A two-dimensional welding auxiliary mechanism for robot friction stir welding

Abstract

The present invention discloses a two-dimensional welding auxiliary mechanism for robot stir friction welding, including two auxiliary mechanisms symmetrically arranged on both sides of the lower end surface of the main shaft connecting plate along the axis of the main shaft connecting plate; each auxiliary mechanism includes a vertical plate, a pressure wheel bracket, two guide shafts, two springs and a pressing piece; the upper end of the vertical plate is connected to the lower end surface of the main shaft connecting plate, and the lower end of the vertical plate is slidably connected to the upper part of the two guide shafts; the upper part of each guide shaft is sleeved with a spring; the lower ends of the two guide shafts are connected to the upper end surface of the pressure wheel bracket; the side of the pressure wheel bracket facing the stir friction welding needle is provided with a pressing piece. The present invention can correct the deviation of the robot welding process and reduce the difficulty of robot control by arranging auxiliary mechanisms on both sides of the lower end surface of the main shaft connecting plate, thereby realizing two-dimensional welding.

Description

Technical Field

[0001] The invention relates to the technical field of friction stir welding performed by a robot, and in particular to the technical field of a welding auxiliary mechanism for friction stir welding performed by a robot. Background Art

[0002] Friction Stir Welding is a solid-phase joining technology first proposed by the British Welding Institute (TWI) in 1991. This technology has gone from invention to large-scale popularization and application in industry in a short period of time, and is praised by the industry as "another revolutionary welding technology after laser welding". At present, this technology has been widely used in aerospace, railway transportation equipment, shipbuilding, and automobile manufacturing, and will surely be applied to more fields in the future.

[0003] The robot stir head (welding tool) has high flexibility and can achieve complex trajectory movement, making it possible to weld complex structural parts. Therefore, robot stir friction welding technology and equipment have become an important development direction of stir friction welding equipment in recent years. Robot stir friction welding technology can improve the degree of welding automation and production efficiency, and its technical advantages and social and economic benefits are significant. When using robot stir friction welding, due to the high degree of flexibility of the robot, the welding process is stable and does not require human intervention, the welding quality can be significantly improved, and it is helpful to reduce the welding production cost, but robot stir friction welding is still in the research and development stage on the market, and the technology is not perfect.

[0004] In addition, the robot stir friction welding equipment has high requirements for the clamping of the workpiece to be welded, and complex tooling is needed to hold the workpiece flat, which has high tooling costs. Therefore, during the welding process, there are welding defects caused by problems such as workpiece welding deformation, unstable clamping of tooling fixtures, and low consistency of workpieces. During the welding process, due to the rigidity of the robot itself, the welding force will cause offset welding, reducing the welding yield. During the welding process, the robot uses pressure control, the software is complex, and the development cost is high. However, the existing pressure wheel or auxiliary mechanism placed at the front end of the welding direction of the stirring head cannot use the stirring head as a rotating axis to achieve two-dimensional welding. Summary of the invention

[0005] In view of the above-mentioned problems, the purpose of the present invention is to provide an auxiliary mechanism placed on both sides of the stir friction welding stirring head. The auxiliary mechanism has the advantages of good rigidity and compact structure, and can press the workpiece; the auxiliary mechanism controls the downward displacement of the stir friction welding stirring head along its axial direction, thereby correcting the deviation of the robot welding process, reducing the difficulty of robot control, greatly reducing tooling requirements, and realizing two-dimensional welding.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A two-dimensional welding auxiliary mechanism for robot friction stir welding, comprising:

[0008] Two auxiliary mechanisms, the auxiliary mechanisms on both sides are symmetrically arranged on both sides of the lower end surface of the main shaft connecting plate along the axis of the main shaft connecting plate, and the upper end surface of the main shaft connecting plate is connected to the stir friction welding main shaft by bolts; a stir friction welding stirring head is arranged under the stir friction welding main shaft, and the stir friction welding stirring head is located between the two auxiliary mechanisms;

[0009] Each of the auxiliary mechanisms includes a vertical plate, a pressure wheel bracket, two guide shafts, two springs and a pressure piece; the upper end of the vertical plate is connected to the lower end surface of the main shaft connecting plate, and the lower end of the vertical plate is slidably connected to the upper parts of the two guide shafts; the upper part of each guide shaft is sleeved with a spring; the lower ends of the two guide shafts are connected to the upper end surface of the pressure wheel bracket; the pressure piece is provided on the side of the pressure wheel bracket facing the stir friction welding stirring head.

[0010] The above-mentioned two-dimensional welding auxiliary mechanism for robot stir friction welding, wherein the vertical plate includes a vertical structure and a horizontal structure; the upper end of the vertical structure is connected to the lower end surface of the main shaft connecting plate; one end of the horizontal structure is connected to the lower end of the vertical structure, and the other end of the horizontal structure faces the stir friction welding stirring head; the horizontal structure is provided with two guide holes, and each of the guide holes is slidably connected to a guide shaft.

[0011] The above-mentioned two-dimensional welding auxiliary mechanism for robot stir friction welding includes: a plurality of elastic components, wherein the plurality of elastic components are arranged between the horizontal structure and the pressure wheel bracket.

[0012] In the above-mentioned two-dimensional welding auxiliary mechanism for robot stir friction welding, one end of the spring is fixedly connected to the upper end of the guide shaft, and the other end of the spring is fixedly connected to the upper end surface of the horizontal structure.

[0013] The above-mentioned two-dimensional welding auxiliary mechanism for robot stir friction welding includes: a limiting bolt, the upper end of which is fixed to the horizontal structure, and the lower end of which is located between the horizontal structure and the pressure wheel bracket.

[0014] In the above-mentioned two-dimensional welding auxiliary mechanism for robot stir friction welding, the elastic component can be any one of a spring, a disc spring, a cylinder, a liquid cylinder or an electric cylinder.

[0015] In the above-mentioned two-dimensional welding auxiliary mechanism for robot stir friction welding, the pressure piece is any one of a pressure wheel, a flat plate or a cylindrical plate, and the extension direction of the pressure piece is located in the radial direction of the stir friction welding stirring head.

[0016] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0017] The present invention can correct the deviation of the robot welding process and reduce the difficulty of robot control by arranging auxiliary mechanisms on both sides of the lower end surface of the main shaft connecting plate, thereby realizing two-dimensional welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of two auxiliary mechanisms of a two-dimensional welding auxiliary mechanism for robot stir friction welding of the present invention;

[0019] Figure 2 It is a side view at one angle of a two-dimensional welding auxiliary mechanism for robot friction stir welding of the present invention;

[0020] Figure 3 It is a side view from another angle of a two-dimensional welding auxiliary mechanism for robot friction stir welding of the present invention;

[0021] Figure 4 It is a stereoscopic diagram of a two-dimensional welding auxiliary mechanism for robot friction stir welding of the present invention.

[0022] In the attached drawings: 11, vertical plate; 111, vertical structure; 112, horizontal structure; 12, pressure wheel bracket; 121, pressure piece; 1211, rotating shaft; 13, guide shaft; 14, spring; 16, limiting bolt; 17, elastic component; 21, main shaft connecting plate; 211, bolt; 23, stir friction welding stirring head. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0024] Figure 1 It is a stereoscopic diagram of two auxiliary mechanisms of a two-dimensional welding auxiliary mechanism for robot stir friction welding of the present invention. Figure 2 It is a side view at one angle of a two-dimensional welding auxiliary mechanism for robot stir friction welding of the present invention. Figure 3 It is a side view from another angle of a two-dimensional welding auxiliary mechanism for robot stir friction welding of the present invention. Figure 4 It is a stereoscopic diagram of a two-dimensional welding auxiliary mechanism for robot friction stir welding of the present invention.

[0025] See also Figures 1 to 4 As shown, a preferred embodiment is shown, a two-dimensional welding auxiliary mechanism for robot stir friction welding, comprising:

[0026] Two auxiliary mechanisms 1 are symmetrically arranged on both sides of the lower end surface of the main shaft connecting plate 21 along the axis of the main shaft connecting plate 21, and the upper end surface of the main shaft connecting plate 21 is connected to the stir friction welding main shaft (not shown in the figure) through bolts 211; a stir friction welding stirring head 23 is arranged under the stir friction welding main shaft, and the stir friction welding stirring head 23 is located between the two auxiliary mechanisms 1.

[0027] Each auxiliary mechanism 1 includes a vertical plate 11, a pressure wheel bracket 12, two guide shafts 13, two springs 14 and a pressure piece 121; the upper end of the vertical plate 11 is connected to the lower end surface of the main shaft connecting plate 21, and the lower end of the vertical plate 11 is slidably connected to the upper parts of the two guide shafts 13; a spring 14 is sleeved on the upper part of each guide shaft 13; the lower ends of the two guide shafts 13 are connected to the upper end surface of the pressure wheel bracket 12; a pressure piece 121 is provided on the side of the pressure wheel bracket 12 facing the stir friction welding stirring head 23.

[0028] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0029] Furthermore, in a preferred embodiment, the vertical plate 11 includes a vertical structure 111 and a horizontal structure 112; the upper end of the vertical structure 111 is connected to the lower end surface of the main shaft connecting plate 21; one end of the horizontal structure 112 is connected to the lower end of the vertical structure 111, and the other end of the horizontal structure 112 faces the stir friction welding stirring head 23; the horizontal structure 112 is provided with two through guide holes (not shown in the figure), and a guide shaft 13 is slidably connected in each guide hole.

[0030] Furthermore, in a preferred embodiment, it includes: a plurality of elastic components 17 , and the plurality of elastic components 17 are arranged between the horizontal structure 112 and the pressure wheel bracket 12 .

[0031] Furthermore, in a preferred embodiment, one end of the spring 14 is fixedly connected to the upper end of the guide shaft 13 , and the other end of the spring 14 is fixedly connected to the upper end surface of the horizontal structure 112 .

[0032] Furthermore, in a preferred embodiment, it includes: a limiting bolt 16 , the upper end of the limiting bolt 16 is fixed to the horizontal structure 112 , and the lower end of the limiting bolt 16 is located between the horizontal structure 112 and the pressure wheel bracket 12 .

[0033] Further, in a preferred embodiment, the elastic component 17 can be any one of a spring, a disc spring, a cylinder, a fluid cylinder or an electric cylinder. When the elastic component 17 is a spring or a disc spring, the spring or disc spring can be sleeved on the guide shaft 13. When the elastic component 17 is a cylinder, a fluid cylinder or an electric cylinder, the cylinder, the fluid cylinder or the electric cylinder can be arranged on one side of the guide shaft.

[0034] Furthermore, in a preferred embodiment, the pressing member 121 is any one of a pressure wheel, a flat plate or a cylindrical plate, and the extending direction of the pressing member 121 is located in the radial direction of the friction stir welding stirring head 23 .

[0035] Furthermore, in a preferred embodiment, when the pressing member 121 is a pressing wheel, the pressing member 121 can be connected to the pressing wheel bracket 12 via a rotating shaft 1211 .

[0036] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-dimensional welding auxiliary mechanism for robot friction stir welding, characterized in that: include: Two auxiliary mechanisms, the two auxiliary mechanisms are symmetrically arranged on both sides of the lower end surface of the main shaft connecting plate along the axis of the main shaft connecting plate, and the upper end surface of the main shaft connecting plate is connected to the stir friction welding main shaft by bolts; a stir friction welding stirring head is arranged under the stir friction welding main shaft, and the stir friction welding stirring head is located between the two auxiliary mechanisms; Each of the auxiliary mechanisms comprises a vertical plate, a pressure wheel bracket, two guide shafts, two springs and a pressure piece; the upper end of the vertical plate is connected to the lower end surface of the main shaft connecting plate, and the lower end of the vertical plate is slidably connected to the upper parts of the two guide shafts; the upper part of each guide shaft is sleeved with a spring; the lower ends of the two guide shafts are connected to the upper end surface of the pressure wheel bracket; the pressure piece is arranged on the side of the pressure wheel bracket facing the stir friction welding stirring head; The pressing member is a pressing wheel, and the pressing member is connected to the pressing wheel bracket via a rotating shaft.

2. According to claim 1, a two-dimensional welding auxiliary mechanism for robot friction stir welding is characterized in that: The vertical plate includes a vertical structure and a horizontal structure; the upper end of the vertical structure is connected to the lower end surface of the main shaft connecting plate; one end of the horizontal structure is connected to the lower end of the vertical structure, and the other end of the horizontal structure faces the stir friction welding stirring head; the horizontal structure is provided with two guide holes, and a guide shaft is slidably connected in each of the guide holes.

3. The two-dimensional welding auxiliary mechanism for robot friction stir welding according to claim 2, characterized in that: include: A plurality of elastic components are arranged between the horizontal structure and the pressure wheel bracket.

4. The two-dimensional welding auxiliary mechanism for robot friction stir welding according to claim 2, characterized in that: One end of the spring is fixedly connected to the upper end of the guide shaft, and the other end of the spring is fixedly connected to the upper end surface of the horizontal structure.

5. The two-dimensional welding auxiliary mechanism for robot friction stir welding according to claim 2, characterized in that: include: A limiting bolt, wherein the upper end of the limiting bolt is fixed to the horizontal structure, and the lower end of the limiting bolt is located between the horizontal structure and the pressure wheel bracket.

6. The two-dimensional welding auxiliary mechanism for robot friction stir welding according to claim 3, characterized in that: The elastic component can be any one of a spring, a disc spring, a cylinder, a hydraulic cylinder or an electric cylinder.

7. The two-dimensional welding auxiliary mechanism for robot friction stir welding according to claim 3, characterized in that: The extending direction of the pressing member is located in the radial direction of the friction stir welding stirring head.

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