A highly adaptable friction stir welding fixture with ultrasonic assistance

Abstract

The present invention provides a highly adaptable ultrasonically assisted friction stir welding fixture, comprising a fixture base, a clamping assembly, a temperature measuring assembly, an ultrasonic auxiliary assembly, and a controller; the clamping assembly comprises several vertical pressing assemblies and several horizontal pushing assemblies, the temperature measuring assembly comprises a temperature detector and a rotation control console, and the ultrasonic auxiliary assembly comprises an ultrasonic transducer and a three-axis translation stage. The present invention is used for friction stir welding. The present invention utilizes a combination of a hydraulic cylinder, a stopper, a pressure block, and a pressure plate to securely position the welded parts, and incorporates a temperature measuring device, a ball screw module, a servo, a sensor, and the like, effectively improving the automation level of the fixture and making the fixture more adaptable. The introduction of ultrasonic vibration reduces the material's resistance to deformation, improves the material's plastic fluidity, and reduces welding resistance, allowing friction stir welding to be performed at higher welding speeds, thereby improving welding efficiency.

Description

Technical Field

[0001] The invention relates to a friction stir welding fixture, in particular to a high-adaptability friction stir welding fixture capable of being assisted by ultrasound. Background Art

[0002] Friction stir welding (FSW) is a solid-state welding technique in which the workpieces are fixed to a FSW fixture and the friction generated by the rotating tool causes plastic deformation and joining of the materials. Conventional FSW has certain shortcomings. For example, the heat input and plastic deformation distribution during welding can be uneven, resulting in unstable weld quality and strength. Conventional FSW relies on high friction heat input, which can lead to long welding processes and reduce production efficiency. Furthermore, the weld surface may contain oxide layers or other contaminants, which can affect the quality and strength of the weld interface. Furthermore, in some cases, the contact force and friction between the welding tool and the workpieces are uneven, which can cause localized vibration and lead to weld quality issues. Existing FSW fixtures fail to address these technical issues. Existing FSW fixtures have a relatively simple clamping method and lack effective multi-directional clamping, which can easily cause slight displacement of the workpiece, affecting welding accuracy. Due to the design limitations of their support structures, existing FSW fixtures can only clamp workpieces of fixed shapes or sizes, limiting their applicability. Furthermore, existing FSW fixtures have a low degree of automation. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a highly adaptable ultrasonically assisted friction stir welding fixture, comprising a fixture base, a clamping assembly, a temperature measuring assembly, an ultrasonic auxiliary assembly and a controller; the fixture base comprises an upper and lower layers, the upper layer of the fixture base is provided with a hollow boss, the circumference of the hollow boss is provided with a card groove, and the hollow boss is provided with several support plates, the two ends of the support plates are clamped in the card groove, and can slide and / or be fixed in the card groove, and a certain distance is reserved between at least one pair of adjacent support plates; the clamping assembly is fixed to the The upper layer includes several vertical pressing components and several horizontal pushing components, which are arranged around the hollow boss; the temperature measuring component includes a temperature detector and a rotating console, the temperature detector is arranged on the rotating console, and the rotating console is fixed to the upper layer of the fixture base; the ultrasonic auxiliary component includes an ultrasonic transducer and a three-axis displacement platform, the ultrasonic transducer is arranged on the three-axis displacement platform, and the three-axis displacement platform is fixed to the lower layer of the fixture base; the controller is arranged on the fixture base, and the clamping component, temperature measuring component and ultrasonic auxiliary component are respectively connected to the controller.

[0004] A positioning plate is provided on the top of the hollow boss of the clamp base, and the positioning plate is annular in structure, and a card slot is formed with the gap between the positioning plate and the hollow boss; the positioning plate includes a fixed positioning plate and a movable positioning plate, the fixed positioning plate is fixedly connected to the hollow boss, and the movable positioning plate can be disassembled and fixed to the hollow boss; the positioning plate is provided with several positioning connection holes arranged in parallel; the support plate is strip-shaped, with plug connectors at both ends, the plug connectors are provided with connection holes, a raised support part is provided in the middle, and a shock-absorbing protrusion is provided on the upper surface of the raised support part; the support plate is plugged into the card slot of the hollow boss through the plug connector, and is tightened and fixed with bolts through the positioning connection holes on the positioning plate and the connection holes of the plug connector on the support plate.

[0005] The vertical pressing assembly includes a pressing hydraulic cylinder, a pressing rod, and a connecting rod; the pressing hydraulic cylinder is fixed on the upper layer of the clamp base, the pressing hydraulic cylinder is vertically arranged, one end of the pressing rod is connected to the hydraulic rod pivot of the pressing hydraulic cylinder, and the other end of the pressing rod is provided with a pressing part, which includes a pressing block and a pressure plate; one end of the connecting rod is connected to the cylinder body pivot of the pressing hydraulic cylinder, and the other end of the connecting rod is connected to the pressing rod pivot, and the connection part with the pressing rod is located between the pressing hydraulic cylinder and the pressing part, so that the pressing rod forms a lever structure; the pressing hydraulic cylinder is connected to the controller and is controlled by the controller.

[0006] Furthermore, the upper end of the pressure block is fixedly connected to the end of the pressure rod, and the lower surface of the pressure block is provided with a shock-absorbing protrusion. The pressure plate includes a shock-absorbing pressure plate and a long-distance pressure plate; the upper part of the shock-absorbing pressure plate is fixedly connected to the end of the pressure rod, and the lower surface of the shock-absorbing pressure plate is provided with a mounting groove, on which a shock-absorbing pressure block is provided, and the shock-absorbing pressure block is embedded in the mounting groove; the interior of the shock-absorbing pressure block is provided with a spiral through-hole extending vertically; the shock-absorbing pressure plate is provided with a heat dissipation through-hole connected to the mounting groove, and a heat sink is provided outside the heat dissipation through-hole; the upper part of the long-distance pressure plate is fixedly connected to the end of the pressure rod, and the long-distance pressure plate is provided with several threaded through-holes extending vertically, on which a threaded pressure rod is screwed, and the lower end of the threaded pressure rod is provided with a shock-absorbing protrusion, and the threaded pressure rod can be adjusted in length.

[0007] The shock-absorbing raised points are made of shock-absorbing materials, including rubber materials, ACF materials, etc.

[0008] The horizontal pushing assembly includes a pushing hydraulic cylinder and a pushing plate. The pushing hydraulic cylinder is fixed to the upper layer of the clamp base through a hydraulic cylinder mounting seat. The pushing hydraulic cylinder is horizontally arranged, and the pushing plate is fixedly connected to the hydraulic rod of the pushing hydraulic cylinder. The pushing hydraulic cylinder is connected to the controller and is controlled by the controller.

[0009] Furthermore, the hollow boss is also provided with a first baffle and a second baffle; the first baffle and the second baffle are respectively arranged on the positioning plates on the two adjacent sides of the hollow boss; the horizontal pushing components are respectively arranged on the other two sides opposite to the first baffle and the second baffle; the push plate of the horizontal pushing component is the same height as the first baffle and the second baffle, and is arranged horizontally opposite to each other; the vertical pressing component is divided into two groups, which are arranged oppositely on both sides of the hollow boss.

[0010] The rotating control console of the temperature measuring component includes a servo bracket, a first servo, a turntable, a second servo, and a thermometer connecting frame. The servo bracket is fixed to the upper layer of the fixture base, the first servo is fixed in the servo bracket, and the rotating shaft of the first servo vertically passes through the upper plate of the servo bracket and is connected to the turntable; the second servo is arranged on the turntable, and the rotating shaft of the second servo is arranged horizontally; the lower end of the thermometer connecting frame is fixedly connected to the rotating shaft of the second servo, and the second servo drives the thermometer connecting frame to swing up and down; the thermometer is fixed to the upper part of the thermometer connecting frame; the first servo, the second servo and the thermometer are respectively connected to the controller, controlled by the controller, and transmit data with the controller.

[0011] The three-axis translation stage of the ultrasonic auxiliary component includes a translation stage base, a guide rail, a connecting plate, a slider, a motor connecting plate, a ball screw module, a gear rack module, an electric push rod, a servo base, a third servo, and a transducer connecting frame; the translation stage base is fixed to the lower layer of the fixture base, the guide rail is arranged on the translation stage base, and the lower end of the connecting plate is slidably connected to the guide rail through a slider; the motor connecting plate is arranged at one end of the translation stage base; the ball screw module is arranged on the translation stage base and is arranged parallel to the guide rail; the motor of the ball screw module is fixed on the motor connecting plate, and the screw nut of the ball screw module is fixedly connected to the bottom of the connecting plate; the gear rack module is arranged on the connecting plate, and the movement direction of the gear rack module is perpendicular to the movement direction of the ball screw module in the horizontal direction; the outer The lower end of the shell is fixed on the displacement plate of the gear rack module, and the push rod of the electric push rod is set vertically upward; the servo base is fixedly connected to the top of the push rod of the electric push rod, the third servo is arranged on the servo base, and the rotation axis of the third servo is set horizontally; the lower end of the transducer connecting frame is fixedly connected to the rotation axis of the third servo, and the third servo drives the transducer connecting frame to swing up and down; the ultrasonic transducer is fixed on the upper part of the transducer connecting frame; a position sensor is also provided on the transducer connecting frame; a number of vibration sensors are also provided on the support plate on the upper hollow boss of the fixture base at equal intervals and arranged in parallel; the ball screw module, the gear rack module, the electric push rod, the third servo, the ultrasonic transducer, the position sensor, and the vibration sensor are respectively connected to the controller, controlled by the controller, and transmit data with the controller.

[0012] Working principle of the present invention:

[0013] The invention provides a highly adaptable friction stir welding fixture capable of being assisted by ultrasound, which is used for friction stir welding.

[0014] The hollow boss on the upper layer of the clamp base is used to place the welded parts. The slots provided around the hollow boss are used to clamp the support plates. A certain distance is reserved between two adjacent support plates. The welded parts are placed on the support plates, and the weld seams correspond to the gaps between the support plates. The support plates can slide and adjust their positions in the slots, and are fixed by bolts to prevent displacement after positioning. Several vertical pressing assemblies in the clamping assembly are used to provide vertical pressing effects on the welded parts, and several horizontal pushing assemblies are used to provide horizontal pressing effects on the welded parts. The vertical pressing assemblies and the horizontal pushing assemblies are arranged around the hollow boss to jointly position the welded parts. The temperature measuring assembly's temperature detector can rotate, swing, and pitch under the drive of the rotating control console, so that the temperature detector's probe can cover all positions of the hollow boss and measure the temperature of the weld seam position of the welded parts. The ultrasonic transducer in the ultrasonic auxiliary component can move horizontally and vertically as well as vertically and horizontally under the drive of the three-axis translation stage. The ultrasonic transducer emits high-frequency ultrasonic waves to cause high-frequency vibrations in the welded parts, thereby removing the oxide layer or particulate contaminants that may exist on the welding surface, reducing the deformation resistance of the material, improving the plastic fluidity of the material, and reducing welding resistance. The controller is used to control the start and stop of the clamping component, the temperature measuring component and the ultrasonic auxiliary component and the data transmission, thereby improving the degree of automation of the equipment.

[0015] The vertical pressing assembly's pressing hydraulic cylinder vertically extends and retracts the hydraulic rod, so that the pressing rod forms a lever structure with the connecting rod as a fulcrum, and the other end of the pressing rod presses the welded part through the pressing portion. A controller controls the operation of the pressing hydraulic cylinder.

[0016] The shock-absorbing protrusions provided on the lower surface of the pressing block can play a role in shock absorption and anti-slip when in contact with the welded part.

[0017] The shock-absorbing pressure block at the lower part of the shock-absorbing pressure plate can play a role in shock absorption and anti-slip when it contacts the welded workpiece. At the same time, the spiral through holes running through the top and bottom inside the shock-absorbing pressure block enhance the energy absorption and shock absorption effect of the shock-absorbing pressure block, improve the mechanical properties of the shock-absorbing pressure block, improve the elasticity and recovery of the shock-absorbing pressure block, and also increase air circulation, heat dissipation capacity and wear resistance, thereby playing a role in shock absorption and heat dissipation and ventilation; the radiator on the shock-absorbing pressure plate is connected to the spiral through holes of the shock-absorbing pressure block through the heat dissipation through holes, which helps the welded workpiece to dissipate heat during the welding process.

[0018] The threaded pressure rod screwed on the long-distance pressure plate can be adjusted up and down. The length of the lower end of the threaded pressure rod can be adjusted according to the surface height difference of the special-shaped welded parts to adapt to special-shaped welded parts with different surface height differences; the shock-absorbing protrusion at the lower end of the threaded pressure rod can play a shock-absorbing and anti-slip role when in contact with the welded parts.

[0019] The pushing hydraulic cylinder of the horizontal pushing assembly pushes the pushing plate to move in the horizontal direction, thereby providing horizontal pressure to the welded parts. The controller controls the operation of the pushing hydraulic cylinder.

[0020] The first baffle and the second baffle on the hollow boss are arranged opposite to the horizontal pushing assembly, and cooperate with the horizontal pushing assembly to provide horizontal positioning of the welded parts; the vertical pressing assembly is divided into two groups and arranged opposite to each other, leaving the weld position of the welded parts for facilitating welding and temperature measurement.

[0021] In the temperature measurement assembly's rotary control console, a first servo drives the turntable to rotate, driving a second servo to swing horizontally. The second servo drives the temperature sensor connecting frame to pitch and swing, driving the temperature sensor to pitch and swing. The first and second servos work together to drive the temperature sensor, enabling it to measure temperatures at all locations on the hollow boss. A controller controls the operation of the first and second servos, as well as the temperature sensor, and transmits data.

[0022] In the three-axis translation stage of the ultrasonic auxiliary component, the connecting plate slides along the guide rail via a slider under the drive of the ball screw module, driving the gear rack module to move; the gear rack module drives the electric push rod to move, and the movement direction of the gear rack module is perpendicular to the movement direction of the ball screw module in the horizontal direction, causing the ultrasonic transducer to move horizontally and vertically; the vertical extension and contraction of the electric push rod drives the third servo and ultrasonic transducer to move vertically up and down. The third servo drives the transducer connecting frame to pitch and swing within a certain angle range, increasing the range of action of the ultrasonic transducer; the position sensor is used to detect the spatial position of the ultrasonic transducer. The vibration sensor installed on the support plate is used to detect the vibration frequency of the welded part. The controller controls the operation of the ball screw module, gear rack module, electric push rod, third servo, ultrasonic transducer, position sensor, and vibration sensor, and transmits data.

[0023] The method of using the present invention:

[0024] First, select several support plates of appropriate size and width according to the shape and structure of the welded parts, and insert the support plates into the hollow boss of the fixture base; leave a certain width of gap between the support plates, place the welded parts on the support plates, and align the weld seams with the gaps between the support plates.

[0025] The two adjacent sides of the welded workpiece abut against the first baffle and the second baffle respectively, and the controller controls the horizontal pushing components on the other two sides to extend the push plates horizontally, pushing and fixing the welded workpiece in the horizontal direction; then the controller controls the vertical pressing component to press and fix the welded workpiece vertically.

[0026] The fully automatic welding control method is as follows:

[0027] First, a spatial coordinate system is established in the hollow area of ​​the hollow boss to determine the spatial coordinates of the welded parts and their welds;

[0028] Initialize the positions of the stirring head, the temperature sensor of the temperature measuring component, and the ultrasonic transducer of the ultrasonic auxiliary component, as well as the data of the position sensor and the vibration sensor; synchronize them to the same coordinate system, i.e., the spatial coordinate system of the hollow boss; and determine the welding route based on the weld;

[0029] The starting position of the weld is used as the starting position of the stirring head and ultrasonic transducer, and the welding route is used as the planar motion path of the stirring head and ultrasonic transducer; the starting position of the weld is used as the starting position of the temperature measurement of the temperature detector, and the welding route is used as the temperature measurement path of the temperature detector;

[0030] Before welding begins, the temperature detector and ultrasonic transducer are started at the same time. The temperature detector measures the initial temperature of the solder joint before welding and transmits it to the controller for storage; the ultrasonic transducer emits a preset high-frequency ultrasonic wave to clean the weld.

[0031] After welding begins, the stirring head begins to move at a preset rate to weld the weld; the temperature sensor and ultrasonic transducer begin to move along with the movement of the stirring head; during the three-dimensional movement, the ultrasonic transducer also performs a pitch and swing within a certain angle range;

[0032] The temperature sensor collects the temperature value of the soldering point in real time and transmits it to the controller; the real-time temperature of the soldering point is compared with the maximum limit temperature preset in the controller. If the real-time temperature is higher than the maximum limit temperature, the controller controls the welding process to stop and issues an alarm;

[0033] The position sensor collects the spatial coordinates of the ultrasonic transducer in real time and transmits them to the controller. If the spatial coordinates of the ultrasonic transducer exceed the predetermined welding route range, the controller stops the welding process and issues an alarm.

[0034] The vibration sensor collects vibration frequency data in real time and transmits it to the controller; the real-time vibration frequency of the weld point is compared with the vibration frequency range value preset in the controller. If the real-time vibration frequency of the weld point is higher than the highest value of the preset vibration frequency range, the ultrasonic transducer is controlled to move downward a certain distance to keep the real-time vibration frequency of the weld point within the preset vibration frequency range; if the real-time vibration frequency of the weld point is lower than the lowest value of the preset vibration frequency range, the ultrasonic transducer is controlled to move upward a certain distance to keep the real-time vibration frequency of the weld point within the preset vibration frequency range;

[0035] When the stirring head has completed the entire welding route, it stops stirring and the ultrasonic transducer stops working; the temperature sensor measures the weld temperature back and forth along the welding route until the temperature of the entire weld is cooled to below the safe temperature value. Only then can the controller allow the horizontal pushing component and the vertical pressing component to release pressure and complete the welding process.

[0036] Beneficial effects of the present invention:

[0037] The present invention provides a highly adaptable ultrasonically assisted friction stir welding fixture. Through an upper and lower layered structural design, the upper layer can clamp the welded part and ultrasonically assist the welded part. At the same time, the present invention adopts a support plate type support method, and the shape and size of the support plate can be changed according to needs. It can not only effectively clamp the welded part, but also perform ultrasonic assistance at different positions on the bottom surface of the welded part. The shock-absorbing pressure block with a spiral through hole adopted by the present invention can effectively reduce the impact of ultrasonic vibration on the entire fixture, and the radiator can also better maintain the shock-absorbing pressure block at a suitable temperature. The present invention uses a combination of a hydraulic cylinder, a stop block, a pressure block and a pressure plate to fix and position the welded part, avoiding welding failure caused by insufficient clamping force. In combination with a temperature measuring device, a ball screw module, a servo, a sensor, etc., the automation level of the fixture of the present invention is effectively improved, making the adaptability of the fixture of the present invention more extensive. Due to the introduction of ultrasonic vibration, the deformation resistance of the material is reduced, the plastic fluidity of the material is improved, and the welding resistance is reduced, so that stir friction welding can be performed at a higher welding speed, thereby improving welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0039] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0040] Figure 3 This is a schematic diagram of the fixture base structure of the present invention;

[0041] Figure 4 This is a side structural schematic diagram of the present invention;

[0042] Figure 5 Schematic diagram of the vertical pressing assembly structure of the present invention Figure 1 ;

[0043] Figure 6 This is a schematic diagram of the pressure plate structure of the present invention;

[0044] Figure 7 Schematic diagram of the vertical pressing assembly structure of the present invention Figure 2 ;

[0045] Figure 8 Schematic diagram of the vertical pressing assembly structure of the present invention Figure 3 ;

[0046] Figure 9 This is a schematic diagram of the structure of the ultrasonic auxiliary component of the present invention;

[0047] 1. Clamp base; 101. Hollow boss; 102. Slot; 103. Support plate; 104. Fixed positioning plate; 105. Movable positioning plate; 106. Positioning connection hole; 107. Shock-absorbing raised point; 108. First baffle; 109. Second baffle;

[0048] 2. Clamping assembly; 201. Vertical pressing assembly; 202. Horizontal pushing assembly; 203. Pressing hydraulic cylinder; 204. Pressing rod; 205. Connecting rod; 206. Pressing block; 207. Pressing plate; 208. Mounting slot; 209. Shock-absorbing pressing block; 210. Spiral through hole; 211. Heat dissipation through hole; 212. Radiator; 213. Threaded pressing rod; 214. Pushing hydraulic cylinder; 215. Pushing plate; 216. Hydraulic cylinder mounting base;

[0049] 3. Temperature measurement assembly; 301. Temperature detector; 302. Rotating control console; 303. Servo bracket; 304. First servo; 305. Turntable; 306. Second servo; 307. Temperature detector connecting frame;

[0050] 4. Ultrasonic auxiliary components; 401. Ultrasonic transducer; 403. Translation stage base; 404. Guide rail; 405. Connecting plate; 406. Slider; 407. Motor connecting plate; 408. Ball screw module; 409. Rack and pinion module; 410. Electric push rod; 411. Servo base; 412. Third servo; 413. Transducer connecting frame. DETAILED DESCRIPTION

[0051] See Figure 1-4As shown: The present invention provides a highly adaptable ultrasonically assisted friction stir welding fixture, comprising a fixture base 1, a clamping component 2, a temperature measuring component 3, an ultrasonic auxiliary component 4 and a controller; the fixture base 1 comprises an upper and a lower layer, the upper layer of the fixture base 1 is provided with a hollow boss 101, the circumference of the hollow boss 101 is provided with a card groove 102, and a plurality of support plates 103 are provided on the hollow boss 101, and the two ends of the support plates 103 are clamped in the card groove 102 and can slide in the card groove 102. The support plates 103 are movable and / or fixed, and a certain distance is reserved between at least one pair of adjacent support plates 103 to provide ultrasonic action space for the ultrasonic auxiliary component 4; the clamping component 2 is fixed on the upper layer of the clamp base 1, and in this embodiment includes six groups of vertical pressing components 201 and four groups of horizontal pushing components 202, and the vertical pressing components 201 and the horizontal pushing components 202 are arranged around the hollow boss 101; wherein the vertical pressing components 201 are divided into two groups, which are arranged on both sides of the hollow boss 101. The temperature measuring component 3 includes a temperature measuring device 301 and a rotating control console 302. The temperature measuring device 301 is arranged on the rotating control console 302, and the rotating control console 302 is fixed to the upper layer of the fixture base 1. The ultrasonic auxiliary component 4 includes an ultrasonic transducer 401 and a three-axis displacement platform. The ultrasonic transducer 401 is arranged on the three-axis displacement platform, and the three-axis displacement platform is fixed to the lower layer of the fixture base 1. The controller is arranged on the fixture base 1, and the clamping component 2, the temperature measuring component 3 and the ultrasonic auxiliary component 4 are respectively connected to the controller.

[0052] A positioning plate is provided on the top of the hollow boss 101 of the clamp base 1. The hollow boss 101 is rectangular, and the positioning plate is also rectangular in structure. A slot 102 is formed between the positioning plate and the hollow boss 101. The positioning plate includes a fixed positioning plate 104 and a movable positioning plate 105. In this embodiment, the fixed positioning plate 104 includes a long side and two adjacent short sides. The long side of the fixed positioning plate 104 is fixedly connected to the hollow boss 101, and the movable positioning plate 105 can be disassembled and fixed to the hollow boss 101 for the purpose of facilitating Install the support plate 103; the positioning plate is provided with several positioning connection holes 106 arranged in parallel; the support plate 103 is strip-shaped, with plug connectors at both ends, the plug connectors are provided with connection holes, a raised support portion is provided in the middle, and the upper surface of the raised support portion is provided with several shock-absorbing protrusions 107 arranged in an evenly spaced array; the support plate 103 is plugged into the slot 102 of the hollow boss 101 through the plug connector, and is tightened and fixed with bolts through the positioning connection holes 106 on the positioning plate and the connection holes of the plug connector on the support plate 103.

[0053] The vertical pressing assembly 201 includes a pressing hydraulic cylinder 203, a pressing rod 204, and a connecting rod 205; the pressing hydraulic cylinder 203 is fixed on the upper layer of the clamp base 1, the pressing hydraulic cylinder 203 is vertically arranged, one end of the pressing rod 204 is pivotally connected to the hydraulic rod of the pressing hydraulic cylinder 203, and the other end of the pressing rod 204 is provided with a pressing part, which includes a pressing block 206 and a pressure plate 207; one end of the connecting rod 205 is pivotally connected to the cylinder body of the pressing hydraulic cylinder 203, and the other end of the connecting rod 205 is pivotally connected to the pressing rod 204, and the connection part with the pressing rod 204 is located between the pressing hydraulic cylinder 203 and the pressing part, so that the pressing rod 204 forms a lever structure; the pressing hydraulic cylinder 203 is connected to the controller and is controlled by the controller.

[0054] See Figure 5-8 As shown, the upper end of the pressing block 206 is fixedly connected to the end of the pressing rod 204, and the lower surface of the pressing block 206 is provided with a shock-absorbing protrusion 107. The pressure plate 207 includes a shock-absorbing pressure plate and a long-distance pressure plate; the upper part of the shock-absorbing pressure plate is fixedly connected to the end of the pressure rod 204, and the lower surface of the shock-absorbing pressure plate is provided with a mounting groove 208, and a shock-absorbing pressure block 209 is provided on the mounting groove 208, and the shock-absorbing pressure block 209 is embedded in the mounting groove 208; the interior of the shock-absorbing pressure block 209 is provided with a spiral through hole 210 that passes through from top to bottom; the shock-absorbing pressure plate is provided with a heat dissipation through hole 211 that is connected to the mounting groove 208, and a radiator 212 is provided on the outside of the heat dissipation through hole 211; the upper part of the long-distance pressure plate is fixedly connected to the end of the pressure rod 204, and the long-distance pressure plate is provided with several threaded through holes that pass through from top to bottom, and a threaded pressure rod 213 is screwed on the threaded through hole, and a shock-absorbing protrusion point is provided at the lower end of the threaded pressure rod 213, and the threaded pressure rod 213 can adjust the extension length up and down.

[0055] The shock-absorbing protrusions 107 are made of shock-absorbing materials, including rubber materials, ACF materials, etc.

[0056] The horizontal pushing assembly 202 includes a pushing hydraulic cylinder 214 and a pushing plate 215. The pushing hydraulic cylinder 214 is fixed to the upper layer of the clamp base 1 through a hydraulic cylinder mounting seat 216. The pushing hydraulic cylinder 214 is horizontally arranged, and the pushing plate 215 is fixedly connected to the hydraulic rod of the pushing hydraulic cylinder 214. The pushing hydraulic cylinder 214 is connected to the controller and is controlled by the controller.

[0057] The hollow boss 101 is also provided with a first baffle 108 and a second baffle 109; the first baffle 108 and the second baffle 109 are respectively arranged on the positioning plates on two adjacent sides of the hollow boss 101 by bolts; the horizontal pushing assembly 202 is respectively arranged on the other two sides opposite to the first baffle 108 and the second baffle 109; the push plate 215 of the horizontal pushing assembly 202 is the same height as the first baffle 108 and the second baffle 109, and is arranged horizontally opposite to each other.

[0058] The rotating console 302 of the temperature measuring component 3 includes a servo bracket 303, a first servo 304, a turntable 305, a second servo 306, and a thermometer connecting frame 307. The servo bracket 303 is fixed to the upper layer of the fixture base 1, and the first servo 304 is fixed in the servo bracket 303. The rotation axis of the first servo 304 vertically passes through the upper plate of the servo bracket 303 and is connected to the turntable 305; the second servo 306 is arranged on the turntable 305, and the rotation axis of the second servo 306 is arranged horizontally; the lower end of the thermometer connecting frame 307 is fixedly connected to the rotation axis of the second servo 306, and the second servo 306 drives the thermometer connecting frame 307 to swing up and down; the thermometer 301 is fixed to the upper part of the thermometer connecting frame 307; the first servo 304, the second servo 306 and the thermometer 301 are respectively connected to the controller, controlled by the controller, and transmit data with the controller.

[0059] See Figure 9As shown: the three-axis translation stage of the ultrasonic auxiliary component 4 includes a translation stage base 403, a guide rail 404, a connecting plate 405, a slider 406, a motor connecting plate 407, a ball screw module 408, a gear rack module 409, an electric push rod 410, a servo base 411, a third servo 412, and a transducer connecting frame 413; the translation stage base 403 is fixed to the lower layer of the fixture base 1, the guide rail 404 is set on the translation stage base 403, and the lower end of the connecting plate 405 is connected to the slider 406. The motor connecting plate 407 is provided at one end of the translation platform base 403; the ball screw module 408 is provided on the translation platform base 403 and is arranged parallel to the guide rail 404; the motor of the ball screw module 408 is fixed on the motor connecting plate 407, and the screw nut of the ball screw module 408 is fixedly connected to the bottom of the connecting plate 405; the gear rack module 409 is provided on the connecting plate 405, and the movement direction of the gear rack module 409 is in the same direction as the movement direction of the ball screw module 408. Vertical in the horizontal direction; the lower end of the housing of the electric push rod 410 is fixed to the displacement plate of the gear rack module 409, and the push rod of the electric push rod 410 is set vertically upward; the steering gear base 411 is fixedly connected to the top of the push rod of the electric push rod 410, and the third steering gear 412 is set on the steering gear base 411, and the rotation axis of the third steering gear 412 is set horizontally; the lower end of the transducer connecting frame 413 is fixedly connected to the rotation axis of the third steering gear 412, and the third steering gear 412 drives the transducer connecting frame 413 to swing up and down; The wave transducer 401 is fixed to the upper part of the transducer connecting frame 413; a position sensor is also provided on the transducer connecting frame 413; a plurality of vibration sensors arranged in parallel at equal intervals are also provided on the support plate 103 on the upper hollow boss 101 of the fixture base 1; the ball screw module 408, the gear rack module 409, the electric push rod 410, the third servo 412, the ultrasonic transducer 401, the position sensor, and the vibration sensor are respectively connected to the controller, controlled by the controller, and transmit data with the controller.

[0060] Working principle of the present invention:

[0061] The invention provides a highly adaptable friction stir welding fixture capable of being assisted by ultrasound, which is used for friction stir welding.

[0062] The hollow boss 101 on the upper layer of the fixture base 1 is used to place the welded workpiece. The slots 102 provided around the hollow boss 101 are used to engage the support plates 103. A certain distance is reserved between adjacent support plates 103. The welded workpiece is placed on the support plates 103, and the weld seams correspond to the spaces between the support plates 103. The support plates 103 can be slidably adjusted in the slots 102 and are fixed with bolts to prevent displacement after being positioned. The several vertical pressing components 201 in the clamping component 2 are used to provide vertical pressing action on the welded parts, and the several horizontal pushing components 202 are used to provide horizontal pressing action on the welded parts. The vertical pressing components 201 and the horizontal pushing components 202 are arranged around the hollow boss 101 to jointly position the welded parts; the temperature measuring component 301 can rotate, swing and pitch under the drive of the rotating control console 302, so that the probe of the temperature measuring component 301 can cover all positions of the hollow boss 101 and measure the temperature of the weld position of the welded parts. The ultrasonic transducer 401 in the ultrasonic auxiliary component 4 can move horizontally and vertically as well as vertically and horizontally under the drive of the three-axis translation stage. The ultrasonic transducer 401 emits high-frequency ultrasonic waves to cause the welded parts to vibrate at high frequencies, thereby removing the oxide layer or particulate contaminants that may exist on the welding surface, reducing the deformation resistance of the material, improving the plastic fluidity of the material, and reducing the welding resistance. The controller is used to control the start and stop of the clamping component 2, the temperature measuring component 3 and the ultrasonic auxiliary component 4 and the data transmission, thereby improving the degree of automation of the equipment.

[0063] The vertical pressing assembly 201 has a pressing hydraulic cylinder 203 that vertically extends and retracts a hydraulic rod, so that a pressing rod 204 forms a lever structure with a connecting rod 205 as a fulcrum. The other end of the pressing rod 204 presses the weldment through a pressing portion. The controller controls the operation of the pressing hydraulic cylinder 203.

[0064] The shock-absorbing protrusions 107 provided on the lower surface of the pressing block 206 can provide shock absorption and anti-slip performance when in contact with the welded workpiece.

[0065] The shock-absorbing pressure block 209 at the bottom of the shock-absorbing pressure plate can play a role in shock absorption and anti-slip when it contacts the welded workpiece. At the same time, the spiral through holes 210 running through the top and bottom inside the shock-absorbing pressure block 209 enhance the energy absorption and shock absorption effect of the shock-absorbing pressure block 209, improve the mechanical properties of the shock-absorbing pressure block 209, improve the elasticity and recovery of the shock-absorbing pressure block 209, and also increase air circulation, heat dissipation capacity and wear resistance, thereby playing a role in shock absorption and heat dissipation and ventilation; the radiator 212 on the shock-absorbing pressure plate is connected to the spiral through holes 210 of the shock-absorbing pressure block 209 through the heat dissipation through holes 211, which helps the welded workpiece to dissipate heat during the welding process.

[0066] The threaded pressure rod 213 screwed on the long-distance pressure plate can be adjusted up and down. The length of the lower end of the threaded pressure rod 213 can be adjusted according to the surface height difference of the special-shaped welded parts to adapt to special-shaped welded parts with different surface height differences; the shock-absorbing protrusion at the lower end of the threaded pressure rod 213 can play a shock-absorbing and anti-slip role when in contact with the welded parts.

[0067] In this embodiment, there are three groups of vertical pressing assemblies 201 on each side, the middle one is the main vertical pressing assembly 201, and the ones on both sides are auxiliary vertical pressing assemblies 201. The main vertical pressing assembly 201 presses the center of gravity of the welded parts, and the auxiliary vertical pressing assemblies 201 cooperate to press the welded parts; the pressing part of the main vertical pressing assembly 201 on one side is a shock-absorbing pressure plate, and the pressing parts of the auxiliary vertical pressing assemblies 201 on both sides are long-distance pressure plates; the pressing part of the main vertical pressing assembly 201 on the other side is a shock-absorbing pressure plate, and the pressing parts of the auxiliary vertical pressing assemblies 201 on both sides are pressure blocks 206.

[0068] The pushing hydraulic cylinder 214 of the horizontal pushing assembly 202 pushes the pushing plate 215 to move in the horizontal direction, thereby providing horizontal pressure to the welded parts. The controller controls the operation of the pushing hydraulic cylinder 214.

[0069] The first baffle 108 and the second baffle 109 on the hollow boss 101 are arranged opposite to the horizontal pushing assembly 202, and cooperate with the horizontal pushing assembly 202 to provide horizontal positioning for the welded workpiece; the vertical pressing assembly 201 is divided into two groups and arranged opposite to each other, leaving the weld position of the welded workpiece to facilitate welding and temperature measurement.

[0070] In the rotating control console 302 of the temperature measurement assembly 3, the first servo 304 rotates the turntable 305, driving the second servo 306 to swing horizontally. The second servo 306 drives the temperature detector connecting frame 307 to pitch and swing, driving the temperature detector 301 to pitch and swing. The first and second servo 304, 306 work together to drive the temperature detector 301, enabling it to measure the temperature at all locations on the hollow boss 101. A controller controls the operation of the first and second servo 304, 306, and temperature detector 301 and transmits data. Under the control of the controller, the first servo 304 rotates, driving the temperature detector 301 to rotate horizontally by a certain angle, enabling it to measure horizontal targets. Then, the second servo 306 rotates, driving the temperature detector 301 to pitch by a certain angle, enabling it to measure vertical targets. The first and second servo 304, 306 work together to enable the temperature detector 301 to measure the entire range of the hollow boss 101.

[0071] In the three-axis translation stage of the ultrasonic auxiliary assembly 4, the connecting plate 405, driven by the ball screw module 408, slides along the guide rail 404 via the slider 406, driving the gear rack module 409. Driven by the gear rack module 409, the electric push rod 410 moves. The direction of movement of the gear rack module 409 is perpendicular to the direction of movement of the ball screw module 408, causing the ultrasonic transducer 401 to move horizontally and vertically. The vertical extension and retraction of the electric push rod 410 drives the third servo 412 and the ultrasonic transducer 401 to move vertically up and down. The third servo 412 drives the transducer connecting frame 413 to pitch and oscillate within a certain angle range, increasing the range of action of the ultrasonic transducer 401. A position sensor is used to detect the spatial position of the ultrasonic transducer 401. A vibration sensor provided on the support plate 103 is used to detect the vibration frequency of the welded workpiece. The controller controls the operation of the ball screw module 408 , the rack and pinion module 409 , the electric push rod 410 , the third servo 412 , the ultrasonic transducer 401 , the position sensor and the vibration sensor, and performs data transmission.

[0072] The method of using the present invention:

[0073] First, select several support plates 103 of appropriate size and width according to the shape and structure of the welded parts, and insert the support plates 103 into the hollow boss 101 of the fixture base 1; leave a certain width of gap between the support plates 103 and the support plates 103, place the welded parts on the support plates 103, and align the weld seam with the gap between the support plates 103.

[0074] The two adjacent sides of the welded part are respectively abutted against the first baffle 108 and the second baffle 109, and the controller controls the horizontal pushing components 202 on the other two sides to horizontally extend the push plates 215 to push and fix the welded part in the horizontal direction; then the controller controls the vertical pressing component 201 to vertically press and fix the welded part.

[0075] The fully automatic welding control method is as follows:

[0076] First, a spatial coordinate system is established in the hollow area of ​​the hollow boss 101 to determine the spatial coordinates of the welded parts and their welds;

[0077] Initialize the positions of the stirring head, the temperature detector 301 of the temperature measuring assembly 3, and the ultrasonic transducer 401 of the ultrasonic auxiliary assembly 4, and initialize the data of the position sensor and the vibration sensor; and synchronize them to the same coordinate system, that is, the spatial coordinate system of the hollow boss 101; determine the welding route according to the weld;

[0078] The starting position of the weld is used as the starting position of the stirring head and the ultrasonic transducer 401, and the welding route is used as the planar motion path of the stirring head and the ultrasonic transducer 401; the starting position of the weld is used as the starting position of the temperature measurement and collection of the temperature detector 301, and the welding route is used as the temperature measurement path of the temperature detector 301;

[0079] Before welding begins, the temperature detector 301 and the ultrasonic transducer 401 are started simultaneously. The temperature detector 301 measures the initial temperature of the solder joint before welding and transmits it to the controller for storage; the ultrasonic transducer 401 emits a preset high-frequency ultrasonic wave to clean the weld.

[0080] After welding begins, the stirring head begins to move at a preset rate to weld the weld; the temperature detector 301 and the ultrasonic transducer 401 begin to move along with the movement of the stirring head; the ultrasonic transducer 401 also performs a pitching and swinging within a certain angle range during the three-dimensional movement;

[0081] The temperature detector 301 collects the temperature value of the soldering point in real time and transmits it to the controller; the real-time temperature of the soldering point is compared with the maximum limit temperature preset in the controller. If the real-time temperature is higher than the maximum limit temperature, the controller controls the welding process to stop and issues an alarm;

[0082] The position sensor collects the spatial position coordinates of the ultrasonic transducer 401 in real time and transmits them to the controller; if the spatial position coordinates of the ultrasonic transducer 401 exceed the predetermined welding route range, the controller controls the welding process to stop and issues an alarm;

[0083] The vibration sensor collects vibration frequency data in real time and transmits it to the controller; the real-time vibration frequency of the weld point is compared with the vibration frequency range value preset in the controller. If the real-time vibration frequency of the weld point is higher than the highest value of the preset vibration frequency range, the ultrasonic transducer 401 is controlled to move downward by a certain distance so that the real-time vibration frequency of the weld point remains within the preset vibration frequency range; if the real-time vibration frequency of the weld point is lower than the lowest value of the preset vibration frequency range, the ultrasonic transducer 401 is controlled to move upward by a certain distance so that the real-time vibration frequency of the weld point remains within the preset vibration frequency range;

[0084] When the stirring head has completed the entire welding route, it stops stirring and the ultrasonic transducer 401 stops working; the temperature sensor 301 measures the weld temperature back and forth along the welding route until the temperature of the entire weld is cooled to below the safe temperature value. Only then can the controller allow the horizontal pushing component 202 and the vertical pressing component 201 to release pressure and complete the welding process.

Claims

1. A highly adaptable ultrasonically assisted friction stir welding fixture, characterized by: The cam is provided with a plurality of support plates, and the two ends of the support plates are clamped in the clamping grooves and can slide and / or be fixed in the clamping grooves, and a certain distance is reserved between at least one pair of adjacent support plates; the clamping assembly is fixed to the upper layer of the clamp base, and includes a plurality of vertical pressing assemblies and a plurality of horizontal pushing assemblies, and the vertical pressing assemblies and the horizontal pushing assemblies are arranged around the hollow boss; the temperature measuring assembly includes a temperature detector and a rotating control console, the temperature detector is provided on the rotating control console, and the rotating control console is fixed to the upper layer of the clamp base; the ultrasonic auxiliary assembly includes an ultrasonic transducer and a three-axis displacement stage, the ultrasonic transducer is provided on the three-axis displacement stage, and the three-axis displacement stage is fixed to the lower layer of the clamp base; the controller is provided on the clamp base, and the clamping assembly, the temperature measuring assembly and the ultrasonic auxiliary assembly are respectively connected to the controller; The vertical pressing assembly includes a pressing hydraulic cylinder, a pressing rod, and a connecting rod; the pressing hydraulic cylinder is fixed to the upper layer of the clamp base, the pressing hydraulic cylinder is vertically arranged, one end of the pressing rod is connected to the hydraulic rod pivot of the pressing hydraulic cylinder, and the other end of the pressing rod is provided with a pressing part, which includes a pressing block and a pressure plate; one end of the connecting rod is connected to the cylinder body pivot of the pressing hydraulic cylinder, and the other end of the connecting rod is connected to the pressing rod pivot, and the connection part with the pressing rod is located between the pressing hydraulic cylinder and the pressing part, so that the pressing rod forms a lever structure; the pressing hydraulic cylinder is connected to the controller and is controlled by the controller; The upper end of the pressing block is fixedly connected to the end of the pressing rod, and the lower surface of the pressing block is provided with a shock-absorbing protrusion; The pressure plate includes a shock-absorbing pressure plate and a long-distance pressure plate; the upper part of the shock-absorbing pressure plate is fixedly connected to the end of the pressure rod, and the lower surface of the shock-absorbing pressure plate is provided with a mounting groove, and the mounting groove is provided with a shock-absorbing pressure block, and the shock-absorbing pressure block is embedded in the mounting groove; the interior of the shock-absorbing pressure block is provided with a spiral through hole that passes through up and down; the shock-absorbing pressure plate is provided with a heat dissipation through hole connected to the mounting groove, and a radiator is provided outside the heat dissipation through hole; the upper part of the long-distance pressure plate is fixedly connected to the end of the pressure rod, and the long-distance pressure plate is provided with several threaded through holes that pass through up and down, and a threaded pressure rod is screwed on the threaded through hole, and a shock-absorbing protrusion is provided at the lower end of the threaded pressure rod, and the threaded pressure rod can adjust the extension length up and down.

2. The ultrasonically assisted, highly adaptable friction stir welding fixture according to claim 1, characterized in that: A positioning plate is provided on the top of the hollow boss of the clamp base, and the positioning plate is annular in structure, and a card slot is formed with the gap between the positioning plate and the hollow boss; the positioning plate includes a fixed positioning plate and a movable positioning plate, the fixed positioning plate is fixedly connected to the hollow boss, and the movable positioning plate can be disassembled and fixed to the hollow boss; the positioning plate is provided with several positioning connection holes arranged in parallel; the support plate is strip-shaped, with plug connectors at both ends, the plug connectors are provided with connection holes, a raised support part is provided in the middle, and a shock-absorbing protrusion is provided on the upper surface of the raised support part; the support plate is plugged into the card slot of the hollow boss through the plug connector, and is tightened and fixed with bolts through the positioning connection holes on the positioning plate and the connection holes of the plug connector on the support plate.

3. The ultrasonically assisted, highly adaptable friction stir welding fixture according to claim 1, characterized in that: The horizontal pushing assembly includes a pushing hydraulic cylinder and a pushing plate. The pushing hydraulic cylinder is fixed to the upper layer of the clamp base through a hydraulic cylinder mounting seat. The pushing hydraulic cylinder is horizontally arranged, and the pushing plate is fixedly connected to the hydraulic rod of the pushing hydraulic cylinder. The pushing hydraulic cylinder is connected to the controller and is controlled by the controller.

4. The ultrasonically assisted, highly adaptable friction stir welding fixture according to claim 1, characterized in that: The hollow boss is also provided with a first baffle and a second baffle; the first baffle and the second baffle are respectively arranged on the positioning plates on the two adjacent sides of the hollow boss; the horizontal pushing components are respectively arranged on the other two sides opposite to the first baffle and the second baffle; the push plate of the horizontal pushing component is the same height as the first baffle and the second baffle, and is arranged horizontally opposite to each other; the vertical pressing component is divided into two groups, which are arranged opposite to each other on both sides of the hollow boss.

5. The ultrasonically assisted, highly adaptable friction stir welding fixture according to claim 1, characterized in that: The rotating control console of the temperature measuring component includes a servo bracket, a first servo, a turntable, a second servo, and a thermometer connecting frame. The servo bracket is fixed to the upper layer of the fixture base, the first servo is fixed in the servo bracket, and the rotating shaft of the first servo vertically passes through the upper plate of the servo bracket and is connected to the turntable; the second servo is arranged on the turntable, and the rotating shaft of the second servo is arranged horizontally; the lower end of the thermometer connecting frame is fixedly connected to the rotating shaft of the second servo, and the second servo drives the thermometer connecting frame to swing up and down; the thermometer is fixed to the upper part of the thermometer connecting frame; the first servo, the second servo and the thermometer are respectively connected to the controller, controlled by the controller, and transmit data with the controller.

6. The ultrasonically assisted, highly adaptable friction stir welding fixture according to claim 1, characterized in that: The three-axis translation stage of the ultrasonic auxiliary component includes a translation stage base, a guide rail, a connecting plate, a slider, a motor connecting plate, a ball screw module, a gear rack module, an electric push rod, a servo base, a third servo, and a transducer connecting frame; the translation stage base is fixed to the lower layer of the fixture base, the guide rail is arranged on the translation stage base, and the lower end of the connecting plate is slidably connected to the guide rail through a slider; the motor connecting plate is arranged at one end of the translation stage base; the ball screw module is arranged on the translation stage base and is arranged parallel to the guide rail; the motor of the ball screw module is fixed on the motor connecting plate, and the screw nut of the ball screw module is fixedly connected to the bottom of the connecting plate; the gear rack module is arranged on the connecting plate, and the movement direction of the gear rack module is perpendicular to the movement direction of the ball screw module in the horizontal direction; the outer The lower end of the shell is fixed on the displacement plate of the gear rack module, and the push rod of the electric push rod is set vertically upward; the servo base is fixedly connected to the top of the push rod of the electric push rod, the third servo is arranged on the servo base, and the rotation axis of the third servo is set horizontally; the lower end of the transducer connecting frame is fixedly connected to the rotation axis of the third servo, and the third servo drives the transducer connecting frame to swing up and down; the ultrasonic transducer is fixed on the upper part of the transducer connecting frame; a position sensor is also provided on the transducer connecting frame; a number of vibration sensors are also provided on the support plate on the upper hollow boss of the fixture base at equal intervals and arranged in parallel; the ball screw module, the gear rack module, the electric push rod, the third servo, the ultrasonic transducer, the position sensor, and the vibration sensor are respectively connected to the controller, controlled by the controller, and transmit data with the controller.

7. The ultrasonically assisted, highly adaptable friction stir welding fixture according to any one of claims 1 to 6, characterized in that: The fully automatic welding control method is as follows: First, a spatial coordinate system is established in the hollow area of ​​the hollow boss to determine the spatial coordinates of the welded parts and their welds; Initialize the positions of the stirring head, the temperature sensor of the temperature measuring component, and the ultrasonic transducer of the ultrasonic auxiliary component, as well as the data of the position sensor and the vibration sensor; synchronize them to the same coordinate system, i.e., the spatial coordinate system of the hollow boss; and determine the welding route based on the weld; The starting position of the weld is used as the starting position of the stirring head and ultrasonic transducer, and the welding route is used as the planar motion path of the stirring head and ultrasonic transducer; the starting position of the weld is used as the starting position of the temperature measurement of the temperature detector, and the welding route is used as the temperature measurement path of the temperature detector; Before welding begins, the temperature detector and ultrasonic transducer are started at the same time. The temperature detector measures the initial temperature of the solder joint before welding and transmits it to the controller for storage; the ultrasonic transducer emits a preset high-frequency ultrasonic wave to clean the weld. After welding begins, the stirring head begins to move at a preset rate to weld the weld; the temperature sensor and ultrasonic transducer begin to move along with the movement of the stirring head; during the three-dimensional movement, the ultrasonic transducer also performs a pitch and swing within a certain angle range; The temperature sensor collects the temperature value of the soldering point in real time and transmits it to the controller; the real-time temperature of the soldering point is compared with the maximum limit temperature preset in the controller. If the real-time temperature is higher than the maximum limit temperature, the controller controls the welding process to stop and issues an alarm; The position sensor collects the spatial coordinates of the ultrasonic transducer in real time and transmits them to the controller. If the spatial coordinates of the ultrasonic transducer exceed the predetermined welding route range, the controller stops the welding process and issues an alarm. The vibration sensor collects vibration frequency data in real time and transmits it to the controller; the real-time vibration frequency of the weld point is compared with the vibration frequency range value preset in the controller. If the real-time vibration frequency of the weld point is higher than the highest value of the preset vibration frequency range, the ultrasonic transducer is controlled to move downward a certain distance to keep the real-time vibration frequency of the weld point within the preset vibration frequency range; if the real-time vibration frequency of the weld point is lower than the lowest value of the preset vibration frequency range, the ultrasonic transducer is controlled to move upward a certain distance to keep the real-time vibration frequency of the weld point within the preset vibration frequency range; When the stirring head has completed the entire welding route, it stops stirring and the ultrasonic transducer stops working; the temperature sensor measures the weld temperature back and forth along the welding route until the temperature of the entire weld is cooled to below the safe temperature value. Only then can the controller allow the horizontal pushing component and the vertical pressing component to release pressure and complete the welding process.

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