Gantry type friction stir welding robot

Abstract

The invention discloses a gantry type friction stir welding robot. The gantry type friction stir welding robot is characterized by comprising a gantry machine tool, a welding robot body and a to-be-welded component; the gantry machine tool is a fixing device and a moving device of the welding robot, and the position and the height of the welding robot are adjusted through a sliding rail and a sliding block. The welding robot is an execution part of the friction stir welding robot and adopts a 3UPS-UP structural design; the to-be-welded component is a welding object of the friction stir welding robot, and the to-be-welded component is fixed through a fixing device to ensure the welding performance; the device has the beneficial effects that the structure is ingenious, the structural rigidity is large, the movement is stable and efficient, the control performance is good, the welding quality and efficiency are high, the commercial prospect is very wide, the relevant technical blank can be filled up, and large social benefits and economic benefits can be generated.

Description

[0001] The present invention relates to the field of friction stir welding robots, and particularly to a gantry-type friction stir welding robot. Background Art

[0002] Traditional welding methods have defects such as requiring auxiliary materials, low welding efficiency, and generating harmful gases. Friction stir welding is a new type of solid-state welding technology, which has advantages such as being green and pollution-free, high welding quality, and good welding effect, and is widely used in metal welding, especially in the welding of metal materials such as aluminum alloys. Existing friction stir welding equipment mainly includes special machine tools and industrial welding robots, but these welding equipment have low rigidity, are not suitable for large welding components, low flexibility, and poor operability, and cannot meet the intelligent welding requirements of large-scale welding parts in modern large aerospace, subway, and ship industries.

[0003] In order to solve the above problems, the present invention proposes a gantry-type friction stir welding robot, which can meet the welding requirements of friction stir welding for large, complex cross-sections, and complex curved surfaces. A gantry-type friction stir welding robot with high rigidity, stable operation, and high welding quality is invented, which promotes the development of engineering technology in the field of gantry-type friction stir welding robots, and at the same time has great social and economic benefits. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art and fill the relevant technical gaps, the present invention provides a gantry-type friction stir welding robot, which has a clever structure, high structural rigidity, smooth and efficient movement, good control performance, high welding quality and efficiency;

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: A gantry-type friction stir welding robot, characterized by comprising a gantry machine tool, a welding robot, and a component to be welded;

[0006] The gantry machine tool is composed of a machine body base, a slide rail, a slider, a machine body, a support beam, a control box, and a fixing rod; The machine body base is placed on the ground or a horizontal box body. To maintain the stability of the gantry machine tool, the machine body base should be placed horizontally, and the structure of the gantry machine tool should be symmetrically designed, and dust and gravel should be avoided during installation; The slide rail and the slider are the implementation methods for the movement of the gantry machine tool. The slide rail and the slider are placed on the upper end of the machine body base, and can realize the forward and backward movement of the machine body of the machine tool; The machine body is the outer shell of the gantry machine tool and provides a supporting role for it. There are machine body slide rails and machine body sliders in the middle of the machine body, and the height of the support beam can be adjusted by mutual movement; The support beam is located inside the machine body. The support beam is connected to the control box through a support beam slide rail and a control box slider, driving the movement of the control box in the left and right directions. The welding robot is fixed to the lower end of the control box by bolts;

[0007] The welding robot consists of a fixed platform, a UPS chain, a UP chain, a moving platform, and an end effector; the fixed platform has a structure with a hole in the middle, an isosceles trapezoid cut on the side, and rounded corners; the welding robot uses three UPS chains, where U represents a universal joint, P represents a prismatic pair, and S represents a spherical joint. The three UPS chains are arranged in a ring with a 120° interval between each chain. The upper end of the UPS chain is connected to the fixed platform through a bolt and a universal joint, and the lower end is connected to the moving platform through a ball joint and a socket; the upper end of the UP chain is a UP rod motor, and the lead screw is thread-coupled with a Hooke's joint in the middle of the fixed platform. The support rods on the four faces of the Hooke's joint are fixed to the notches on the four faces of the fixed platform through bolts; the lower end of the UP rod is integrally designed with the controller and connected to the moving platform; the lower end of the moving platform is connected to the friction stir welding tool head. The rotation speed, feed rate, and feed speed of the tool head are controlled by the controller to ensure the stability of the friction stir welding robot.

[0008] The component to be welded consists of a rocket launcher and a fixing device. The component to be welded is required to meet the maximum dimensions of a gantry milling machine. The front end of the rocket launcher has a semi-circular structure and the rear end is cylindrical. An annular fixing device is used to fix the rocket launcher for convenient welding.

[0009] A gantry friction stir welding robot is characterized in that it realizes friction stir welding in combination with a parallel robot while retaining the extremely high rigidity, large workbench, high precision, and intelligence of a gantry milling machine, solving the problems of small working space, low rigidity, and low welding efficiency in traditional welding; the gantry friction stir welding robot realizes lateral movement through a slide rail and a slider, and adjusts the height of the support beam through a body slider and a body slide rail in the middle of the fuselage; inside the support beam, there are also support beam slide rails and control box sliders to realize the left and right movement of the execution part of the gantry milling machine. The gantry milling machine is symmetrically distributed to maintain the structural stability; the welding robot adopts a 3UPS-UP design, and the upper end is connected to the control box of the gantry milling machine through a fixed rod to drive the left and right movement of the welding robot. The welding robot realizes the telescoping of the joints of the welding robot and the rotation of the end effector through universal joints, prismatic pairs, Hooke's joints, lead screws, and ball joints. The rotation speed, feed rate, and feed speed of the tool head are controlled by the welding robot controller to ensure the welding quality and welding efficiency of the welding robot.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: The gantry welding robot has a clever structure, high structural rigidity, smooth and efficient movement, good controllability, easy realization of welding automation, high welding quality and efficiency, and has a very broad commercial prospect. It can not only fill the gaps in related technologies but also generate greater social and economic benefits. Description of the Drawings

[0011] Figure 1 It is a three-dimensional view of a gantry friction stir welding robot;

[0012] Figure 2 It is a three-dimensional view (front view) of a gantry friction stir welding robot;

[0013] Figure 3 It is a three-dimensional view of a friction stir welding robot;

[0014] Figure 4 It is a gantry friction stir welding machine tool.

[0015] Figure 1 — Figure 4 In:

[0016] 1. Body base; 2. Slide rail; 3. Slide block;

[0017] 4. Body; 5. Body slide rail; 6. Support beam;

[0018] 7. Control box; 8. Fixed rod; 9. Welding robot;

[0019] 911. UP rod motor; 912. Fixed platform; 913. Universal joint;

[0020] 914. UPS branch chain (left side); 915. Moving platform; 916. Spherical joint;

[0021] 917. Notch; 918. Hook hinge; 919. Lead screw;

[0022] 920. UP branch chain; 921. UPS branch chain (middle); 922. UPS branch chain (right side);

[0023] 923. Stirring head; 10. Fixing device; 11. Rocket launcher. Specific implementation manner

[0024] Describe the implementation manner of the present invention with reference to the accompanying drawings. The following will be combined with Figure 1 — Figure 4 to elaborate in detail on the specific implementation manner of the present invention.

[0025] A gantry friction stir welding robot includes a gantry machine tool, a welding robot 9, and a component to be welded.

[0026] Figure 1 and Figure 2In it, the gantry machine tool consists of a machine body base 1, slide rails 2, sliders 3, a machine body 4, a support beam 6, a control box 7 and a fixing rod 8; the machine body base 1 is placed on the ground or a horizontal box body. To maintain the stability of the gantry machine tool, the machine body base 1 should be placed horizontally. The structure of the gantry machine tool should be symmetrically designed, and dust and gravel should be avoided during installation; the slide rails 2 and the sliders 3 are the implementation methods for the movement of the gantry machine tool. The slide rails 2 and the sliders 3 are placed at the upper end of the machine body base 1, providing lateral movement for the gantry machine tool; the machine body 4 is the outer shell and support structure of the gantry machine tool, providing fixation for the support beam 6; a machine body slide rail 5 and a machine body slider are provided in the middle of the machine body 4 to adjust the height of the support beam 6, thereby driving the adjustment of the height of the welding robot 9; the support beam 6 is located inside the machine body 4. The support beam 6 is connected to the control box slider and the control box 7 through support beam slide rails, driving the movement of the control box 7 in the left and right directions. The welding robot 9 is fixed to the lower end of the control box 7 by bolts.

[0027] Figure 3 In it, the welding robot 9 consists of a fixed platform 912, a UPS chain (left side) 914, a UPS chain (middle) 921, a UPS chain (right side) 922, a UP chain 920, a moving platform 915, a stirring head 923 and an end controller; the fixed platform 912 has a hole dug in the middle, an isosceles trapezoid cut off on the side, and is rounded; the welding robot 9 uses a UPS chain (left side) 914, a UPS chain (middle) 921, a UPS chain (right side) 922. U represents a universal joint 913, P represents a moving pair, S represents a spherical joint 916. The UPS chain (left side) 914, the UPS chain (middle) 921, and the UPS chain (right side) 922 are arranged in a ring with each chain separated by 120°. The upper ends of the UPS chain (left side) 914, the UPS chain (middle) 921, and the UPS chain (right side) 922 are connected to the fixed platform 912 through bolts and the universal joint 913, and the lower ends are connected to the moving platform 915 through ball hinges and ball sockets; the upper end of the UP chain 920 places a UP rod motor 911. The lead screw 919 is thread-coupled to the Hooke's joint 918 in the middle of the fixed platform 912. The support rods on the four faces of the Hooke's joint 918 are fixed to the notches 917 on the four faces of the fixed platform 912 through bolts; the lower end of the UP rod 920 is integrally designed with the controller and connected to the moving platform 915; the lower end of the moving platform 915 is connected to the friction stir welding head 923. The rotation speed, feed rate, and feed speed of the stirring head 923 are controlled by the controller to ensure the stability of friction stir welding.

[0028] The component to be welded consists of a rocket launcher 11 and a fixing device 10. The component to be welded is required to meet the maximum limit of the size of the gantry machine tool. The front end of the rocket launcher 11 has a semi-circular structure and the rear end is cylindrical. To facilitate welding, an annular fixing device 10 is used to fix the rocket launcher 11.

[0029] Figure 4 Among them, a gantry friction stir welding robot is characterized in that it realizes friction stir welding by retaining the extremely high rigidity, large workbench, high precision and intelligence of the gantry machine tool, and is combined with the welding robot 9, solving the problems of small working space, low rigidity and low welding efficiency in traditional welding; the gantry friction stir welding robot realizes lateral movement through the slide rail 2 and the slider 3, and in the middle of the fuselage 4, the fuselage slider and the fuselage slide rail 5 are used to adjust the height of the support beam 6; inside the support beam 6, there are also support beam slide rails and control box sliders to realize the left and right movement of the execution part of the gantry machine tool, and the gantry machine tool is symmetrically distributed to maintain the structural stability; the welding robot 9 adopts the UPS chain (left side) 914, the UPS chain (middle) 921, the UPS chain (right side) 922 and the UP chain 920 design. The upper end is connected to the control box 7 of the gantry machine tool through the fixing rod 8 and drives the welding robot 9 to have the freedom of left and right movement. The welding robot 9 realizes the telescoping of the joints of the welding robot 9 and the rotation of the end effector through the universal joint 913, the moving pair, the Hooke joint 918, the lead screw 919 and the spherical joint 916. The rotation speed, feed rate and feed speed of the stirring head 923 are controlled by the controller of the welding robot 9 to ensure the welding quality and welding efficiency of the welding robot 9.

[0030] As mentioned above, it is only a preferred embodiment of the invention and does not impose any limitation on the present invention. Any modification, change and equivalent change made to the above embodiments according to the essence of the present invention still fall within the protection scope of the technology of the present invention.

Claims

1. A gantry friction stir welding robot, characterized in that Including: Gantry machine tool, welding robot, component to be welded; The gantry machine tool is composed of a machine body base, slide rails, sliders, a machine body, a support beam, a control box and fixing rods; The machine body base is placed on the ground or a horizontal box body. To maintain the stability of the gantry machine tool, the machine body base should be placed horizontally. The structure of the gantry machine tool should be symmetrically designed, and dust and gravel should be avoided during installation; The slide rails and sliders are the implementation means for the movement of the gantry machine tool. The slide rails and sliders are placed on the upper end of the machine body base and can realize the forward and backward movement of the machine tool body; The machine body is the outer shell of the gantry machine tool and provides a supporting role for it. There are machine body slide rails and machine body sliders in the middle of the machine body, and the height of the support beam is adjusted by mutual movement; The support beam is located inside the machine body. The support beam is connected to the control box through support beam slide rails and control box sliders, driving the movement of the control box in the left-right direction. The welding robot is fixed at the lower end of the control box by bolts; The welding robot is composed of a fixed platform, UPS branch chains, UP branch chains, a moving platform and an end effector; The fixed platform adopts a structure with a hole dug in the middle, an isosceles trapezoid cut off on the side, and rounded corners; The welding robot adopts three UPS branch chains. U represents a universal joint, P represents a moving pair, and S represents a spherical joint. The three UPS branch chains are arranged in a ring, with each branch chain spaced 120°. The upper end of the UPS branch chain is connected to the fixed platform through bolts and universal joints, and the lower end is connected to the moving platform through a ball hinge and a ball socket; The upper end of the UP branch chain places a UP rod motor. The lead screw is thread-coupled with the Hooke's joint in the middle of the fixed platform. The support rods on the four faces of the Hooke's joint are fixed to the notch on the four faces of the fixed platform through bolts; The lower end of the UP rod is integrally designed with the controller and connected to the moving platform; The lower end of the moving platform is connected to the friction stir welding head. The controller controls the rotation speed, feed rate and feed speed of the stirring head and maintains the stability of the welding of the welding robot; The component to be welded is composed of a rocket launcher and a fixing device. The component to be welded is required to meet the maximum limit of the size of the gantry machine tool. The front end of the rocket launcher has a semi-circular structure and the rear end is cylindrical. An annular fixing device is used to fix the rocket launcher for convenient welding; A gantry friction stir welding robot, characterized in that On the basis of retaining the extremely high rigidity, large workbench, high precision and intelligence of the gantry machine tool, friction stir welding is realized with a parallel robot, solving the problems of small working space, low rigidity and low welding efficiency in traditional welding; A gantry friction stir welding robot realizes lateral movement through slide rails and sliders, and adjusts the height of the support beam by using sliders and slide rails in the middle of the machine body; There are support beam slide rails and control box sliders inside the support beam to realize the left-right movement of the execution part of the gantry machine tool. The gantry machine tool is symmetrically distributed to maintain the stability of the structure; The welding robot adopts a 3UPS-UP design. The upper end is connected to the control box of the gantry machine tool through a fixing rod and drives the welding robot to move left and right. The welding robot realizes the telescoping of the joints of the welding robot and the rotation of the end effector under the combined action of universal joints, moving pairs, Hooke's joints and ball joints. The rotation speed, feed rate and feed speed of the stirring head are controlled by the controller of the welding robot to ensure the welding quality and welding efficiency of the welding robot.

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