Automatic welding system and welding method

Abstract

The invention relates to the field of welding, in particular to an automatic welding system and a welding method.The automatic welding system comprises a Y-axis guide rail parallel to the welding direction of a product to be welded and an X-axis guide rail perpendicular to the Y-axis guide rail and sliding along the Y-axis guide rail; the tool magazine used for storing the stirring head and the stud feeding table used for storing the stud are fixed to a cross beam of the X-axis guide rail, and the machine head assembly is in sliding fit with the X-axis guide rail. The machine head assembly and the tool magazine can swing in a pitching mode to adjust the inclination angle. The device can be adapted to different welding inclination angles of friction stir welding and rotating friction welding, and double-process automatic welding of friction stir welding and rotating friction welding is achieved.

Description

Technical Field

[0001] The present invention relates to the field of welding, and specifically to an automated welding system and a welding method. Background Art

[0002] The structural forms of the bottom plates of some special vehicles are as Figure 9 shown. Among them: In the figure, reference numeral 6 is the product to be welded (the bottom plate of an armored vehicle), reference numeral 61 is the friction stir welding seam, and reference numeral 62 is the rotary friction welded stud. When the product to be welded is produced, different welding processes are required. One welding process is to perform friction stir welding on different parts of the product to be welded along a straight line direction, and the other welding process is to weld the stud to the product to be welded by rotary friction welding, and the internal equipment or components of the product to be welded are fixed and installed through the stud.

[0003] Since the welding principles of friction stir welding and rotary friction welding are different, when performing rotary friction welding on the stud, the welding inclination angle of the main shaft of the friction welding needs to be maintained at 0 degrees, while when performing friction stir welding, the welding inclination angle of the main shaft during welding needs to be maintained at 2.5 degrees. When welding the product to be welded, the welding main shaft cannot be compatible with welding processes with different inclination angles. To solve this problem, two sets of welding systems are often required for step-by-step welding, and the welding efficiency is low, and the double-process automated welding of friction stir welding + rotary friction welding cannot be achieved. Therefore, it is urgent to solve. Summary of the Invention

[0004] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides an automated welding system and a welding method. The present invention can adapt to different welding inclination angles of friction stir welding and rotary friction welding, and realize the double-process automated welding of friction stir welding + rotary friction welding.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An automated welding system includes a Y-axis guide rail arranged parallel to the welding direction of the product to be welded, and an X-axis guide rail arranged perpendicular to the Y-axis guide rail and sliding along the Y-axis guide rail. The tool magazine for storing the stirring head and the stud loading table for storing the studs are both fixed on the cross beam of the X-axis guide rail, and the head assembly is slidably matched with the X-axis guide rail; both the head assembly and the tool magazine can pitch and swing to adjust the inclination angle.

[0007] As a further solution of the present invention: The tool magazine includes a turntable, and tool holders for clamping the tool shanks are arranged circumferentially on the turntable; the turntable is driven by a power source to rotate, and the turntable is arranged on the mounting seat of the tool magazine in a pitching and swinging manner, and is positioned after pitching and swinging to a set angle.

[0008] As a further solution of the present invention: the turntable is fixed on the tool magazine motor and driven to rotate by the motor shaft of the tool magazine motor; the motor base of the tool magazine motor is connected to the mounting seat through a swing mechanism, and at least two groups of adjusting bolts are arranged on the motor base and threadedly engaged with the motor base in a direction perpendicular to the motor base, and the end of the adjusting bolt abuts against the mounting seat for positioning.

[0009] As a further solution of the present invention: the swing mechanism includes a bearing seat arranged on the mounting seat and used for fixing the rotating shaft, and the rotating shaft is arranged along a direction parallel to the mounting seat; the motor base of the tool magazine motor is arranged at an interval from the rotating shaft, and the motor base is fixed to the shaft body of the rotating shaft through a swing adjusting block and swings up and down synchronously with the rotating shaft.

[0010] As a further solution of the present invention: a limiting groove is formed on the mounting seat, the rotating shaft and the motor base are respectively arranged on both sides of the mounting seat, and the swing adjusting block on the motor base passes through the limiting groove and is coaxially fixed to the rotating shaft.

[0011] As a further solution of the present invention: the headstock assembly includes a fixed seat provided with a driving shaft in the horizontal direction, the main spindle box is fixed on the driving shaft and swings up and down with the rotation of the driving shaft; a driving worm gear is coaxially arranged on the driving shaft, a driving worm driven by a worm motor is installed on the fixed seat, and the driving worm and the driving worm gear form a worm and worm gear pair.

[0012] As a further solution of the present invention: a linear power source is arranged on the fixed seat, a clamping block is installed at the driving end of the linear power source, the linear travel track of the clamping block intersects with the driving shaft, a support seat is also arranged on the fixed seat, the support seat and the clamping block are respectively arranged on both sides of the driving shaft, and the clamping block and the support seat cooperate to clamp and stop the rotation of the driving shaft.

[0013] As a further solution of the present invention: a Z-axis guide rail is vertically arranged on the fixed seat, the fixed seat is connected to a sliding seat sliding in the horizontal direction through the Z-axis guide rail, and the fixed seat is driven by a lifting motor to perform a lifting action along the Z-axis guide rail.

[0014] As a further solution of the present invention: it further includes a stud loading table, and the stud loading table includes a driving chain arranged in a ring on the base, and the driving chain is driven by a power source to rotate; the stud loading table further includes a positioning seat for fixing the stud, and the positioning seat is inserted and matched with the driving chain and rotates synchronously with the driving chain.

[0015] As a further solution of the present invention: at least two groups of connecting pins are vertically arranged on the positioning seat, the connecting pins are inserted into the gaps between adjacent two rollers of the driving chain, and the diameter of the connecting pin corresponds to the width of the gap between adjacent two rollers of the driving chain.

[0016] As a further solution of the present invention: a driving gear is arranged on the inner ring of the driving chain, and the driving gear and the driving chain form a gear-chain transmission, and at least one set of driving gears is driven to rotate by a driving motor.

[0017] As a further solution of the present invention: an annular guide rail is arranged on the outer circle of the stud loading table, and at least one set of guide roller groups is installed on the positioning seat, and each guide roller group includes two guide rollers distributed on both sides of the annular guide rail and rolling along the annular guide rail.

[0018] As a further solution of the present invention: a stud positioning sleeve and / or a tool holder are installed on the positioning seat;

[0019] A positioning hole is opened on the stud positioning sleeve for the stud to be inserted and positioned;

[0020] The tool shank is clamped and positioned by the tool holder, and an annular positioning groove is opened on the tool shank along the circumferential direction; a threaded hole is opened on the tool shank along the radial direction, and a set screw is installed in the threaded hole to position the stud to be welded, and the stud to be welded is detachably fixed at the bottom of the tool shank along the axial direction of the tool shank.

[0021] As a further solution of the present invention: the tool holder includes a base, the base has an arc-shaped opening for the tool shank to be inserted, the size of the arc-shaped opening corresponds to the diameter of the tool shank, and a positioning boss corresponding to the shape of the positioning groove is convexly provided along the circumferential direction at the arc-shaped opening of the base; a bayonet is recessed downward at the bottom surface of a section of the positioning groove, and a positioning key for forming a plug-in fit and positioning with the bayonet is also convexly provided at the opening of the base.

[0022] A welding method of an automatic welding system, characterized by comprising the following steps:

[0023] S1. Fix the product to be welded in place;

[0024] S2. Adjust the pitch angles of the head assembly and the tool magazine to make their pitch angles consistent. After the head assembly is horizontally and vertically slid to adjust the position, replace the tool shank on the tool magazine. The X-axis guide rail drives the whole head assembly to slide along the Y-axis guide rail direction to complete friction stir welding, and after welding is completed, reset;

[0025] S3. Reset the pitch angle of the head assembly to 0 degree. After horizontally and vertically sliding to adjust the position, pick up the stud on the stud loading table. The X-axis guide rail drives the whole head assembly to slide along the Y-axis guide rail direction to complete the rotary friction welding of the stud at the set position, and after welding is completed, reset.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. In the present invention, the head assembly and the tool magazine of the welding system are both set to be pitch - swingable. Thus, when performing friction stir welding, after setting the head assembly and the tool magazine to the same inclination angle, friction stir welding is carried out; when performing rotary friction welding, the head assembly is then set to an inclination angle of 0, which can adapt to the rotary friction welding process; through the precise positioning and flexible movement of the XYZ three - axis welding system in the plane, the precise adjustment of the position of the welding equipment is realized, and the dual - process automatic welding of friction stir welding + rotary friction welding is achieved.

[0028] 2. In the present invention, the tool magazine is set to be pitch - swingable and can be adapted to the inclination angle of the head assembly to meet different welding angle requirements. By screwing the adjusting bolt, the tool magazine can be driven to swing around the rotating shaft under the pushing of the adjusting bolt, thereby finely adjusting the inclination angle of the tool magazine; the rotating shaft and the motor base are respectively arranged on both sides of the mounting seat, so that the motor base can be arranged adjacent to the mounting seat, and the swing adjustment of the tool magazine can be realized with a shorter adjusting bolt.

[0029] 3. In the present invention, through the cooperation of the positioning groove on the tool shank and the positioning boss on the tool holder, the annular support positioning of the tool shank can be realized. Combined with the positioning of the positioning key and the bayonet, the anti - rotation of the tool shank is realized to prevent it from rotating after being clamped. Through the guiding of the rollers on the two groups of connecting rods, the tool shank can smoothly enter the arc - shaped opening of the tool holder, and an elastic clamping force is applied to the tool shank to reduce the wear of the tool shank.

[0030] 4. In the present invention, the worm and worm gear drive the drive shaft to rotate, realizing the precise pitch - swing and stable support of the main spindle box, ensuring the stability of the welding process. Through the self - locking property of the worm and worm gear, after adjusting the inclination angle, the main spindle box is ensured to be firmly locked, avoiding small changes in the inclination angle during the welding process and improving the welding quality; after the inclination angle adjustment is completed, the driving oil cylinder drives the clamping block to descend, and cooperates with the support seat to clamp the drive shaft. At the same time, the power - off brake locks the drive shaft, combined with the self - locking property of the worm and worm gear, to realize triple locking insurance for the drive shaft; the main spindle box adopts the design of a hydraulic three - jaw chuck and a rotary oil cylinder, and can quickly change tools through hydraulic drive, improving the tool - changing efficiency and welding accuracy; the main spindle motor drives the hydraulic three - jaw chuck through a transmission belt, realizing efficient power transmission and stable rotational movement.

[0031] 5. In the present invention, the stud is fixed in the tool shank or the stud positioning sleeve, the tool shank or the stud positioning sleeve is fixed by the positioning seat, the chain is used as the transmission mechanism, and the positioning seat is fixed by the plug - in connection of the connecting pin, so as to stably convey the positioning seat along the set track, stably convey the stud for its loading and unloading, and the stud can be stably conveyed to the set position to ensure the automatic centering of the stud and the welding equipment. An annular guide rail is arranged outside the driving chain. By setting guiding rollers on the positioning seat, the positioning seat is made to travel along the annular guide rail in a way of roller clamping, and guiding is formed for the positioning seat while traveling, improving the stability of the positioning seat during transportation. Brief Description of the Drawings

[0032] Figure 1 This is a schematic structural diagram of the present invention.

[0033] Figure 2 This is a schematic structural diagram of the tool magazine in the present invention.

[0034] Figure 3 This is a schematic structural diagram of the machine head assembly in the present invention.

[0035] Figure 4 This is a schematic structural diagram of the main spindle box in the present invention.

[0036] Figure 5 This is a schematic structural diagram of the stud loading table in the present invention.

[0037] Figure 6 This is a schematic structural diagram of the stud positioning seat in the present invention.

[0038] Figure 7 This is a schematic structural diagram of the tool holder in the present invention.

[0039] Figure 8 This is a schematic structural diagram of the tool shank in the present invention.

[0040] Figure 9 This is a schematic structural diagram of the product to be welded in the present invention.

[0041] In the figure:

[0042] 1. Tool magazine; 11. Tool magazine motor; 12. Turntable; 13. Motor base;

[0043] 14. Adjusting bolt; 15. Swing adjusting block; 16. Mounting seat; 17. Limit groove; 18. Rotating shaft;

[0044] 2. Machine head assembly; 21. Fixed seat; 22. Z-axis guide rail; 23. Slide seat; 24. Driving shaft;

[0045] 241. Driving worm gear; 242. Driving worm; 243. Worm motor; 244. Support seat;

[0046] 245. Clamping block; 246. Driving oil cylinder; 247. Power-off brake;

[0047] 25. Main spindle box; 251. Main spindle motor; 252. Transmission belt; 253. Hydraulic three-jaw chuck;

[0048] 254. Working tool shank; 255. Rotary oil cylinder; 256. Hollow pull rod;

[0049] 26. Installation groove; 27. Limit block;

[0050] 3. Stud loading platform; 31. Base; 32. Ring guide rail;

[0051] 33. Driving gear; 331. Driving motor;

[0052] 34. Positioning seat; 341. Connecting pin; 342. Guide roller;

[0053] 35. Driving chain; 36. Stud positioning sleeve; 37. Detector;

[0054] 4. X-axis guide rail; 5. Y-axis guide rail;

[0055] 6. Product to be welded; 61. Friction stir welding seam; 62. Rotary friction welding stud;

[0056] 7. Tool holder; 71. Base; 72. Link rod; 73. Spring; 74. Roller;

[0057] 75. Positioning boss; 76. Positioning key;

[0058] 8. Tool shank; 81. Positioning groove; 82. Bayonet; 83. Threaded hole; 84. Stirring head. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0060] Please refer to Figures 1 - 8 , in the embodiment of the present invention, an automatic welding system and a welding method are provided. Two sets of parallel Y-axis guide rails 5 are arranged in the welding area. The product to be welded 6 is located between the two sets of Y-axis guide rails 5. The friction stir welding seam 61 of the product to be welded 6 is arranged parallel to the Y-axis guide rail 5, and the arrangement direction of the rotary friction welding studs 62 on the product to be welded 6 is arranged parallel to the Y-axis guide rail 5.

[0061] The X-axis guide rail 4 and the Y-axis guide rail 5 are arranged perpendicular to each other. The two ends of the X-axis guide rail 4 are slidably arranged with the Y-axis guide rail 5. A sliding seat 23 is arranged on the X-axis guide rail 4 for slidably installing the machine head assembly 2. The machine head assembly 2 is horizontally slidably matched with the X-axis guide rail 4 through the sliding seat 23. A tool magazine 1 and a stud loading platform 3 are fixed on the cross beam of the X-axis guide rail 4. The tool magazine 1 and the stud loading platform 3 respectively correspond to the positions of the two sets of Y-axis guide rails 5. The machine head assembly 2 horizontally slides above the tool magazine 1 and the stud loading platform 3 to pick up and place the tool shank 8 equipped with the stirring head 84 from the tool magazine 1, or pick up and place the tool shank 8 equipped with the stud from the stud loading platform 3, or directly take out the stud from the stud positioning sleeve 36.

[0062] The machine head assembly 2 includes a fixed seat 21. On one side of the fixed seat 21, a U-shaped mounting groove 26 is formed in the vertical direction for mounting the main spindle box 25. On the side of the fixed seat 21 opposite to the mounting groove 26, a Z-axis guide rail 22 is arranged in the vertical direction, and the fixed seat 21 slides vertically along the Z-axis guide rail 22. A slide seat 23 is also mounted on the guide rail seat of the Z-axis guide rail 22, and the Z-axis guide rail 22 slides along the X-axis guide rail 4 through the slide seat 23. The X-axis guide rail 4, Y-axis guide rail 5, and Z-axis guide rail 22 cooperate to form a three-axis slide table module to drive the fixed seat 21 to adjust its position.

[0063] The drive shaft 24 passes through the fixed seat 21 and the main spindle box 25 in the horizontal direction. The drive shaft 24 is rotationally matched with the fixed seat 21, and the main spindle box 25 is fixed on the shaft body of the drive shaft 24 and adjusts its pitching position while rotating with the drive shaft 24. A limit block 27 is arranged at the notch of the mounting groove 26. There is an intersection between the pitching movement track of the main spindle box 25 and the limit block 27. By adjusting the position of the limit block 27, the maximum pitching swing angle of the main spindle box 25 is limited.

[0064] A drive worm wheel 241 is coaxially fixed on the drive shaft 24. Two bearing boxes are mounted on the fixed seat 21, and a drive worm 242 is mounted between the two bearing boxes. The drive worm 242 and the drive worm wheel 241 form a worm and worm wheel pair. The worm motor 243 on the fixed seat 21 drives the drive worm 242 to rotate through a clutch, and the drive worm 242 drives the drive shaft 24 and the main spindle box 25 to rotate through worm and worm wheel transmission to adjust the welding inclination angle.

[0065] A support seat 244 located below the drive shaft 24 and a drive oil cylinder 246 located above the drive shaft 24 are arranged on the fixed seat 21. The contact surface between the support seat 244 and the drive shaft 24 is an arc surface, and the radius of the arc surface corresponds to the radius of the drive shaft 24. The drive end of the drive oil cylinder 246 drives the clamping block 245 to move vertically up and down. After the clamping block 245 abuts against the drive shaft 24, the clamping block 245 and the support seat 244 clamp and position the drive shaft 24 to achieve the emergency stop rotation of the drive shaft 24. A V-shaped groove is formed on the contact surface between the clamping block 245 and the drive shaft 24. To achieve double shutdown insurance, a power-off brake 247 is also coaxially arranged on the drive shaft 24. The power-off brake 247 is a prior art, so its structure will not be described in detail. The drive shaft 24 and the fixed seat 21 are locked by power-off through the power-off brake 247, and together with the clamping of the clamping block 245 and the self-locking property of the worm and worm wheel, triple locking insurance for the drive shaft 24 is achieved.

[0066] A rotary oil cylinder 255 is provided inside the headstock 25. A hydraulic three-jaw chuck 253 is rotatably arranged at the bottom of the headstock 25. The hydraulic three-jaw chuck 253 hydraulically drives the three-jaw chuck to clamp the working tool shank 254. The rotary oil cylinder 255 provides hydraulic power to the hydraulic three-jaw chuck 253 through a hollow pull rod 256 inside the headstock 25. A spindle motor 251 is vertically arranged outside the headstock 25. The motor shaft of the spindle motor 251 drives the hydraulic three-jaw chuck 253 to rotate synchronously through a transmission belt 252. While the hydraulic three-jaw chuck 253 rotates, it drives the stirring head on the working tool shank 254 to rotate synchronously for work.

[0067] The tool magazine 1 includes a vertically arranged tool magazine motor 11. The motor shaft of the tool magazine motor 11 is arranged axially. A turntable 12 is coaxially arranged on the motor shaft. Tool holders 7 are evenly arranged along the circumference on the turntable 12. The tool holders 7 are used to clamp and fix the tool shanks 8. A motor base 13 is arranged at the bottom of the tool magazine motor 11.

[0068] The tool magazine 1 further includes a mounting seat 16. Two bearing boxes are installed at the bottom of the mounting seat 16. A rotating shaft 18 is installed between the two bearing boxes. The shaft body of the rotating shaft 18 is parallel to the seat surface of the motor base 13. A swing adjustment block 15 is coaxially fixed on the rotating shaft 18. A limit groove 17 is formed on the surface of the mounting seat 16. The length of the limit groove 17 is greater than the length of the swing adjustment block 15. The width of the limit groove 17 corresponds to the width of the swing adjustment block 15. When the rotating shaft 18 rotates, it drives the swing adjustment block 15 to swing in the limit groove 17. The motor base 13 of the tool magazine motor 11 is fixed on the swing adjustment block 15 and is positioned after adjusting the pitch angle with the swing adjustment block 15. Preferably, two sets of swing adjustment blocks 15 and limit grooves 17 are provided to support and position the motor base 13 bidirectionally.

[0069] Adjusting bolts 14 are vertically arranged at the four corner ends of the motor base 13. The adjusting bolts 14 are in threaded cooperation with the motor base 13. After adjusting the length of the adjusting bolts 14, they abut against the mounting seat 16, thereby positioning the pitch angle of the motor base 13.

[0070] The turntable 12 is detachably installed with the tool holder 7. The tool holder 7 includes a base 71, on which an arc-shaped opening is formed. The arc-shaped opening corresponds to the diameter of the tool shank 8 for the tool shank 8 to be snapped in. On the base 71, connecting rods 72 symmetrically arranged on both sides of the arc-shaped opening of the base 71 are further provided. One end of each connecting rod 72 is installed with a spring 73, and the other end of the connecting rod 72 is installed with a roller 74. The rolling axis of the roller 74 is arranged parallel to the axis of the arc-shaped opening of the base 71. The two groups of connecting rods 72 are hinged to the base 71, and the hinge point is located in the middle of the connecting rod 72. The springs 73 of the two groups of connecting rods 72 are arranged along the direction perpendicular to the connecting rod 72, and the ends of the springs 73 are connected to the base 71. The springs 73 apply an outward elastic force to the ends of the two groups of connecting rods 72 to drive the connecting rods 72 to perform an opening and closing clamping action. Under the action of the elastic force of the springs 73, the rollers 74 on the two connecting rods 72 perform an elastic clamping action on the tool shank 8.

[0071] To achieve better positioning of the tool shank 8, a positioning boss 75 is convexly provided along the circumference at the arc-shaped opening of the tool holder 7, and a positioning key 76 is convexly provided directly below the positioning boss 75. Along the circumference, a positioning groove 81 corresponding to the size of the positioning boss 75 is formed on the tool shank 8, and a bayonet 82 is recessed on the groove bottom surface of the positioning groove 81. The bayonet 82 corresponds to the size of the positioning key 76. When the tool shank 8 is clamped and positioned by the tool holder 7, the positioning boss 75 is snapped into the positioning groove 81 to form a positioning support for the tool shank 8. The positioning key 76 is inserted into the bayonet 82 to achieve anti-rotation positioning of the tool shank 8.

[0072] A threaded hole 83 is formed in the tool shank 8 along the radial direction for installing a setscrew to position the mixing head 84 or the stud. The bottom of the tool shank 8 is an installation area, and the mixing head 84 or the stud can be installed in the installation area.

[0073] The stud loading table 3 includes a base 31 and an annular guide rail 32 installed on the base 31. A driving chain 35 is arranged inside the inner circle of the annular guide rail 32. Driving gears 33 are arranged at the four corner ends of the inner circle of the annular guide rail 32 to guide the driving chain 35. The driving gears 33 and the driving chain 35 form a gear-chain drive to drive the driving chain 35 to rotate in a closed loop.

[0074] In this embodiment, one of the four groups of driving gears 33 is a driving gear, and the other three groups of gears are driven gears. The driving gear is driven to rotate by a driving motor 331 on the stud loading table 3. A positioning seat 34 is installed on the driving chain 35. One side of the positioning seat 34 is a positioning surface, and two groups of parallel connecting pins 341 are arranged on the positioning surface. The distance between the connecting pins 341 corresponds to the chain pitch of the driving chain 35. The connecting pins 341 are inserted into the gaps between adjacent rollers of the driving chain 35, so that the positioning seat 34 travels synchronously with the driving chain 35. The diameter of the connecting pins 341 is preferably corresponding to the width of the gap between adjacent rollers of the driving chain 35.

[0075] The positioning surface of the positioning seat 34 is also provided with a guiding roller group. The guiding roller group includes two groups of guiding rollers 342, which are symmetrically distributed on both sides of the annular guide rail 32 and roll along the annular guide rail 32. The guiding rollers 342 guide the positioning seat 34, increasing the stability of the positioning seat 34 during its movement. Preferably, two groups of guiding roller groups are provided.

[0076] The back of the positioning surface of the positioning seat 34 is an installation surface, which is used to install the stud positioning sleeve 36 or the tool holder 7. Among them, the surface of the stud positioning sleeve 36 is axially provided with a positioning hole for the direct insertion and positioning of the stud. The tool holder 7 is used to clamp the tool shank 8. The tool holder 7 and the tool shank 8 in the stud loading table 3 have the same structure as the tool holder 7 and the tool shank 8 in the tool magazine 1. When the tool shank 8 is applied to the stud loading table 3, the stirring head 84 installed at the bottom of the tool shank 8 is replaced by a stud.

[0077] A detector 37 is installed on the base 31. The detector 37 is located below the drive chain 35 and corresponds to the plumb position of the positioning seat 34, and is used to detect the feeding state of the studs on the positioning seat 34.

[0078] When welding the product 6 to be welded, first fix the product 6 to be welded in place.

[0079] Adjust the pitching angles of the headstock assembly 2 and the tool magazine 1 to make them the same. After the headstock assembly 2 is horizontally and vertically adjusted in position, replace the tool shank 8 on the tool magazine 1. The X-axis guide rail 4 drives the entire headstock assembly 2 to slide along the Y-axis guide rail 5 direction to complete the welding of the friction stir welding seam 61, and then reset after welding is completed;

[0080] When performing rotary friction welding of studs, reset the pitching angle of the headstock assembly 2 to 0 degrees. After horizontally and vertically adjusting the position, pick up the studs from the stud loading table 3. The X-axis guide rail 4 drives the entire headstock assembly 2 to slide along the Y-axis guide rail 5 direction to complete the rotary friction welding of the studs at the set position, and then reset after welding is completed.

[0081] The basic principles of the present application are described above in combination with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purpose of illustration and easy understanding, rather than limitations. The above details do not limit the present application to necessarily adopt the above specific details to implement.

[0082] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms that mean "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

Claims

1. An automated welding system, characterized in that: The invention comprises a Y-axis guide rail (5) arranged parallel to the welding direction of the product to be welded (6), and an X-axis guide rail (4) arranged perpendicular to the Y-axis guide rail (5) and sliding along the Y-axis guide rail (5); a tool magazine (1) for storing stirring heads (84) and a stud loading table (3) for storing studs are both fixed on the crossbeam of the X-axis guide rail (4); a machine head assembly (2) and the X-axis guide rail (4) are slidably matched; the machine head assembly (2) and the tool magazine (1) can both be pitched and swung to adjust the inclination angle.

2. An automated welding system according to claim 1, characterized in that: The tool magazine (1) comprises a rotating disk (12), on which a tool clamp (7) for clamping a tool handle (8) is arranged along the circumference; the rotating disk (12) is driven to rotate by a power source, and the rotating disk (12) is arranged on a mounting seat (16) of the tool magazine (1) in a pitching and swinging manner, and is positioned after pitching and swinging to a set angle.

3. An automated welding system according to claim 2, characterized in that: The turntable (12) is fixed on the tool magazine motor (11) and driven to rotate by the motor shaft of the tool magazine motor (11); the motor seat (13) of the tool magazine motor (11) is connected to the mounting seat (16) through a swing mechanism; the motor seat (13) is provided with at least two groups of adjusting bolts (14) which are threadedly matched with the motor seat (13) in a direction perpendicular to the motor seat (13); the ends of the adjusting bolts (14) are abutted against the mounting seat (16) for positioning.

4. An automated welding system according to claim 3, characterized in that: The swing mechanism comprises a bearing seat arranged on a mounting seat (16) and used for fixing a rotating shaft (18), wherein the rotating shaft (18) is arranged in a direction parallel to the mounting seat (16); a motor seat (13) of a tool magazine motor (11) is arranged at intervals from the rotating shaft (18), the motor seat (13) is fixed to the shaft body of the rotating shaft (18) through a swing adjustment block (15), and swings in pitch and fall synchronously with the rotating shaft (18).

5. An automated welding system according to claim 4, characterized in that: A limiting groove (17) is provided on the mounting seat (16), the rotating shaft (18) and the motor seat (13) are respectively arranged on both sides of the mounting seat (16), and the swing adjustment block (15) on the motor seat (13) passes through the limiting groove (17) and is coaxially fixed with the rotating shaft (18).

6. An automated welding system according to claim 1, characterized in that: The head assembly (2) comprises a fixed seat (21) on which a driving shaft (24) is arranged in a horizontal direction, and a spindle box (25) is fixed on the driving shaft (24) and pitches and swings with the rotation of the driving shaft (24); a driving worm gear (241) is coaxially arranged on the driving shaft (24), and a driving worm (242) driven to rotate by a worm motor (243) is installed on the fixed seat (21), and the driving worm (242) and the driving worm gear (241) form a worm gear match.

7. An automated welding system according to claim 6, characterized in that: A linear power source is arranged on the fixed seat (21), a clamping block (245) is installed on the driving end of the linear power source, a linear moving track of the clamping block (245) intersects with the driving shaft (24), a supporting seat (244) is also arranged on the fixed seat (21), the supporting seat (244) and the clamping block (245) are respectively arranged on both sides of the driving shaft (24), and the clamping block (245) and the supporting seat (244) cooperate to clamp the driving shaft (24) to prevent rotation.

8. An automated welding system according to claim 6, characterized in that: A Z-axis guide rail (22) is vertically arranged on the fixed seat (21), and the fixed seat (21) is connected to a sliding seat (23) sliding in a horizontal direction through the Z-axis guide rail (22). The fixed seat (21) is driven by a lifting motor to generate a lifting action along the Z-axis guide rail (22).

9. The automated welding system according to claim 1, characterized in that: The stud loading platform (3) further comprises a stud loading platform (3), wherein the stud loading platform (3) comprises a driving chain (35) arranged in a ring shape on a base (31), wherein the driving chain (35) is driven to rotate by a power source; the stud loading platform (3) further comprises a positioning seat (34) for fixing the studs, wherein the positioning seat (34) is plugged into and matched with the driving chain (35) and then operates synchronously with the driving chain (35).

10. An automated welding system according to claim 9, characterized in that: At least two groups of connecting pins (341) are vertically arranged on the positioning seat (34), and the connecting pins (341) are inserted into the gap between two adjacent rollers of the driving chain (35), and the diameter of the connecting pins (341) corresponds to the width of the gap between two adjacent rollers of the driving chain (35).

11. An automated welding system according to claim 9, characterized in that: The inner ring of the driving chain (35) is provided with a driving gear (33), and the driving gear (33) and the driving chain (35) form a gear chain transmission, and at least one set of the driving gears (33) is driven to rotate by a driving motor (331).

12. An automated welding system according to claim 9, characterized in that: The outer ring of the stud loading platform (3) is provided with an annular guide rail (32), and at least one group of guide roller groups is installed on the positioning seat (34), each guide roller group includes two groups of guide rollers (342) distributed on both sides of the annular guide rail (32) and rolling along the annular guide rail (32).

13. An automated welding system according to claim 9, characterized in that: The positioning seat (34) is provided with a stud positioning sleeve (36) and / or a tool holder (7); The stud locating sleeve (36) is provided with a locating hole for the stud to be inserted and positioned; The knife handle (8) is clamped and positioned by the knife clamp (7), and an annular positioning groove (81) is provided on the knife handle (8) in the circumferential direction; a threaded hole (83) is provided on the knife handle (8) in the radial direction, and a top screw is installed in the threaded hole (83) to position a stud to be welded, and the stud to be welded is detachably fixed to the bottom of the knife handle (8) along the axial direction of the knife handle (8).

14. An automated welding system according to any one of claims 2, 3, 4, 5, and 13, characterized in that: The tool holder (7) comprises a base (71), the base (71) having an arc-shaped opening for inserting the tool handle (8), the size of the arc-shaped opening corresponding to the diameter of the tool handle (8), a positioning boss (75) corresponding to the shape of the positioning groove (81) is convexly provided at the arc-shaped opening of the base (71) along the circumferential direction; a slot (82) is formed in a recessed manner on the bottom surface of one section of the positioning groove (81), and a positioning key (76) is also convexly provided at the opening of the base (71) for forming a plug-in fit with the slot (82) for positioning.

15. The welding method of an automated welding system according to any one of claims 1 to 14, characterized in that: The steps include: S1, fix the product to be welded (6) in place; S2, adjusting the pitch angle of the machine head assembly (2) and the tool magazine (1) so that the pitch angles are consistent, after the machine head assembly (2) is adjusted horizontally and the lifting and sliding position is adjusted, the tool handle (8) is replaced on the tool magazine (1), and the X-axis guide rail (4) drives the machine head assembly (2) to slide along the Y-axis guide rail (5) as a whole to complete the friction stir welding, and reset after the welding is completed; S3, the pitch angle of the head assembly (2) is reset to 0 degrees, and after the horizontal and lifting sliding positions are adjusted, the studs are taken from the stud loading platform (3), and the X-axis guide rail (4) drives the head assembly (2) as a whole to slide along the Y-axis guide rail (5), and the rotational friction welding of the studs is completed at the set position, and the head assembly is reset after the welding is completed.

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