installed in the chute, and is movable along the chute to facilitate adjustment and fastening. The location of the device.
  • the fastening device is used for fixing the member to be welded, and may be an integral clamping device, or may be two separate components, and the member to be welded is fixed between the two components.
  • the fastening device comprises a pair of fasteners 8 disposed opposite each other, the to-be-welded member 6 being located between the two fasteners 8, the rotation axes of the two fasteners 8 being on the same straight line, and the electric drive device driving tightly
  • the rotation of the firmware allows the member to be welded 6 to rotate about the axis of rotation, increasing the degree of freedom of the friction stir welding system and achieving welding of the curved parts.
  • the fastener 8 is mounted in the chute of the work platform and is movable along the chute to facilitate adjustment of the distance between the two fasteners 8 according to the length of the member 6 to be welded.
  • the two-stage rocket tank is clamped and fixed by two fasteners 8, and the second moving pair 104 moves along the first rail 103 and the third moving pair 101 along the first link 103 and The movement of the two links 105 and the rotation of the first rotating pair 102 and the second rotating pair 202 enable the moving platform 4 to achieve two directions of rotation and two directions of movement, thereby adjusting the position and posture of the moving platform.
  • the rocket tank forms its own rotary motion under the driving of the electric driving device of the fastener, so that the friction stir welding system of the present invention has five degrees of freedom.
  • the invention is not only suitable for the joint processing of the annular joint of the large rocket fuel tank, but also for the welding between general parts or complex parts.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)

Abstract

一种搅拌摩擦焊接装置，包括机架、动平台（4）和由三个分支机构组成的并联机构，其中，第一分支机构包括依次连接的第一移动副（101）、第一转动副（102）、伸缩杆和第一球副（106），通过第一球副（106）与动平台（4）连接；第二分支机构和第三分支机构均包括依次连接的第三移动副（201）、第二转动副（202）、第三连杆（203）和第二球副（204），通过第二球副（204）与动平台（4）连接。还涉及一种包括上述搅拌摩擦焊接装置的搅拌摩擦焊接***。本搅拌摩擦焊接装置的并联机构实现四自由度，使得动平台两维转动和两维移动，更易于控制动平台的位置和姿态，具有高刚度、低惯性、高动态性能和高精度。

Description

一种搅拌摩擦焊接装置及包括其的搅拌摩擦焊接*** 技术领域
本发明涉及机械制造领域，具体地，涉及一种搅拌摩擦焊接装置及包括其的搅拌摩擦焊接***。
背景技术
搅拌摩擦焊利用一种特殊形式的搅拌头边旋转边前进，通过搅拌头与待焊接件的摩擦产生热量，产生的摩擦热量使该焊接件局部处于热塑性状态，并在搅拌头的压力作用下从前端向后部塑性流动，从而使待焊件压焊为一个整体。由于该方法为固相焊接，其加热过程具有能量密度高、热输入速度快等特点，因而焊接变形小，焊后残余应力小。同时，搅拌摩擦焊焊接过程不产生弧光辐射、烟尘和飞溅，噪音低，是绿色化生产加工。因此，搅拌摩擦焊被广泛应用。
目前，针对焊接曲面复杂的焊接件，现有的搅拌摩擦焊接装置常采用串联结构，使其具有五轴联动加工能力，但在加工过程中会产生较大的顶锻力，顶锻力导致串联结构发生变形，影响焊接质量和焊接精度。为了得到精度较高的焊接件，需要焊接设备具有足够大的刚度。
发明内容
鉴于以上问题，本发明的目的是提供一种搅拌摩擦焊接装置及包括其的搅拌摩擦焊接***，以解决现有搅拌摩擦焊接装置刚度低，导致焊接质量和焊接精度低的问题。
为了实现上述目的，本发明的一个方面是提供一种搅拌摩擦焊接装置，包括：
机架，包括机架平台和支撑所述机架平台的架体，所述机架平台的上表 面和下表面均设置有相向设置的一对滑轨；
动平台，所述动平台的一个表面上安装有搅拌头；
第一分支机构，包括依次连接的第一移动副、第一转动副、伸缩杆和第一球副，所述第一移动副沿所述机架平台上表面的一对滑轨可移动，所述第一转动副的转动轴线与所述机架平台上表面的滑轨组成的面平行，所述第一球副与所述动平台未安装搅拌头的一面连接；
第二分支机构和第三分支机构，所述第二分支机构和所述第三分支机构均包括依次连接的第三移动副、第二转动副、第三连杆和第二球副，所述第三移动副沿所述机架平台下表面的一对滑轨可移动，所述第二转动副的转动轴线与所述机架平台下表面的滑轨组成的面垂直，所述第二球副与所述动平台未安装搅拌头的一面连接。
优选地，所述第一分支机构、所述第二分支机构和所述第三分支机构均与所述动平台铰接，并且铰接的中心点相对于所述动平台的中心均匀分布。
优选地，所述第二分支机构和所述第三分支机构的第三连杆组成的平面与所述机架平台下表面的滑轨组成的面平行。
优选地，所述伸缩杆包括依次连接的第一连杆、第二移动副和第二连杆，所述第二连杆通过所述第二移动副沿所述第一连杆移动。
优选地，所述第二移动副是伺服电机带动丝杠的驱动机构。
优选地，所述第一移动副和所述第三移动副是双伺服电机驱动齿轮齿条的驱动机构。
优选地，所述第一球副和所述第二球副是球铰或者三个垂直方向转动轴相交为一点的复合球铰。
为了实现上述目的，本发明的另一个方面是提供一种搅拌摩擦焊接***，包括如上所述的搅拌摩擦焊接装置和紧固装置，所述紧固装置用于固定待焊接件，通过所述搅拌头焊接所述待焊接件。
优选地，该***还包括工作平台，所述工作平台上设置有滑槽，所述紧固装置安装在所述滑槽中，且沿所述滑槽可移动。
优选地，所述紧固装置包括相向设置的一对紧固件，所述待焊接件位于 两个紧固件之间，两个紧固件的回转轴在同一直线上。
与现有技术相比，本发明具有以下优点和有益效果：
本发明通过第一分支机构、第二分支机构和第三分支机构组成的并联机构，使得本发明所述搅拌摩擦焊接装置具有四自由度，能够实现动平台的两维转动和两维移动的运动形式，更易于控制动平台的位置和姿态。
本发明具有高刚度、低惯性、高动态性能和高精度的特征，且并联机构结构简单紧凑、负载能力强、运动部件质量小，并易于实现高速运动，可以满足对航空领域的大型火箭燃料贮箱筒段环缝对接加工质量及精度要求高的精密焊接。
本发明使用跨度可以调整的一对紧固件固定待焊接件，增大筒段环缝对接的直径和总体长度。
附图说明
图1是本发明所述搅拌摩擦焊接装置结构示意图；
图2是本发明所述搅拌摩擦焊接***示意图。
具体实施方式
下面将参考附图来描述本发明所述的实施例。本领域的普通技术人员可以认识到，在不偏离本发明的精神和范围的情况下，可以用各种不同的方式或其组合对所描述的实施例进行修正。因此，附图和描述在本质上是说明性的，而不是用于限制权利要求的保护范围。此外，在本说明书中，附图未按比例画出，并且相同的附图标记表示相同的部分。
下面结合图1和图2来详细说明本实施例。
图1是本发明所述搅拌摩擦焊接装置结构示意图，如图1所示，本发明所述搅拌摩擦焊接装置包括第一分支机构、第二分支机构和第三分支机构组成的并联机构、动平台4和机架，并联机构连接在动平台4和机架之间。
其中，机架包括机架平台51和支撑机架平台51的架体52，机架平台51架设在架体52上，机架平台51的上表面和下表面均设置有相向设置的一对 滑轨53。机架平台51的上表面和下表面平行，分别设置于其上的两对滑轨所在平面平行。
动平台4的一个表面上安装有搅拌头41，通过搅拌头与待焊接件的摩擦产生热量，使该焊接件局部处于热塑性状态，并在搅拌头的压力作用下从前端向后部塑性流动，从而使待焊接件压焊为一个整体。
本发明中的并联机构包括第一分支机构、第二分支机构和第三分支机构，第一分支机构、第二分支机构和第三分支机构均连接在机架与动平台之间。
第一分支机构包括依次连接的第一移动副101、第一转动副102、伸缩杆和第一球副106。其中，第一移动副101沿机架平台51上表面的一对滑轨53可移动，第一转动副102的转动轴线与机架平台上表面的滑轨53组成的面平行，伸缩杆的一端连接第一转动副102，伸缩杆的另一端连接第一球副106，第一球副106与动平台4上未安装搅拌头41的一面连接。第一移动副101沿滑轨53移动，进而带动与之连接的第一转动副102、伸缩杆、第一球副106以及动平台4的移动。伸缩杆可绕第一转动副102转动，进而带动第一球副106和动平台4的转动。
第二分支机构和第三分支机构具有完全相同的机构组成，均包括依次连接的第三移动副201、第二转动副202、第三连杆203和第二球副204，第三移动副201沿机架平台51下表面的一对滑轨53可移动，第二转动副202的转动轴线与机架平台下表面的滑轨组成的面垂直，第三连杆203的一端连接第二转动副202，第三连杆203的另一端连接第二球副204，第二球副204与动平台4上未安装搅拌头41的一面连接。第三移动副201沿滑轨的移动带动与之连接的第二转动副202、第三连杆203、第二球副204和动平台4移动，第三连杆203可绕第二转动副202转动，进而带动第二球副204和动平台4的转动。
本发明中，并联机构具有结构简单紧凑、刚度高、负载能力强、运动部件质量小和易于实现高速运动等特点，使得本发明所述搅拌摩擦焊接装置具有高刚度、高动态性能和高精度的优点。且本发明所述搅拌摩擦焊接装置具有四自由度，能够实现动平台的两维转动和两维移动的运动形式，易于控制 动平台的位置和姿态，从而满足对待焊接件的焊接要求，且保证较高的焊接精度。
如图1所示，第一分支机构中的伸缩杆包括依次连接的第一连杆103、第二移动副104和第二连杆105，第二连杆105通过第二移动副104沿第一连杆移动103，从而实现第一分支机构的伸缩移动。第二连杆105的直径略小于第一连杆103的直径，便于第二连杆105插进第一连杆103中，或者，第二连杆105的直径略大于第一连杆103的直径，便于第二连杆105套在第一连杆103的外周。
第一分支机构中的第一移动副101、第二移动副104和第二分支机构、第三分支机构中的第三移动副201均为驱动副。在一个优选的实施例中，第一移动副101、第三移动副201均采用双伺服电机驱动齿轮齿条的驱动机构，分别实现三个分支机构的移动，从而实现动平台沿着滑轨方向的移动。第二移动副104采用伺服电机带动丝杠的驱动机构，实现第一分支机构的伸缩移动，从而实现动平台沿着第一连杆和第二连杆方向的移动。第一分支机构的第一球副106、第二分支机构和第三分支机构中的第二球副204是球铰或者三个垂直方向转动轴相交为一点的复合球铰，使得三个分支机构与动平台铰接，可绕动平台转动。
本发明中，第一分支机构、第二分支机构和第三分支机构分别通过第一球副106和第二球副204与动平台4铰接，优选的，各铰接中心点相对于动平台4的中心均匀分布，各铰接中心点形成正三角形，第一分支机构与动平台的铰接点位于正三角形上方的顶点处，第二分支机构和第三分支机构与动平台的铰接点分别位于正三角形下方的顶点处，且第二分支机构和第三分支机构相对于动平台对称布置。
优选的，第二分支机构和第三分支机构的两个第三连杆203位于同一平面内，且组成的该平面与机架平台51下表面的滑轨53组成的面平行。
本发明的另一个发明提供了一种搅拌摩擦焊接***，图2是本发明所述搅拌摩擦焊接***示意图，如图2所示，该***包括如上所述的搅拌摩擦焊接装置1000和紧固装置。紧固装置用于固定待焊接件6，通过搅拌头41焊接 待焊接件6，利用搅拌头41与待焊接件6之间摩擦产生的热量，使得待焊接件6局部处于热塑性状态，搅拌头41在并联机构的作用下转动和移动，在搅拌头压力作用下，完成对待焊接件6的焊接。并联机构的三个分支机构使得动平台4上的搅拌头41具有四自由度，可实现两个方向的转动和两个方向的移动，提高焊接精度。
在一个优选的实施例中，该搅拌摩擦焊接***还包括工作平台7，在工作平台7上设置有滑槽，紧固装置安装在滑槽中，且沿滑槽可移动，以便于调整紧固装置的位置。
本发明中，紧固装置用于固定待焊接件，可以是一体的夹持装置，也可以是分离的两个部件，将待焊接件固定于两个部件之间。优选地，紧固装置包括相向设置的一对紧固件8，待焊接件6位于两个紧固件8之间，两个紧固件8的回转轴在同一直线上，电驱动装置驱动紧固件的转动，从而使得待焊接件6可以绕回转轴线旋转，增加搅拌摩擦焊接***的自由度，实现对曲面零件的焊接。紧固件8安装在工作平台的滑槽中，可沿着滑槽移动，便于根据待焊接件6的长度调整两个紧固件8之间的距离。
以本发明在大型火箭燃料贮箱筒段环缝对接加工中的应用为例，说明本发明中搅拌摩擦焊接***的工作过程。
将两段火箭贮箱用两个紧固件8夹紧固定，通过第一移动副101和第三移动副201在滑轨上的移动，第二移动副104沿着第一连杆103和第二连杆105方向的移动，以及第一转动副102和第二转动副202的转动，使得动平台4实现两个方向的转动和两个方向的移动，从而调整动平台的位置和姿态。在利用搅拌头进行焊接过程中，火箭贮箱在紧固件的电驱动装置的带动下形成自身的回转运动，从而使得本发明的搅拌摩擦焊接***具有五自由度。完成两段火箭贮箱的焊接之后，调整两个紧固件的位置，以便增大筒段环缝的直径或总体长度，可以再添加一段或多段火箭贮箱，继续焊接，直至所有的火箭贮箱焊接完成。
本发明不仅适用于大型火箭燃料贮箱筒段环缝对接加工过程，也适用于一般零件或复杂零件之间的焊接。
以上仅为本发明的优选实施例，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种搅拌摩擦焊接装置，其特征在于，包括：
    机架，包括机架平台和支撑所述机架平台的架体，所述机架平台的上表面和下表面均设置有相向设置的一对滑轨；
    动平台，所述动平台的一个表面上安装有搅拌头；
    第一分支机构，包括依次连接的第一移动副、第一转动副、伸缩杆和第一球副，所述第一移动副沿所述机架平台上表面的一对滑轨可移动，所述第一转动副的转动轴线与所述机架平台上表面的滑轨组成的面平行，所述第一球副与所述动平台未安装搅拌头的一面连接；
    第二分支机构和第三分支机构，所述第二分支机构和所述第三分支机构均包括依次连接的第三移动副、第二转动副、第三连杆和第二球副，所述第三移动副沿所述机架平台下表面的一对滑轨可移动，所述第二转动副的转动轴线与所述机架平台下表面的滑轨组成的面垂直，所述第二球副与所述动平台未安装搅拌头的一面连接。
  2. 根据权利要求1所述的搅拌摩擦焊接装置，其特征在于，所述第一分支机构、所述第二分支机构和所述第三分支机构均与所述动平台铰接，并且铰接的中心点相对于所述动平台的中心均匀分布。
  3. 根据权利要求1所述的搅拌摩擦焊接装置，其特征在于，所述第二分支机构和所述第三分支机构的第三连杆组成的平面与所述机架平台下表面的滑轨组成的面平行。
  4. 根据权利要求1所述的搅拌摩擦焊接装置，其特征在于，所述伸缩杆包括依次连接的第一连杆、第二移动副和第二连杆，所述第二连杆通过所述第二移动副沿所述第一连杆移动。
  5. 根据权利要求4所述的搅拌摩擦焊接装置，其特征在于，所述第二移动副是伺服电机带动丝杠的驱动机构。
  6. 根据权利要求1所述的搅拌摩擦焊接装置，其特征在于，所述第一移动副和所述第三移动副是双伺服电机驱动齿轮齿条的驱动机构。
  7. 根据权利要求1所述的搅拌摩擦焊接装置，其特征在于，所述第一球副和所述第二球副是球铰或者三个垂直方向转动轴相交为一点的复合球铰。
  8. 一种搅拌摩擦焊接***，其特征在于，包括如权利要求1至7任一项所述的搅拌摩擦焊接装置和紧固装置，所述紧固装置用于固定待焊接件，通过所述搅拌头焊接所述待焊接件。
  9. 根据权利要求8所述的搅拌摩擦焊接***，其特征在于，该***还包括工作平台，所述工作平台上设置有滑槽，所述紧固装置安装在所述滑槽中，且沿所述滑槽可移动。
  10. 根据权利要求9所述的搅拌摩擦焊接***，其特征在于，所述紧固装置包括相向设置的一对紧固件，所述待焊接件位于两个紧固件之间，两个紧固件的回转轴在同一直线上。
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