Movable series-parallel friction stir welding robot

Abstract

The invention discloses a movable series-parallel friction stir welding robot. The movable series-parallel friction stir welding robot is characterized by comprising a movable platform, a series robot, a parallel robot and a welding component; the moving platform is a machine for moving the hybrid robot to any position; the series robot is a machine structure for realizing high degree of freedom of the series-parallel welding robot, and is responsible for realizing accurate positioning on the end effector; the parallel robot has the advantages of being high in rigidity structure, high in stability and low in error. The welding component is a friction stir welding workpiece to be welded, and the movable series-parallel friction stir welding robot is formed by the movable platform, the series robot and the parallel robot. The device has the advantages of being flexible in structure, ingenious in conception, high in precision, large in load capacity, convenient to operate in a multifunctional mode, wide in commercial prospect, capable of filling the blank of related technologies and capable of generating large social benefits and economic benefits.

Description

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

[0002] Friction stir welding is an advanced solid-state welding technology. Compared with traditional welding methods, it has advantages such as high welding quality, high welding efficiency, and no pollution, and is widely used in fields such as aerospace, automobile manufacturing, and rail transit. At present, the mainstream friction stir welding equipment is only for welding small or medium-sized welding components, lacking friction stir welding equipment for large welding components. The existing friction stir welding equipment is mainly of a single structure. Serial robots have high flexibility and a large working space, and parallel robots have the advantages of high rigidity and high speed. There are few combinations of serial robots and parallel robots to achieve friction stir welding. Hybrid robots retain the advantages of serial robots and parallel robots and have better performance advantages. Large welding components are difficult to move, resulting in difficulties and low flexibility in friction stir welding. The existing friction stir welding equipment has defects such as immobility, low flexibility, and low stability.

[0003] In order to solve the above problems, the present invention proposes a mobile hybrid friction stir welding robot. This mobile hybrid welding robot can meet the welding requirements of friction stir welding, and invents a mobile, highly flexible, and good-welding-quality mobile friction stir welding robot, promoting the development of engineering technology in the field of mobile friction stir welding robots, and having great social and economic benefits at the same time. 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 mobile hybrid friction stir welding robot, which is highly flexible, uniquely conceived, has good welding effects, is easy to operate, and has high welding efficiency.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: A mobile hybrid friction stir welding robot, characterized by comprising: a mobile platform, a serial robot, a parallel robot, and a welding component;

[0006] The mobile platform is composed of a mobile trolley, a fixed base, a mobile power supply, a control cabinet, and a heat dissipation box; the mobile trolley is of a wheel type and drives the serial robot and the parallel robot to move; the fixed base fixes the mobile power supply, the control cabinet, and the serial robot; the heat dissipation box dissipates heat from the control cabinet; the mobile power supply provides power for the mobile trolley, the serial robot, the parallel robot, and the end effector; the control cabinet is the control system of the mobile friction stir welding robot.

[0007] The serial robot consists of a fuselage, a rotating base, a first rotating joint and a second rotating joint. The fuselage of the serial robot is fixed at the front end of the mobile trolley, and the rotating base can provide 360° rotation for the serial robot; the support rod provides support for the reducer and connects the first rotating joint; the first rotating joint is connected to the rotating base to provide height adjustment for the serial robot; the second rotating joint is connected to the first rotating joint to provide flexibility in the vertical direction, and a fixing device for connecting to the parallel robot is placed at the end of the second rotating joint; the fixing device is connected and fixed to the fixing rod and the parallel robot of the parallel robot through bolts.

[0008] The parallel robot consists of a static platform, a universal joint, an electric cylinder, a ball hinge, a moving platform and a stirring head; the parallel robot adopts a 3UPS-UP structure design, where U represents a universal joint, P represents a moving pair, and S represents a spherical joint. The static platform is obtained by equally angled cutting of an isosceles trapezoid from a circular block and rounding it; a square notch is dug in the middle of the static platform, and a Hooke joint is placed. The four support rods of the Hooke joint are opposite to the four notches and are fixed by bolts; the lower end of the static platform is fixed by three universal joints with a 120° difference through bolts. The universal joint can provide rotational degrees of freedom along the radial and axial directions. The lower end of the universal joint is connected to the electric cylinder through bolts. The electric cylinder consists of a cylinder body and a push rod. The electric cylinder motor is placed compactly on the left side of the electric cylinder. The lower end of the push rod is integrally designed with the ball hinge; the UP rod motor is placed at the upper end of the UP rod, and a lead screw is used to thread-connect with the Hooke joint in the middle to provide the degree of freedom of the up and down movement of the parallel robot. The lower end of the UP rod is connected to the friction stir welding stirring device control system and the moving platform. The upper end of the friction stir welding stirring device control system adopts a semi-circular structure and the lower end adopts a cylindrical structure; the moving platform adopts a circular ring block structure, and a part is cut off every 120° for fixing the ball socket. A certain gap needs to be left when the ball socket cooperates with the ball hinge to ensure the flexibility of the movement between the ball hinge and the ball socket; the lower end of the moving platform is connected to the stirring head, and a buckle is provided in the middle of the moving platform to connect with the stirring head. The stirring pin in the stirring head adopts a frustum shape design; the controller can control the rotation speed, feed rate and downward pressure depth of the friction stir welding stirring head, thereby ensuring the welding quality and effect.

[0009] The welding component consists of a rocket launcher and a fixing device. The rocket launcher is placed upside down and fixed by an annular fixing device to prevent movement during welding. The mobile hybrid friction stir welding robot can weld the ring and complex curved surfaces of the rocket launcher.

[0010] A mobile series-parallel friction stir welding robot, characterized in that it can move to various positions and orientations to perform welding. This robot combines the characteristics of a serial robot, such as high degrees of freedom, high flexibility, and high scalability, and also retains the characteristics of a parallel welding robot, such as high speed, high rigidity, and high precision. The mobile platform of the mobile series-parallel friction stir welding robot adopts a wheeled mobile platform, and the fuselage of the serial robot, the mobile power supply, and the control cabinet are fixed through a fixed base. The serial robot adopts a three-axis structure, with the rotating base as the first axis, the first rotating joint as the second axis, and the second rotating joint as the third axis, capable of achieving 360° rotation and adjustment at different heights. The parallel robot adopts a 3UPS-UP structure design. The three UPS branches are connected to the static platform and the moving platform at intervals of 120°. The UP branch chain is connected by a screw thread coupling with a Hooke hinge. The lower end of the moving platform is connected to the stirring head, forming a welding device for friction stir welding. The mobile series-parallel friction stir welding robot can weld large workpieces to be welded, such as rocket launch tubes. The workpiece to be welded needs to be fixed by a circular fixing device to ensure that the workpiece does not move during welding. The mobility can solve the problem that it is difficult to place large workpieces on the working platform and can achieve friction stir welding of super-large workpieces.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The robot has high flexibility, unique concept, good welding effect, easy operation, high welding efficiency, and has a very broad commercial prospect. It can not only fill the gaps in related technologies but also generate great social and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional view of a mobile series-parallel friction stir welding robot;

[0013] Figure 2 It is a three-dimensional view (front view) of a mobile series-parallel friction stir welding robot;

[0014] Figure 3 It is a three-dimensional view of the parallel mechanism of a mobile series-parallel friction stir welding robot;

[0015] Figure 4 It is a mobile trolley of a mobile series-parallel friction stir welding robot.

[0016] Figure 1 — Figure 4 In:

[0017] 1. Rocket launch tube; 2. Fixer; 3. Parallel robot;

[0018] 311. UP rod motor; 312. Static platform; 313. Universal joint;

[0019] 314. Electric cylinder motor; 315. UPS rod (left side); 316. Push rod;

[0020] 317. Moving platform; 318. Stirring head; 319. UP rod;

[0021] 320. Hook hinge; 321. Lead screw; 322. UPS rod (middle);

[0022] 323. UPS rod (right side); 324. Controller; 325. Ball socket;

[0023] 326. Ball hinge; 4. Fixed rod of parallel robot; 5. Fixing device;

[0024] 6. Second rotating joint; 7. First rotating joint; 8. Support base;

[0025] 9. Reducer; 10. Rotating base; 11. Heat dissipation box;

[0026] 12. Control cabinet; 13. Fixed base; 14. Machine body;

[0027] 15. Mobile trolley; 16. Signal receiver 17. Mobile power supply. Detailed implementation manners

[0028] Describe the implementation manners of the present invention with reference to the accompanying drawings. The following combines Figure 1 — Figure 4 Make a detailed description of the specific implementation manners of the present invention.

[0029] A mobile hybrid stir friction welding robot is composed of a moving platform, a serial robot, a parallel robot 3, and a welding component.

[0030] Figure 1 The moving platform in it is composed of a mobile trolley 15, a fixed base 13, a mobile power supply 17, a control cabinet 12, a signal receiver 16, and a heat dissipation box 11; the mobile trolley 15 adopts a hub structure to drive the serial robot 3 and the parallel robot 3 to move; the fixed base 13 fixes the mobile power supply 17, the control cabinet 12, and the body 14 of the serial robot; the heat dissipation box 11 dissipates heat from the control cabinet 12, and the left side of the heat dissipation box 11 adopts a grid opening to facilitate heat exchange and prevent dust from entering; the mobile power supply 17 provides a power source for the mobile trolley 15, the serial robot, the parallel robot 3, and the end effector, and the mobile power supply 17 is placed inside the fixed base 13; the signal receiver 16 receives signals such as position information; the control cabinet 12 is a control system for a mobile hybrid stir friction welding robot. To reduce the limitation of the control cabinet 12 on the operating space of the robot, the control cabinet 12 is erected and placed at the tail of the mobile trolley 15.

[0031] Figure 2 The in - series robot consists of a fuselage 14, a rotating base 10, a first rotating joint 7 and a second rotating joint 6. The in - series robot fuselage 14 is fixed on a mobile trolley 15, and the rotating base 10 can provide 360° rotation for the in - series robot; the support seat 8 supports the reducer 9 and is connected to the first rotating joint 7; the first rotating joint 7 is connected to the rotating base 10 to provide height adjustment for the in - series robot; the second rotating joint 6 is connected to the first rotating joint 7 to provide flexibility in the vertical direction, and the end of the second rotating joint 6 is arranged on the fixing device 5 connected to the parallel robot 3; the fixing device 5 is connected and fixed to the parallel robot fixing rod 4 and the parallel robot 3 through bolts.

[0032] Figure 3 The in - parallel robot 3 consists of a static platform 312, a universal joint 313, an electric cylinder, a UP - rod motor 311, a ball hinge 326, a moving platform 317 and a stirring head 318; the parallel robot 3 is composed of a UPS - rod (left) 315, a UPS - rod (middle) 322, a UPS - rod (right) 323 and a UP - rod 319 structure. U represents the universal joint 313, P represents a prismatic pair, and S represents a spherical joint. The static platform 312 is a component obtained by equally - angled cutting of an isosceles trapezoid from a circular block and rounding its corners; a square notch is dug in the middle of the static platform 312, and a Hooke's joint 320 is placed. The four support rods of the Hooke's joint 320 are opposite to the four notches and are fixed by bolts; the lower end of the static platform 312 is fixed by three universal joints 313 with a 120° difference through bolts. The universal joint 313 can provide rotation along the radial and axial directions. The lower end of the universal joint 313 is connected to the electric cylinder through bolts. The electric cylinder consists of a cylinder body and a push rod 316. The electric - cylinder motor 314 is placed on the left side of the electric cylinder. The lower end of the push rod 316 and the ball hinge 326 are integrally designed; the UP - rod motor 311 is placed at the upper end of the middle UP - rod 319. The middle part uses a lead screw 321 to be thread - connected to the Hooke's joint 320 to provide the degree of freedom for the up - and - down movement of the parallel robot 3. The lower end of the UP - rod 319 is connected to the friction - stir welding stirring device control system and the moving platform 317. The upper end of the friction - stir welding stirring device controller 324 has a semi - circular structure and the lower end has a cylindrical structure; the moving platform 317 has a circular - ring - block structure, and a part is cut off every 120° for fixing the ball socket 325. A certain gap needs to be left when the ball socket 325 cooperates with the ball hinge 326 to ensure the flexibility of the movement between the ball hinge 326 and the ball socket 325; the lower end of the moving platform 317 is connected to the stirring head 318. A buckle is provided in the middle of the moving platform 317 to connect with the stirring head 318. The stirring pin in the stirring head 318 has a frustum - shaped design; the controller 324 can control the rotation speed, feed rate and downward pressure depth of the friction - stir welding stirring head to ensure the welding effect of friction - stir welding.

[0033] The welding component is composed of a rocket launcher 1 and a fixture 2. The rocket launcher 1 is placed upside down and fixed by the annular fixture 2 to prevent movement during welding. The mobile series-parallel friction stir welding robot can weld the annular and complex curved surfaces of the rocket launcher 1.

[0034] A mobile series-parallel friction stir welding robot is characterized in that the welding robot can move to various positions and orientations to achieve welding. This robot combines the characteristics of a serial robot, such as high degrees of freedom, high flexibility, and high scalability, and also retains the characteristics of a parallel robot 3, such as high speed, high rigidity, and high precision. Figure 4 The mobile welding robot in the middle uses a wheeled mobile platform. The fixed base 13 is used to fix the fuselage of the serial robot, the mobile power supply 17, and the control cabinet 12. The serial robot adopts a three-axis structure. The rotating base 10 is the first axis, the first rotating joint 7 is the second axis, and the second rotating joint 6 is the third axis, which can achieve 360° rotation and adjustment at different heights. The parallel robot 3 adopts a structure design of UPS rod (left) 315, UPS rod (middle) 322, UPS rod (right) 323, and UP rod 319. The UPS rod (left) 315, UPS rod (middle) 322, and UPS rod (right) 323 are separated by 120° and connected to the moving platform 317 through the static platform 312. The middle UP rod 319 is threadedly coupled to the Hooke joint 320 by a lead screw 321. The lower end of the moving platform 317 is connected to the stirring head 318 to form a welding device for friction stir welding. The mobile friction stir welding robot can weld the large workpiece to be welded, the rocket launcher 1. The workpiece to be welded needs to be fixed by the annular fixture 2 to ensure that the workpiece to be welded does not move during welding. The mobility can solve the problem that it is difficult to place large workpieces on the working platform and can achieve friction stir welding of super-large workpieces.

[0035] As mentioned above, it is only a preferred embodiment of the invention and does not impose any limitations on the present invention. Any modifications, changes, and equivalent variations 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 mobile hybrid friction stir welding robot, characterized in that Including: Mobile platform, serial robot, parallel robot, welding component; The mobile platform consists of a mobile trolley, a fixed base, a mobile power supply, a control cabinet, and a heat dissipation box; the mobile trolley is of a wheel hub type, and the fixed base fixes the mobile power supply, the control cabinet, and the serial robot; the heat dissipation box dissipates heat from the control cabinet; the mobile power supply provides power for the mobile trolley, the serial robot, the parallel robot, and the end effector; the control cabinet is a control system for a mobile hybrid stir friction welding robot; The serial robot consists of a fuselage, a rotating base, a first rotating joint, and a second rotating joint. The serial robot fuselage is fixed on the mobile trolley, the rotating base can provide 360° rotation of the serial robot, the first rotating joint is connected to the rotating base to provide height adjustment of the serial robot; the second rotating joint is connected to the first rotating joint to provide flexibility in the vertical direction, and a fixing device is placed at the end of the second rotating joint to be connected to the parallel robot; The parallel robot consists of a static platform, a universal joint, an electric cylinder, a ball hinge, a moving platform, and a stirring head; the parallel robot adopts a 3UPS-UP structure design, where U represents a universal joint, P represents a moving pair, and S represents a spherical joint. The static platform is a component obtained by equally angled cutting of an isosceles trapezoid from a circular block and rounding its corners; a square notch is dug in the middle of the static platform, and a Hooke's joint is placed. The four support rods of the Hooke's joint are opposite to the four notches and are fixed by bolts; three universal joints with a 120° difference at the lower end of the static platform are fixed by bolts. The universal joint can provide rotation along the radial and axial directions, and the lower end of the universal joint is connected to the electric cylinder by bolts; the electric cylinder consists of a cylinder body and a push rod. The electric cylinder motor is placed on the left side of the electric cylinder, and the lower end of the push rod is integrally designed with the ball hinge; an UP rod motor is placed at the upper end of the UP rod, and a lead screw is used in the middle to be threadedly connected to the Hooke's joint to provide the degree of freedom of the up and down movement of the parallel robot. The lower end of the UP rod is connected to the stir friction welding stirring device control system and the moving platform. The upper end of the stir friction welding stirring device control system adopts a semi-circular structure and the lower end adopts a cylindrical structure; the moving platform adopts a circular ring block structure, and a part is cut off every 120° for fixing the ball socket. A certain gap needs to be left when the ball socket cooperates with the ball hinge to ensure the flexibility of the movement between the ball hinge and the ball socket; the lower end of the moving platform is connected to the stirring head, and a buckle is provided in the middle of the moving platform to be connected to the stirring head. The stirring pin in the stirring head adopts a frustum shape design; The welding component consists of a rocket launcher and a fixing device. The rocket launcher is placed upside down and fixed by an annular fixing device to prevent movement during welding; A mobile hybrid friction stir welding robot, characterized in that It can move to various positions to achieve welding. Combining the characteristics of serial robots with high degrees of freedom, high flexibility and high scalability, it also retains the characteristics of parallel welding robots with high speed, high rigidity and high precision. A mobile hybrid friction stir welding robot uses a hub-type mobile platform and a fixed base to fix the body of the serial robot, the mobile power supply and the control cabinet. The serial robot adopts a three-axis structure. The rotating base is the first axis, the first rotating joint is the second axis, and the second rotating joint is the third axis, which can achieve 360° rotation and adjustment of different heights. The parallel robot adopts a 3UPS-UP structure design. The three UPSs are connected to the static platform and the moving platform at intervals of 120°. The middle UP chain is connected by a screw and a Hooke joint thread coupling. The lower end of the moving platform is connected to the stirring head to form a welding device for friction stir welding. A mobile hybrid friction stir welding robot can weld large workpieces such as rocket launch tubes. The workpiece to be welded needs to be fixed by a ring-shaped fixing device to ensure that the workpiece to be welded does not move during welding. A mobile hybrid friction stir welding robot can solve the problem that it is difficult to place large workpieces on the working platform and can achieve friction stir welding of super-large workpieces.

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