CN108890116A - Two-shipper process unit for the weldering of large-sized structural parts agitating friction - Google Patents
Two-shipper process unit for the weldering of large-sized structural parts agitating friction Download PDFInfo
- Publication number
- CN108890116A CN108890116A CN201810849464.8A CN201810849464A CN108890116A CN 108890116 A CN108890116 A CN 108890116A CN 201810849464 A CN201810849464 A CN 201810849464A CN 108890116 A CN108890116 A CN 108890116A
- Authority
- CN
- China
- Prior art keywords
- robot
- support device
- support
- ring flange
- structural member
- 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.)
- Pending
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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
- 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
- B23K20/126—Workpiece support, i.e. backing or clamping
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses the two-shipper process unit welded for large-sized structural parts agitating friction, it includes workbench, organisation of working, supporting mechanism and structural member clamping device, wherein：Organisation of working and supporting mechanism are fixedly installed on the both ends of workbench respectively, and structural member clamping device is fixedly installed on workbench and between mixed connection organisation of working and mixed connection supporting mechanism.The present invention is cooperated using organisation of working and supporting mechanism and carries out point-to-point support and welding to workpiece, overcome the obstacle that traditional agitating friction weldering is applied to Large Complicated Structural Component, without making pattern, reduce deformation when clamping workpiece and welding, effectively prevent welding defect, processing quality is improved, has many advantages, such as that characteristics of compact layout, control is simple, load is good, machining accuracy is high, good rigidity.
Description
Technical field
The present invention designs a kind of two-shipper process unit, is particularly used for the two-shipper processing of large-sized structural parts agitating friction weldering
Equipment.
Background technique
Large high-strength Integral welded shaped component is carrier rocket tank, manned spacecraft cabin, space station experiment
Agitating friction weldering is widely used in the carrying spaces such as cabin and the typical structure equipped in orbit, welding fabrication mode.Stirring rubs
It wipes weldering and does not need groove preparation, filling metal and protective gas, quality of weld joint and good mechanical performance, welding deformation is small,
Defect level is low, automation easy to accomplish, production efficiency height etc., has high quality, highly reliable, high efficiency, low energy consumption, smokeless
The advantages that dirt splashes.Large Complicated Structural Component agitating friction weldering during, due to Large Complicated Structural Component Form and position error compared with
Greatly, workpiece and pattern are difficult to paste tire completely, and workpiece is easy to produce welding deformation and defect when welding；And since workpiece is long thick
It is bigger, there is weak rigidity, it is easily-deformable after clamping workpiece, influence processing quality.
For the literature search discovery of the prior art, the Chinese patent application of Publication No. CN105397277A is disclosed
" the Friction Stir Welding device and method that a kind of bottom applies ultrasonic vibration ", ultrasound is applied to mixing needle week from bottom by it
On the welded piece enclosed, promotes the flowing of root of weld metal using the resistance of deformation that ultrasonic vibration reduces metal, reduce weak company
Tendency is connect, to achieve the purpose that improve welding quality.But the device is needed in workbench (or pattern) along welding direction
Rectangular channel is processed to install ultrasonic vibration installation, so that welding procedure is increasingly complex and reduces processing efficiency, it is difficult to apply
It is welded in the agitating friction of Large Complicated Structural Component.
Summary of the invention
It is an object of the invention to overcome the shortcomings of prior art, provide it is a kind of guarantee working position have enough rigidity, compared with
It is small or eliminate flutter, to realize be precisely controlled for large-sized structural parts agitating friction weldering two-shipper process unit.
In order to achieve the above object, the technical solution adopted by the present invention is that：
For the two-shipper process unit of large-sized structural parts agitating friction weldering, pedestal and right side including passing through left side respectively
Pedestal be fixed on face-to-face workbench left and right ends machining robot and support robot, the machining robot
It is identical with support robot topological structure；Structural member clamping device is fixed on the table and positioned at machining robot and support
Between robot, the machining robot end is equipped with electro spindle, and stirring has been revolvably installed on the electro spindle
Needle is respectively and fixedly provided with robot ring flange, the mixing needle and the face-to-face cloth of support device in the support robot end
It sets, it is axial from successively end to end towards structural member direction to be processed far from structural member direction to be processed along the support device
It is provided with annular groove, necking down cone tank and cylindrical groove, is provided on the support device outer wall at the notch of the annular groove
Support device ring flange, the robot ring flange are fixedly linked with support device ring flange, ultrasonic vibration installation
Top is inserted in cylindrical groove and the two is fixedly linked, both the ultrasonic vibration installation and support device coaxial arrangement, in institute
The centre of the support device and structural member contact face to be processed stated is provided with groove so that mixing needle penetrations but with branch
The groove of support arrangement keeps gap, and the axis of the mixing needle and the axis of support device are symmetrical about structural member, mixing needle
At processing on structural member and support device is symmetrical about structural member at support on structural member.
Beneficial effect obtained by the present invention：
Compared with prior art, the present invention combines two-shipper processing technology and hybrid mechanism, organisation of working and support
Mechanism can realize that five degree of freedom moves, and the two, which cooperates, carries out point-to-point support and agitating friction weldering to workpiece.Two-shipper processing
Technology guarantee processing at and support at it is symmetrical about tooling member mirror surface always, not only increase the processing efficiency of equipment, make plus
The stress of workpiece more evenly, reduces its flexible deformation and vibration, and improve machining accuracy.Mixed connection process unit has rigid
Spend, dynamic property is good, machining accuracy is high, to realize equipment module, it is restructural the advantages that.Characteristics of compact layout of the present invention, control
Simply, load is good, machining accuracy is high, good rigidity.
Compared with prior art, workpiece burn-through is effectively prevented root defect by the present invention, improves processing quality；
The present invention is simplified technique, improves processing efficiency using point-to-point support and welding without making pattern；Present invention processing
Mechanism and supporting mechanism can realize equipment module, flexibility with higher and production adaptability.
Detailed description of the invention
Fig. 1 is two-shipper process unit structural schematic diagram of the present invention for the weldering of large-sized structural parts agitating friction；
Fig. 2 is the top view of equipment shown in Fig. 1；
Fig. 3 is the schematic diagram that friction welding process is stirred using present device.
1：Workbench 2：Five degree of freedom mixed connection machining robot
3：Five degree of freedom mixed connection supports robot 4：Structural member clamping device
21/31：Driven branch； 22/32：First active branched chain；
23/33：Second active branched chain； 24/34：Third active branched chain；
25/35：Pedestal； 26/36：Fixed frame
27/37：Moving platform； 28/38：Positioning head
29：Mixing needle 39：Support device
310：Ultrasonic vibration installation 41：Structural member
42：Fixed frame 43：Flexible clamping arm
Specific embodiment
The present invention will be described in detail in the following with reference to the drawings and specific embodiments.
Elaborate below to the embodiment of the present invention, the present embodiment under the premise of the technical scheme of the present invention into
Row is implemented, and gives detailed embodiment and specific operation process, but protection scope of the present invention is not limited to following implementations
Example.
As shown in Figure 1, the two-shipper process unit for the weldering of large-sized structural parts agitating friction of the invention, including lead to respectively
The pedestal 35 of the pedestal 25 and right side of crossing left side is fixed on machining robot 2 and the support of the left and right ends of workbench 1 face-to-face
Robot 3, the machining robot 2 are identical with support 3 topological structure of robot；Structural member clamping device 4 is fixed on work
On platform 1 and it is located between machining robot 2 and support robot 3.The structural member clamping device 4 is using existing structure
It can.As a preferred embodiment of the present invention, the structural member clamping device 4 includes being fixed on workbench 1
Fixed frame 42 uniformly connects (can be bolted) on the peripheral inner wall of the rectangular box of the fixed frame 42
Flexible clamping limb 43, the flexible clamping arm 43 are used for clamping structure part 41, and 43 market of flexible clamping arm has
It sells.
The machining robot 2 and support robot 3 can using series parallel robot in five degrees of freedom, serial manipulator,
One of numerically-controlled machine tool etc., wherein series parallel robot in five degrees of freedom structure is referring specifically to CN105058376A patent disclosure
" a kind of Planar Mechanisms high rigidity robot with three symmetric motion performances ", structure may refer to Fig. 1,2, and described adds
Work robot 2 and support robot 3 include the fixed frame 26/36 being fixed on pedestal 25/35, are located at 26/36 front of fixed frame
Moving platform 27/37, the driven branch 21/31 being connected with the moving platform 27/37 and fixed frame 26/36, the first active branched chain
22/32, the second active branched chain 23/33 and third active branched chain component 24/34, and it is fixed on determining for the moving platform end
Potential head 28/38.The positioning head 28/38 is the series connection rotary head having there are two freedom degree, can on the terminal link for rotary head of connecting
Various types of end effectors are installed, to realize different process requirements.
It is respectively and fixedly provided with electro spindle in the end of machining robot 2, stirring has been revolvably installed on the electro spindle
Needle is respectively and fixedly provided with robot ring flange in the end of support robot 3.The robot ring flange is commercially available.Described
Mixing needle 29 is cutter, commercially available.
The mixing needle 29 and support device 39 is arranged face-to-face, axial from far to be added along the support device 39
Work structural member direction is provided with annular groove, necking down cone tank and cylindrical groove towards structural member direction to be processed is successively end to end,
Support device ring flange, the robot flange are provided on support device outer wall at the notch of the annular groove
Disk is fixedly linked with support device ring flange, and the top of a ultrasonic vibration installation 310 is inserted in cylindrical groove and the two is fixed
Be connected, both the ultrasonic vibration installation 310 and support device 39 are coaxially disposed, the support device 39 with it is to be processed
The centre of structural member contact face be provided with groove so that mixing needle penetrations but keeping gap with the groove of support device.
The axis of the mixing needle 29 and the axis of support device 39 are symmetrical about structural member 41, and mixing needle 29 is on structural member 41
Processing at and support device 39 it is symmetrical about structural member 41 at the support on structural member 41.
The angle of the axis of the axis and electro spindle of the preferred support device 39 is between 0 ° -10 °.It can protect
The rigidity requirement for demonstrate,proving welding, is also able to achieve the orientation capability of series-parallel robot, helps to expand working space, realizes bigger model
Exclosure processing.
As shown in Figure 1, 2, the machining robot 2 and support robot 3 are all made of series parallel robot in five degrees of freedom,
The end of series parallel robot in five degrees of freedom as machining robot 2 is positioning head 28, is equipped on the positioning head 28
Mixing needle 29 has been revolvably installed in electro spindle on the electro spindle.In the five degree of freedom mixed connection as support robot 3
Robot ring flange, the support on the robot ring flange and support device 39 are installed on the positioning head 38 of robot
Device ring flange is fixedly linked.
The machining robot 2 and support robot 3 is all made of serial manipulator, the series connection as machining robot 2
The end of robot is wrist, is equipped with electro spindle in the wrist, stirring has been revolvably installed on the electro spindle
Needle 29.Robot ring flange, the robot method are installed in the wrist of the serial manipulator as support robot 3
Blue disk is fixedly linked with the support device ring flange in support device 39.
The machining robot 2 and support robot 3 is all made of numerically-controlled machine tool, the numerical control machine as machining robot 2
The end of bed is spindle box, is equipped with electro spindle on the spindle box, stirring has been revolvably installed on the electro spindle
Needle 29.Robot ring flange, the robot method are installed on the spindle box of the numerically-controlled machine tool as support robot 3
Blue disk is fixedly linked with the support device ring flange in support device 39.
Use the process of the present apparatus for：
41 center of circle of arcuate member that the flexible clamping arm 43 is fixed is towards five degree of freedom mixed connection machining robot
2。
Start five degree of freedom mixed connection machining robot and five degree of freedom mixed connection supports robot, passes through control
The length adjustment device and positioning head of active branched chain described in CN105058376A patent by five degree of freedom mixed connection machining robot and
Five degree of freedom mixed connection supports robot motion to arrive Working position, and the five degree of freedom mixed connection supports the support device of robot to exist
The posterior support of Working position lives arcuate member, the mixing needle face machining position of the five degree of freedom mixed connection machining robot
The front set；
Welding condition is set, ultrasonic vibration installation is opened, ultrasonic vibration installation applies ultrasonic vibrational energy from rear
It is added in structural member Working position and surrounding, the mixing needle on five degree of freedom mixed connection machining robot is stirred friction welding (FW), stirring
Needle penetrations but gap is kept with the groove of support device, is mainly born by support device from axial pressure；
Control five degree of freedom mixed connection machining robot and five degree of freedom mixed connection support robot moved along machining locus and
The relative position for remaining mixing needle and support device, is stirred friction welding (FW).
Five degree of freedom mixed connection machining robot, five degree of freedom mixed connection support robot and ultrasound vibration are closed after the completion of welding
Dynamic device.
Although the embodiment of the present invention is described with above attached drawing, the present invention is not limited to above-mentioned
Specific embodiment, the above mentioned embodiment is only schematical, is not restrictive；Above-mentioned five degree of freedom
Hybrid mechanism is not required, and function of the invention, those skilled in the art can be achieved in serial manipulator, numerically-controlled machine tool etc.
Member under the inspiration of the present invention, in the case where not departing from the ambit that present inventive concept and claim are protected, can also make
Many forms, within these are all belonged to the scope of protection of the present invention.
Claims (5)
1. the two-shipper process unit for the weldering of large-sized structural parts agitating friction, it is characterised in that：Including passing through the base in left side respectively
Seat and the pedestal on right side are fixed on the machining robot and support robot of the left and right ends of workbench, the processing face-to-face
Robot is identical with support robot topological structure；Structural member clamping device it is fixed on the table and be located at machining robot and
It supports between robot, the machining robot end is equipped with electro spindle, has been revolvably installed on the electro spindle
Mixing needle is respectively and fixedly provided with robot ring flange in the support robot end, and the mixing needle and support device face
Face arrangement, along the support device it is axial from far from structural member direction to be processed towards structural member direction to be processed successively head and the tail phase
It connects and is provided with annular groove, necking down cone tank and cylindrical groove, be arranged on the support device outer wall at the notch of the annular groove
There is support device ring flange, the robot ring flange is fixedly linked with support device ring flange, a ultrasonic vibration installation
Top be inserted in cylindrical groove and the two is fixedly linked, both the ultrasonic vibration installation and support device are coaxially disposed,
The centre of the support device and structural member contact face to be processed is provided with groove so that mixing needle penetrations but with branch
The groove of support arrangement keeps gap, and the axis of the mixing needle and the axis of support device are symmetrical about structural member, mixing needle
At processing on structural member and support device is symmetrical about structural member at support on structural member.
2. the two-shipper process unit according to claim 1 for the weldering of large-sized structural parts agitating friction, it is characterised in that：Institute
The structural member clamping device stated includes fixed fixed frame on the table, on the periphery of the rectangular box of the fixed frame
Flexible clamping arm is uniformly connected on inner wall, the flexible clamping arm is used for clamping structure part.
3. the two-shipper process unit according to claim 1 or 2 for the weldering of large-sized structural parts agitating friction, feature exist
In：The machining robot and support robot uses series parallel robot in five degrees of freedom, and five as machining robot are free
The end for spending series-parallel robot is positioning head, is equipped with electro spindle on the positioning head, rotates on the electro spindle
Ground is equipped with mixing needle, is equipped with robot flange on the positioning head of the series parallel robot in five degrees of freedom as support robot
Disk, the robot ring flange are fixedly linked with the support device ring flange in support device.
4. the two-shipper process unit according to claim 1 or 2 for the weldering of large-sized structural parts agitating friction, feature exist
In：The machining robot and support robot is all made of serial manipulator, the serial manipulator as machining robot
End is wrist, is equipped with electro spindle in the wrist, mixing needle has been revolvably installed on the electro spindle, in conduct
It supports and robot ring flange, the robot ring flange and support device is installed in the wrist of the serial manipulator of robot
On support device ring flange be fixedly linked.
5. the two-shipper process unit according to claim 1 or 2 for the weldering of large-sized structural parts agitating friction, feature exist
In：The machining robot and support robot is all made of numerically-controlled machine tool, the end of the numerically-controlled machine tool as machining robot
For spindle box, electro spindle is installed on the spindle box, mixing needle has been revolvably installed on the electro spindle, in conduct
It supports and robot ring flange, the robot ring flange and support device is installed on the spindle box of the numerically-controlled machine tool of robot
On support device ring flange be fixedly linked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810849464.8A CN108890116A (en) | 2018-07-28 | 2018-07-28 | Two-shipper process unit for the weldering of large-sized structural parts agitating friction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810849464.8A CN108890116A (en) | 2018-07-28 | 2018-07-28 | Two-shipper process unit for the weldering of large-sized structural parts agitating friction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890116A true CN108890116A (en) | 2018-11-27 |
Family
ID=64352703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810849464.8A Pending CN108890116A (en) | 2018-07-28 | 2018-07-28 | Two-shipper process unit for the weldering of large-sized structural parts agitating friction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108890116A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648188A (en) * | 2019-02-18 | 2019-04-19 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN109926710A (en) * | 2019-04-25 | 2019-06-25 | 山东大学 | A kind of back penetrates and the Friction Stir Welding device of Ultrasonic probe support auxiliary |
| CN110653506A (en) * | 2019-08-29 | 2020-01-07 | 山东碳垣纳米科技有限公司 | Spot welding device and spot welding method |
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| CN204867804U (en) * | 2015-08-13 | 2015-12-16 | 宁波金凤焊割机械制造有限公司 | Outer fixture assembly is used to airborne vehicle fuel storage tube's friction stir welding device |
| CN105397277A (en) * | 2015-12-28 | 2016-03-16 | 哈尔滨工业大学 | Friction stir welding device and method by applying ultrasonic vibration from bottom |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648188A (en) * | 2019-02-18 | 2019-04-19 | 安徽理工大学 | Series parallel type heavy duty Friction Stir Welding robot |
| CN109648188B (en) * | 2019-02-18 | 2023-08-22 | 安徽理工大学 | Series-parallel heavy-load friction stir welding robot |
| CN109926710A (en) * | 2019-04-25 | 2019-06-25 | 山东大学 | A kind of back penetrates and the Friction Stir Welding device of Ultrasonic probe support auxiliary |
| CN110653506A (en) * | 2019-08-29 | 2020-01-07 | 山东碳垣纳米科技有限公司 | Spot welding device and spot welding method |
| CN110653506B (en) * | 2019-08-29 | 2021-08-20 | 山东碳垣纳米科技有限公司 | Spot welding device and spot welding method |
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Application publication date: 20181127 |