Friction stir welding and welding seam burr removing device for die-casting shell assembly and control method

Abstract

The invention relates to the technical field of welding, in particular to a friction stir welding and welding seam burr removing device for a die-casting shell assembly and a control method. The device comprises a controller, a base, a moving mechanism, a clamping mechanism, a welding and milling mechanism, a tool changing mechanism and a detecting mechanism, wherein the moving mechanism, the clamping mechanism, the welding and milling mechanism, the tool changing mechanism and the detecting mechanism are all electrically connected with the controller. By adopting the device and the control method, the use of manpower is reduced, the efficiency is improved, the cost is reduced, uncontrollable factors generated in the dismounting process are avoided, the cutter is replaced through an automatic device, the production efficiency is improved, dangers generated in the replacement process of people are avoided, and through the double-camera detection device, the production efficiency is improved. Intelligent control over the whole process of the motion state, welding forming and deburring is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to a device and a control method for friction stir welding and weld burr removal of a die-cast shell component. Background Art

[0002] New energy vehicle die-cast housings primarily refer to motors, batteries, radiators, and die-cast housings. These die-cast housing components were previously manufactured using split cast iron, bonded or mechanically connected. These products are heavy, energy-intensive, and costly. Their biggest drawback is poor density, which results in failure to meet key technical requirements such as product precision and dynamic balance. Developed countries abroad mostly use aluminum alloys, magnesium alloys, and carbon fiber composites for manufacturing. However, in actual applications, the price and safety of magnesium and magnesium alloys limit their use. The recycling of polymer plastics poses environmental pollution concerns. Aluminum alloys, due to their mature process and improved recyclability, are superior both economically and in terms of performance. Therefore, forming die-cast housing components using split aluminum alloy die-casting and then welding them together is a more effective method that can meet multiple requirements, including lightweighting, mechanical performance, and aesthetics.

[0003] Friction stir welding is an advanced welding technology. The basic principle is to use a high-speed rotating stirring tool to insert into the weld, and use the friction and stirring effect of the stirring tool to make the weld material in a thermoplastic state. The stirring tool moves along the weld, and the high-speed rotation of the stirring tool drives the workpiece to weld. Compared with general welding methods, friction stir welding is more environmentally friendly and efficient, and is widely used in metal processing. However, the existing technology uses friction stir welding to process and treat aluminum alloy die-cast shells. After welding, a large number of burrs will appear on the weld. At this time, the weld needs to be removed for mechanical processing, which not only increases manpower but also reduces production efficiency and processing accuracy. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device and a control method for friction stir welding and weld burr removal of a die-cast shell assembly. The use of such a device and control method can solve the problems mentioned in the background technology.

[0005] A technical solution adopted by the present invention is: a device for friction stir welding and weld burr removal of die-cast shell components, which includes a controller, a base, a moving mechanism, a clamping mechanism, a welding milling mechanism, a tool changing mechanism and a detection mechanism, wherein the moving mechanism, the clamping mechanism, the welding milling mechanism, the tool changing mechanism and the detection mechanism are all electrically connected to the controller, wherein:

[0006] The base plays a supporting role;

[0007] The moving mechanism is fixed on the base and is used to drive the clamping mechanism and the welding and milling mechanism to move;

[0008] A clamping mechanism, fixed on the moving mechanism, for fixing the die-cast housing;

[0009] The welding and milling mechanism is fixed on the moving mechanism and is used to drive the welding head or milling cutter to rotate for welding or milling;

[0010] A tool changing mechanism, used to replace the welding head on the welding and milling mechanism with a milling cutter, or to replace the milling cutter on the welding and milling mechanism with a welding head;

[0011] A detection mechanism is provided on the welding and milling mechanism, and is used to detect the quality of the weld and the quality of deburring when the welding and milling mechanism is working;

[0012] The controller is used to control the movement of the moving mechanism, the clamping mechanism, the welding and milling mechanism, and the tool changing mechanism, and is used to receive information transmitted back by the detection mechanism.

[0013] Preferably, the moving mechanism includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component, the X-axis moving component is fixed on the base, the Y-axis moving component is arranged on the X-axis moving component, the Z-axis moving component is fixed on the base, the welding milling mechanism is arranged on the Z-axis moving component, and the clamping mechanism is arranged on the Y-axis moving component.

[0014] Preferably, the welding milling mechanism includes a first motor, a reducer, a coupling, an automatic tool changing spindle and a housing. The output shaft of the first motor is connected to the automatic tool changing spindle through the reducer and the coupling, and the coupling and the automatic tool changing spindle are arranged in the housing. The first motor is electrically connected to the controller.

[0015] Preferably, the automatic tool changing spindle includes an upper cover plate, a pressure block shaft cylinder, an inner shell, a connecting shaft, a tool handle connecting sleeve, a ball, a ball bearing, a first spring, a tool handle top sleeve, a first pressure block, a pressure block shaft cylinder, a connecting shaft, an air pressure interface, a limiter, a second spring and a second pressure block. The upper cover plate, the pressure block shaft cylinder and the inner shell are connected and fixed in sequence, and a rotation channel is formed in the middle after the three are fixed. The tool handle connecting sleeve is rotatably connected in the rotation channel, and a ball bearing is provided between the tool handle connecting sleeve and the inner shell. One end of the connecting shaft is connected to the coupling, and the other end of the connecting shaft extends into the rotation channel and is connected to one end of the tool handle connecting sleeve. The tool handle top sleeve is slidably connected in the tool handle connecting sleeve, and the tool handle A limiting member is provided on the outer side of the upper part of the top sleeve, a sliding groove for the limiting member to slide is provided on the tool handle connecting sleeve, and a first spring is provided on the tool handle connecting sleeve for resisting the limiting member, a first pressure block for squeezing the limiting member and thereby driving the limiting member to slide in the sliding groove, a second pressure block for squeezing the first pressure block, and a second spring for driving the first pressure block to reset are provided in the pressure block shaft cylinder, and a pneumatic interface for gas to enter and push the second pressure block to squeeze the first pressure block is provided on the upper cover plate, a ball for locking the welding head or milling cutter inserted into the tool handle connecting sleeve is provided on the lower part of the tool handle top sleeve, and a groove for the ball to be embedded in and thereby release the welding head or milling cutter is further provided in the tool handle connecting sleeve, wherein:

[0016] When the welding head or milling cutter needs to be withdrawn, gas is introduced into the pneumatic interface, and the gas presses the second pressure block to move downward, and the second pressure block presses the first pressure block to move downward, and the first pressure block pushes the limiter to move downward, thereby driving the tool handle top sleeve to move downward. When the ball moves into the slot of the tool handle connecting sleeve along with the tool handle top sleeve, the welding head or milling cutter can be freely taken out of the tool handle connecting sleeve;

[0017] When it is necessary to install the welding head or milling cutter, gas is introduced into the pneumatic interface, and the gas presses the second pressure block to move downward, the second pressure block presses the first pressure block to move downward, the first pressure block pushes the limiter to move downward, and then drives the tool holder top sleeve to move downward. When the ball moves with the tool holder top sleeve into the slot of the tool holder connecting sleeve, the welding head or milling cutter will be lifted up by the tool changing mechanism to push the tool holder top sleeve to move upward, and at the same time drive the ball to move upward and out of the slot. At this time, the control air pressure interface stops supplying gas, the limiter will reset under the action of the first spring, the first pressure block and the second pressure block will reset under the action of the second spring. When the overall reset is complete, the ball will clamp the main welding head or milling cutter to complete the installation of the welding head or milling cutter.

[0018] Preferably, the tool changing mechanism includes a tool changing transmission mechanism and a tool changing body, wherein the tool changing transmission mechanism includes a support frame fixed on the Z-axis moving component, a slider slidably connected to the support frame and fixed to the tool changing body, and a second motor for driving the slider to slide on the support frame, wherein the second motor is electrically connected to the controller.

[0019] The transmission mechanism that this second gear rotates is that the cam is in the rotation with the cam, and this second gear is in the rotation with the cam, and this second gear is in the rotation with the cam.

[0020] When clamping is required, when the welding head or milling cutter is inserted into the gripping portion, the welding head or milling cutter will push the third spring to compress until the end of the push column hits the coarse step section of the step pin, thereby achieving clamping;

[0021] When loosening is required, the control cylinder drives the rotating shaft to rise. When the rotating shaft reaches the specified position, the stepped pin is pressed down. At this time, the fine step of the stepped pin moves to the coarse step position of the original stepped pin, and the top column moves inward part to loosen the clamped welding head or milling cutter to achieve loosening.

[0022] Preferably, the clamping mechanism includes a base plate fixed on the Y-axis moving assembly, a positioning block arranged on the base plate, a first clamp arranged on the base plate for fixing the die-cast shell, and a second clamp arranged on the base plate for fixing the cold chamber pressure plate, and the first clamp and the second clamp are both electrically connected to the controller.

[0023] Preferably, the detection mechanism includes a first camera and a second camera, the first camera and the second camera are respectively fixed on both sides of the housing, and the first camera and the second camera are electrically connected to the controller, wherein:

[0024] The first camera is used to monitor the working status of the pressure strips of the first fixture and the second fixture and whether there is any misalignment between the die-casting shell and the cold chamber pressure plate;

[0025] The second camera is used to monitor the quality of the weld between the cold chamber platen and the die-cast shell, as well as the quality of deburring.

[0026] A control method for a device for friction stir welding and weld burr removal of a die-cast housing assembly comprises the following steps:

[0027] S1. Place the die-cast shell on the base plate and position and fix the die-cast shell using the positioning block and the first clamp. Then place the cold chamber press plate to the position where welding is required and fix the cold chamber press plate using the second clamp.

[0028] S2. Control the tool change transmission mechanism to move the tool changer body to the bottom of the automatic tool changer spindle. At this time, the welding head clamped on the tool changer body and the automatic tool changer spindle are in the same straight line. The automatic tool changer spindle is controlled to be in a loose state. Then, the tool changer body is controlled to push the welding head into the automatic tool changer spindle. Then, the tool changer body is controlled to release the welding head and the automatic tool changer spindle is controlled to be in a clamped state. Finally, the tool changer transmission mechanism is controlled to move the tool changer body to a safe position to complete the installation of the welding head.

[0029] S3, controlling the moving mechanism to move the welding head to the initial welding position of the die-cast shell, then starting the first motor to drive the welding head to rotate for welding, and at the same time controlling the moving mechanism to drive the welding head to move along the welding path to achieve welding of the die-cast shell;

[0030] S4. When the moving mechanism controls the welding head to move to the final welding position, the tool change transmission mechanism is controlled to move the tool changer body to the bottom of the automatic tool changer spindle, and then the tool changer body is controlled to clamp the welding head, and then the automatic tool changer spindle is controlled to be in a loose state, and then the Z-axis moving assembly is controlled to move upward so that the welding head is separated from the automatic tool changer spindle, and then the tool changer body is controlled to rotate 180° so that the milling cutter and the automatic tool changer spindle are in the same straight line, and then the Z-axis moving assembly is controlled to move downward to a suitable position, and then the tool body is controlled to push the milling cutter into the automatic tool changer spindle, and then the tool changer body is controlled to release the milling cutter and control the automatic tool changer spindle to be in a clamped state, and finally the tool change transmission mechanism is controlled to move the tool changer body to a safe position to complete the installation of the milling cutter;

[0031] S5, controlling the moving mechanism to drive the milling cutter to the initial milling position of the die-cast housing, then starting the first motor to drive the milling cutter to rotate for milling, and at the same time controlling the moving mechanism to drive the milling cutter to move along the milling path to remove burrs from the weld of the die-cast housing;

[0032] S6. When the moving mechanism controls the welding head to move to the final milling position, the tool change transmission mechanism is controlled to move the tool change body to the bottom of the automatic tool change spindle, and then the tool change body is controlled to clamp the milling cutter. After that, the automatic tool change spindle is controlled to be in a loose state, and then the Z-axis moving assembly is controlled to move upward to make the milling cutter disengage from the automatic tool change spindle. Finally, the tool change transmission mechanism is controlled to move the tool change body to a safe position to complete the overall friction stir welding and weld burr removal.

[0033] Preferably, in step S1, the position and posture of the first camera need to be adjusted according to the assembly spatial position between the die-casting shell and the cold chamber platen, and the position and posture of the second camera need to be adjusted according to the spatial position of the weld between the die-casting shell and the cold chamber platen;

[0034] When welding is performed in step S3 or milling is performed in step S5, the first camera constantly detects the distance between the welding head or the milling cutter and the second clamp strip. When it is detected that the distance between the welding head or the milling cutter and the second clamp strip is less than or equal to the set R, it is determined that the second clamp strip is not normally lifted according to the set welding path or milling path, and the first motor is controlled to stop rotating and the moving mechanism is controlled to stop moving.

[0035] During welding in step S3, the first camera constantly detects the misalignment between the die-cast shell and the cold chamber platen. When the misalignment is greater than a set threshold, the first motor is controlled to stop rotating and the moving mechanism is controlled to stop moving.

[0036] When welding is performed in step S3, the second camera will always detect the welding status of the welding head and the weld morphology after welding to judge the quality of the welding; when milling is performed in step S5, the second camera will always detect the burrs on the weld to judge the quality of deburring.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] (1) Through the application of the integrated device for stir friction and weld burr removal, when the welding head is working on the cold chamber press plate, a large number of burrs will appear between the welds. According to the previous technology, the welded parts must be manually disassembled and installed on the milling machine to re-process the cold chamber press plate. According to this technology, there is no need to disassemble the cold chamber press plate. The tool can be replaced by the automatic tool change spindle to achieve milling and remove burrs. The use of manpower is reduced, efficiency is increased, cost is reduced, and uncontrollable factors that occur during the disassembly process are avoided.

[0039] (2) Through the application of an integrated device for stir friction and weld burr removal, in order to prevent danger and increase the speed of tool change during the tool change process, an automatic tool changer is used to replace the tool in the spindle. The replacement of the tool is completed by an automated device, which improves production efficiency and avoids danger to people during the replacement process.

[0040] (3) Through the dual-camera detection device, the whole process of motion state, welding forming and deburring is intelligently controlled, which solves the problem of integrated processing of friction stir welding and burr removal of die-cast shell components under working conditions such as narrow space welds on the edge of the die-cast shell or complex paths where the welding direction changes more than 90°. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The present invention is a structural schematic diagram of a device for friction stir welding and weld burr removal of a die-cast shell component.

[0042] Figure 2 It is a structural diagram of the welding milling mechanism.

[0043] Figure 3 It is a cross-sectional view of the automatic tool changing spindle in the welding milling mechanism.

[0044] Figure 4 This is a cross-sectional view of the welding head after it is installed on the automatic tool change spindle.

[0045] Figure 5 It is a structural diagram of the tool changing mechanism.

[0046] Figure 6 yes Figure 5 Enlarged schematic diagram of point A in the middle.

[0047] Figure 7 It is a top view of the robot in the tool changing mechanism.

[0048] Figure 8 It is a cross-sectional view of the robot in the tool changing mechanism.

[0049] Figure 9 It is a structural diagram of the clamping mechanism.

[0050] Figure 10 It is a structural diagram of the welding head.

[0051] Figure 11 This is a schematic diagram of the installation of two cameras.

[0052] As shown in the figure: 1. Base; 2. Moving mechanism; 3. Welding and milling mechanism; 4. Tool changing mechanism; 5. Clamping mechanism; 6. Detection mechanism; 7. Welding head; 8. Die-casting shell; 9. Cold chamber pressure plate; 10. Welding seam; 21. X-axis moving assembly; 22. Y-axis moving assembly; 23. Z-axis moving assembly; 31. First motor; 32. Reducer; 33. Coupling; 34. Automatic tool changing spindle; 35. Shell; 341. Upper cover; 342. Pressure block shaft cylinder; 343. Inner shell; 344. Connecting shaft; 345. Tool handle connecting sleeve; 346. Ball; 347. Ball bearing; 348. First spring; 349. Tool handle top sleeve; 3410. First pressure block; 3411. Air pressure interface; 3412. Limiting piece; 3413. Second spring; 3414. Second pressure block Block; 3415, rotating channel; 3416, slide; 3417, card slot; 41, support frame; 42, slider; 43, second motor; 44, box; 45, rotating shaft; 46, first gear; 47, second gear; 48, third motor; 49, bearing; 410, connecting rod; 411, cylinder; 412, mechanical grasping assembly; 4121, grasping body; 4122, top column; 4123, third spring; 4124, stepped pin; 4125, grasping part; 4126, positioning key; 51, base plate; 52, positioning block; 53, first clamp; 531, first lifting cylinder; 532, first pressure strip; 54, second clamp; 541, second lifting cylinder; 542, second pressure strip; 543, position sensor; 61, first camera; 62, second camera. DETAILED DESCRIPTION

[0053] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0054] Example 1:

[0055] A device for friction stir welding and weld burr removal of die-cast housing components, comprising a controller, a base 1, a moving mechanism 2, a clamping mechanism 5, a welding milling mechanism 3, a tool changing mechanism 4, and a detection mechanism 6. The die-cast housing 8 and the cold chamber pressure plate 9 need to be welded together by friction welding, and then the burrs are removed.

[0056] Base 1, used for supporting;

[0057] Mobile mechanism 2, such as Figure 1 As shown, it includes an X-axis moving component 21, a Y-axis moving component 22 and a Z-axis moving component 23.

[0058] The X-axis moving assembly 21 is composed of a lead screw, a servo motor, and a sliding block, and is connected to the base 1 by bolts for moving in the X-axis direction;

[0059] The Y-axis moving assembly 22 is composed of a lead screw and a servo motor and is connected to the sliding block of the X-axis moving mechanism 2 for moving in the Y-axis direction;

[0060] The Z-axis moving assembly 23 is composed of a lead screw, a servo motor, a sliding block, and a guide rail and is fixed to the base 1 by bolts. The guide rail is fixed to the guide rail seat, and the guide rail seat is fixed to the base 1 for movement in the Z-axis direction;

[0061] The servo motors of the moving components of the three axes are all electrically connected to the controller and can be controlled by the controller;

[0062] Welding milling mechanism 3, such as Figure 2 As shown, it includes a first motor 31, a reducer 32, a coupling 33, an automatic tool change spindle 34 and a housing 35. Because the automatic tool change spindle 34 needs to be rotated at high speed during the milling process, the automatic tool change spindle 34 not only needs high-speed rotation but also requires a certain torque. Therefore, a reducer 32 is added between the coupling 33 and the high-speed motor. The coupling 33 is a component that connects the reducer 32 and the automatic tool change spindle 34 together.

[0063] Automatic tool change spindle 34, such as Figure 3As shown, it includes an upper cover plate 341, a pressure block shaft cylinder 342, an inner shell 343, a connecting shaft 344, a handle connecting sleeve 345, a ball 346, a ball bearing 347, a first spring 348, a handle top sleeve 349, a first pressure block 3410, a pressure block shaft cylinder 342, a connecting shaft 344, an air pressure interface 3411, a limiter 3412, a second spring 3413 and a second pressure block 3414. The upper cover plate 341, the pressure block shaft cylinder 342 and the inner shell 343 are connected and fixed in sequence, and a rotation channel 33 is formed in the middle after the three are fixed. 415, the tool handle connecting sleeve 345 is rotatably connected in the rotating channel 3415, and a ball bearing 347 is provided between the tool handle connecting sleeve 345 and the inner shell 343, so that the tool handle connecting sleeve 345 can rotate freely in the inner shell 343, one end of the connecting shaft 344 is connected to the coupling 33, and the other end of the connecting shaft 344 extends into the rotating channel 3415 and is connected to one end of the tool handle connecting sleeve 345, that is, the first motor 31 can drive the tool handle connecting sleeve 345 to rotate, and the tool handle top sleeve 349 is slidably connected in the tool handle connecting sleeve 345, and A limiting member 3412 is provided on the outer side of the upper portion of the handle top sleeve 349. In this embodiment, the limiting member 3412 is a limiting screw. The handle connecting sleeve 345 is provided with a sliding groove 3416 for the limiting screw to slide, and a first spring 348 is sleeved on the handle connecting sleeve 345 for resisting the limiting screw. The pressing block shaft cylinder 342 is provided with a first pressing block 3410 for squeezing the limiting screw and thereby driving the limiting screw to slide in the sliding groove 3416, a second pressing block 3414 for squeezing the first pressing block 3410, and a first pressing block 3416 for driving the first pressing block 3410 to slide. 10 reset second spring 3413, the upper cover plate 341 is provided with a gas pressure interface 3411 for gas to enter and push the second pressure block 3414 to squeeze the first pressure block 3410, and the gas pressure interface 3411 is a connecting airway, which leads to the second pressure block 3414. The lower part of the tool handle top sleeve 349 is provided with a ball 346 for locking the welding head 7 or milling cutter inserted into the tool handle connecting sleeve 345. The tool handle connecting sleeve 345 is also provided with a slot 3417 for the ball 346 to be embedded in and then release the welding head 7 or milling cutter, wherein:

[0064] When it is necessary to withdraw the welding head 7 or the milling cutter, gas is introduced into the air pressure interface 3411, and the gas presses the second pressure block 3414 to move downward, and the second pressure block 3414 presses the first pressure block 3410 to move downward, and the first pressure block 3410 pushes the limit screw to move downward, thereby driving the tool handle top sleeve 349 to move downward. When the ball 346 moves into the groove 3417 of the tool handle connecting sleeve 345 along with the tool handle top sleeve 349, the ball 346 does not block the welding head 7 or the milling cutter at this time, that is, the welding head 7 or the milling cutter can be freely taken out of the tool handle connecting sleeve 345;

[0065] When the welding head 7 or the milling cutter needs to be installed, gas is introduced into the air pressure interface 3411, and the gas presses the second pressure block 3414 to move downward, and the second pressure block 3414 presses the first pressure block 3410 to move downward, and the first pressure block 3410 pushes the limit screw to move downward, thereby driving the tool handle top sleeve 349 to move downward, and when the ball 346 moves with the tool handle top sleeve 349 into the slot 3417 of the tool handle connecting sleeve 345, the welding head 7 or the milling cutter will be pushed up by the tool changing mechanism 4, and at this time the welding head 7 or the milling cutter will first move to the position of the ball 346, and then move upward with the tool handle top sleeve 349, while driving the ball 346 to move upward. The clamping groove 3417 is disengaged from the control air pressure interface 3411 at this time to stop the gas from entering. The limit screw will be reset under the action of the first spring 348, and the first pressure block 3410 and the second pressure block 3414 will be reset under the action of the second spring 3413. When the overall reset is complete, the ball 346 will clamp the main welding head 7 or the milling cutter to complete the installation of the welding head 7 or the milling cutter. At this time, the mounting ring in the middle of the welding head 7 or the milling cutter will also match the lower part of the automatic tool changing spindle 34, that is, a groove is provided on the mounting ring in the middle of the welding head 7 or the milling cutter, and the lower part of the automatic tool changing spindle 34 is provided with a protrusion for extending into the groove to play a positioning and circumferential limiting role.

[0066] like Figure 4 As shown, it is a cross-sectional view of the automatic tool change spindle 34 and the welding head 7. At this time, the ball 346 is clamping the welding head 7, that is, when the first motor 31 rotates, it can drive the welding head 7 to rotate together to achieve stir welding;

[0067] Tool changing mechanism 4, such as Figure 5 As shown, it includes a tool changing transmission mechanism and a tool changing body;

[0068] The tool change transmission mechanism includes a support frame 41 fixed on the Z-axis moving assembly 23 (it does not move with the Z-axis moving assembly 23, but is only fixed on the guide rail seat of the Z-axis moving assembly 23), a slider 42 slidably connected to the support frame 41 and for fixing the tool change body, and a second motor 43 for driving the slider 42 to slide on the support frame 41. The second motor 43 is electrically connected to the controller; and a triangular reinforcing plate rib is also provided on the slider 42 to enhance the strength of the slider 42 itself; the tool change body, such as Figure 6 As shown, it includes a box body 44 fixed to the slider 42, a rotating shaft 45 rotatably connected to the box body 44, a first gear 46 connected to one end of the rotating shaft 45, a second gear 47 meshing with the first gear 46, a third motor 48 for driving the second gear 47 to rotate, a bearing member 49 provided at one end of the rotating shaft 45, a connecting rod 410 connected to the bearing member 49, a cylinder 411 for driving the connecting rod 410 to move vertically in the Z-axis direction, and a mechanical grasping assembly 412 provided at the other end of the rotating shaft 45;

[0069] Mechanical gripping assembly 412, such as Figure 7 and Figure 8 As shown, it includes a gripping body 4121 fixed to the other end of the rotating shaft 45, a top column 4122 that slides horizontally in the gripping body 4121 and is used to support the welding head 7 or the milling cutter, a third spring 4123 that is sleeved outside the top column 4122 and is used to drive the top column 4122 to return, and a stepped pin 4124 that slides vertically in the gripping body 4121 and is located below the box body 44 and is used to control the position of the top column 4122. The stepped pin 4124 is composed of two cylinders of different sizes. One cylinder is thicker and is a coarse step, and the other cylinder is thinner and is a fine step. Both sides of the grasping body 4121 are provided with grasping portions 4125 for the welding head 7 or the milling cutter to extend into and thus clamp the welding head 7 or the milling cutter. One end of the top column 4122 extends out of the grasping portion 4125, and the other end of the top column 4122 is against the step pin 4124. The grasping portion 4125 is also provided with a positioning key 4126 for positioning the welding head 7 or the milling cutter, wherein:

[0070] When clamping is required, the welding head 7 or the milling cutter is inserted into the gripping portion 4125. The welding head 7 or the milling cutter will compress the third spring 4123 until the end of the top column 4122 hits the coarse step section of the step pin 4124, thus achieving clamping. At the same time, the positioning key 4126 also positions the welding head 7 or the milling cutter.

[0071] When it is necessary to loosen, the control cylinder 411 drives the rotating shaft 45 to rise. When the rotating shaft 45 reaches the specified position, the stepped pin 4124 is pressed down by the box body 44. At this time, the fine step of the stepped pin 4124 moves to the position of the original coarse step of the stepped pin 4124, and the top column 4122 moves inward to release the clamped welding head 7 or milling cutter, thereby achieving loosening;

[0072] Clamping mechanism 5, such as Figure 9As shown, it includes a base plate 51 fixed on the Y-axis moving component 22, a positioning block 52 arranged on the base plate 51, a first clamp 53 arranged on the base plate 51 for fixing the die-casting shell 8, and a second clamp 54 arranged on the base plate 51 for fixing the cold chamber pressure plate 9, and the first clamp 53 and the second clamp 54 are both electrically connected to the controller, that is, the clamping mechanism 5 can be controlled by the X-axis moving component 21 and the Y-axis moving component 22. The positioning block 52 is mainly used to accurately position the die-casting shell 8 on the base plate 51 during installation, ensuring that it is parallel to the Y direction and the X direction during the installation process, ensuring that the cold chamber pressure plate 9 and the die-casting shell 8 are well welded. In this embodiment In this example, there are three first clamps 53, each of which is composed of a first lifting cylinder 531 and a first pressure bar 532 to prevent the die-cast shell 8 from shifting during welding and milling. The second clamp 54 is composed of a second lifting cylinder 541 and a second pressure bar 542 to ensure good assembly quality between the cold chamber pressure plate 9 and the die-cast shell 8 and prevent the cold chamber pressure plate 9 from changing position during the welding process. A position sensor 543 is also provided on the second clamp 54. The function of the position sensor 543 is to sense the clamping and loosening of the second clamp 54. The state of the clamp can be known by receiving a signal from the position sensor 543, thereby achieving a close fit between the cold chamber pressure plate 9 and the die-cast shell 8.

[0073] The detection mechanism 6 includes a first camera 61 and a second camera 62, which are respectively fixed on both sides of the housing 35, and the first camera 61 and the second camera 62 are electrically connected to the controller, wherein:

[0074] The first camera 61 determines the misalignment and needs to adjust the position and posture of the first camera 61 according to the assembly space position between the die-casting shell 8 and the cold chamber press plate 9. Figure 11 As shown, the position can be adjusted L1 (0-150mm) and L2 (100-300mm), and the posture adjustment includes the yaw angle β (±30°), the pitch angle θ (0-45°) and the roll angle ψ (±60°). The yaw angle corresponds to the left and right offset of the welding direction, the pitch angle corresponds to the pitch of the plane of the assembly weld 10 of the die-cast shell 8 and the cold chamber pressure plate 9, and the roll angle corresponds to the rotation of the welding direction. In particular, the roll angle adjustment enables the camera image to recognize the minimum misalignment between the die-cast shell 8 and the cold chamber pressure plate 9. The minimum misalignment set in this embodiment is 0.2mm. If it is larger than this size, it does not meet the requirements of the friction stir welding process.

[0075] After the first camera 61 adjusts the misalignment recognition posture, during the friction stir welding or milling process, when the welding head 7 or the milling cutter approaches the second pressure strip 542 of the second fixture 54 at a distance R, the second pressure strip 542 will be lifted to avoid the second pressure strip 542 and the welding head 7 or the milling cutter from colliding. At this time, the image captured by the first camera 61 does not have the image of the second pressure strip 542 pressing the weld seam 10; when the second fixture 54 fails and the welding head 7 or the milling cutter approaches the second pressure strip 542 of the second fixture 54 at a distance R, the first camera 61 will If the second pressure strip 542 of the second clamp 54 is not lifted in time, the camera will capture the image of the second pressure strip 542 of the second clamp 54 pressing on the weld 10, and immediately notify the controller to stop welding or milling; the lifting distance R (150~400mm) of the second pressure strip 542 of the second clamp 54 is determined by comprehensive factors such as the specific shape of the die-cast shell 8, the size and position of the second pressure strip 542, the spatial posture of the weld 10, the motion structure of the welding head 7 or the milling cutter, and the process parameters of welding or milling.

[0076] To identify burrs, the second camera 62 needs to adjust its position and attitude based on the spatial position of the weld 10 between the die-cast shell 8 and the cold chamber platen 9. The position can be adjusted by L3 (0-150mm) and L4 (50-200mm). The attitude adjustment includes the yaw angle β (±45°), pitch angle θ (0-90°), and roll angle ψ (±60°). This ensures that the stirring state of the welding head 7 and the appearance of the weld 10 after stirring can be clearly observed during the welding process. Only when the pitch and roll angles are adjusted to the appropriate angles can the camera image identify small burrs on the vertical weld 10, ensuring that the subsequent milling cutter can clean the burrs.

[0077] The control method of the above device comprises the following steps:

[0078] S1. Place the die-cast shell 8 on the base plate 51 and position and fix the die-cast shell 8 using the positioning block 52 and the first clamp 53. Then place the cold chamber press plate 9 at the position where welding is required and fix the cold chamber press plate 9 using the second clamp 54.

[0079] S2, control the tool change transmission mechanism to move the tool change body to the bottom of the automatic tool change spindle 34, at this time the welding head 7 clamped on the tool change body is in the same straight line with the automatic tool change spindle 34, control the automatic tool change spindle 34 to be in a loose state (the air pressure interface 3411 introduces gas through the cylinder 411, the gas presses the second pressure block 3414 to move downward, the second pressure block 3414 presses the first pressure block 3410 to move downward, the first pressure block 3410 pushes the limit screw to move downward, and then drives the tool handle top sleeve 349 to move downward, when the ball 346 moves into the slot 3417 of the tool handle connecting sleeve 345 along with the tool handle top sleeve 349, , at this time, the ball 346 does not play a main clamping role), then control the tool changer body to push the welding head 7 into the automatic tool changer spindle 34, then control the tool changer body to release the welding head 7 and control the automatic tool changer spindle 34 to be in a clamping state (control the cylinder 411 to stop supplying gas to the air pressure interface 3411, the limit screw will be reset under the action of the first spring 348, the first pressure block 3410 and the second pressure block 3414 will be reset under the action of the second spring 3413, and when the overall reset is complete, the ball 346 will clamp the welding head 7), finally control the tool changer transmission mechanism to move the tool changer body to a safe position to complete the installation of the welding head 7;

[0080] S3, controlling the moving mechanism 2 to move the welding head 7 to the initial welding position of the die-cast shell 8, then starting the first motor 31 to drive the welding head 7 to rotate for welding, and at the same time controlling the moving mechanism 2 to drive the welding head 7 to move along the welding path to achieve welding of the die-cast shell 8;

[0081] S4. When the moving mechanism 2 controls the welding head 7 to move to the final welding position, the tool changing transmission mechanism is controlled to move the tool changing body to the bottom of the automatic tool changing spindle 34, and then the tool changing body is controlled to clamp the welding head 7, and then the automatic tool changing spindle 34 is controlled to be in a loose state, and then the Z-axis moving assembly 23 is controlled to move upward so that the welding head 7 is separated from the automatic tool changing spindle 34, and then the tool changing body is controlled to rotate 180° so that the milling cutter and the automatic tool changing spindle 34 are in the same straight line, and then the Z-axis moving assembly 23 is controlled to move down to a suitable position, and then the tool body is controlled to push the milling cutter into the automatic tool changing spindle 34, and then the tool changing body is controlled to release the milling cutter and control the automatic tool changing spindle 34 to be in a clamped state, and finally the tool changing transmission mechanism is controlled to move the tool changing body to a safe position to complete the installation of the milling cutter;

[0082] S5. Control the moving mechanism 2 to move the milling cutter to the initial milling position of the die-cast housing 8, then start the first motor 31 to drive the milling cutter to rotate for milling, and at the same time control the moving mechanism 2 to drive the milling cutter to move along the milling path to remove burrs from the weld seam 10 of the welded die-cast housing 8;

[0083] S6. When the moving mechanism 2 controls the welding head 7 to move to the final milling position, the tool change transmission mechanism is controlled to move the tool change body to the bottom of the automatic tool change spindle 34, and then the tool change body is controlled to clamp the milling cutter. The automatic tool change spindle 34 is then controlled to be in a loose state. The Z-axis moving assembly 23 is then controlled to move upward so that the milling cutter is disengaged from the automatic tool change spindle 34. Finally, the tool change transmission mechanism is controlled to move the tool change body to a safe position, completing the overall friction stir welding and burr removal of the weld 10. In step S1, the position and posture of the first camera 61 need to be adjusted according to the assembly spatial position between the die-casting shell 8 and the cold chamber platen 9, and the position and posture of the second camera 62 need to be adjusted according to the spatial position of the weld 10 between the die-casting shell 8 and the cold chamber platen 9.

[0084] When welding is performed in step S3 or milling is performed in step S5, the first camera 61 constantly detects the distance between the welding head 7 or the milling cutter and the second pressure strip 542 of the second fixture 54. When it is detected that the distance between the welding head 7 or the milling cutter and the second pressure strip 542 of the second fixture 54 is less than or equal to the set R, it is determined that the second pressure strip 542 of the second fixture 54 is not normally lifted according to the set welding path or milling path, and the first motor 31 is controlled to stop rotating and the moving mechanism 2 is controlled to stop moving.

[0085] During welding in step S3, the first camera 61 constantly detects the misalignment between the die-cast shell 8 and the cold chamber platen 9. When the misalignment is greater than a set threshold, the first motor 31 is controlled to stop rotating and the moving mechanism 2 is controlled to stop moving.

[0086] During welding in step S3, the second camera 62 constantly monitors the welding state of the welding head 7 and the appearance of the weld 10 after welding to determine the quality of the welding. During milling in step S5, the second camera 62 constantly monitors burrs on the weld 10 to determine the quality of the deburring. These inspections are all performed using existing image recognition technology and are not described in detail in this application.

[0087] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0088] Various changes and modifications will undoubtedly become apparent to those skilled in the art upon reading the foregoing description. Therefore, the appended claims should be construed to encompass all changes and modifications within the true intent and scope of the present invention. Any and all equivalents within the scope of the claims should be considered to be within the intent and scope of the present invention.

Claims

1. A device for friction stir welding and weld burr removal of die-cast housing components, characterized by: It comprises a controller, a base (1), a moving mechanism (2), a clamping mechanism (5), a welding and milling mechanism (3), a tool changing mechanism (4) and a detection mechanism (6), wherein the moving mechanism (2), the clamping mechanism (5), the welding and milling mechanism (3), the tool changing mechanism (4) and the detection mechanism (6) are all electrically connected to the controller, wherein: A base (1) plays a supporting role; A moving mechanism (2) is fixed on the base (1) and is used to drive the clamping mechanism (5) and the welding and milling mechanism (3) to move; A clamping mechanism (5) is fixed on the moving mechanism (2) and is used to fix the die-cast housing (8); The welding and milling mechanism (3) is fixed on the moving mechanism (2) and is used to drive the welding head (7) or the milling cutter to rotate to perform welding or milling operations; A tool changing mechanism (4) is used to replace the welding head (7) on the welding and milling mechanism (3) with a milling cutter, or to replace the milling cutter on the welding and milling mechanism (3) with the welding head (7); A detection mechanism (6) is provided on the welding and milling mechanism (3) and is used to detect the quality of the weld and the quality of deburring when the welding and milling mechanism (3) is working; The controller is used for controlling the movement of the moving mechanism (2), the clamping mechanism (5), the welding and milling mechanism (3) and the tool changing mechanism (4), and for receiving information transmitted back by the detection mechanism (6).

2. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 1, characterized in that: The moving mechanism (2) comprises an X-axis moving assembly (21), a Y-axis moving assembly (22) and a Z-axis moving assembly (23); the X-axis moving assembly (21) is fixed on the base (1); the Y-axis moving assembly (22) is arranged on the X-axis moving assembly (21); the Z-axis moving assembly (23) is fixed on the base (1); the welding milling mechanism (3) is arranged on the Z-axis moving assembly (23); and the clamping mechanism (5) is arranged on the Y-axis moving assembly (22).

3. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 2, characterized in that: The welding milling mechanism (3) comprises a first motor (31), a reducer (32), a coupling (33), an automatic tool-changing spindle (34) and a housing (35); the output shaft of the first motor (31) is connected to the automatic tool-changing spindle (34) through the reducer (32) and the coupling (33); the coupling (33) and the automatic tool-changing spindle (34) are arranged in the housing (35); and the first motor (31) is electrically connected to a controller.

4. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 3, characterized in that: The automatic tool changing spindle (34) comprises an upper cover plate (341), a pressure block shaft cylinder (342), an inner shell (343), a connecting shaft (344), a tool handle connecting sleeve (345), a ball (346), a ball bearing (347), a first spring (348), a tool handle top sleeve (349), a first pressure block (3410), a pressure block shaft cylinder (342), a connecting shaft (344), an air pressure interface (3411), a limiting member (3412), a second spring (3413) and a second pressure block (3414). The three shells (343) are connected and fixed in sequence, and a rotation channel (3415) is formed in the middle after the three are fixed. The handle connecting sleeve (345) is rotatably connected in the rotation channel (3415), and a ball bearing (347) is provided between the handle connecting sleeve (345) and the inner shell (343). One end of the connecting shaft (344) is connected to the coupling (33), and the other end of the connecting shaft (344) extends into the rotation channel (3415) and is connected to one end of the handle connecting sleeve (345). The handle top sleeve (349) is slidably connected in the handle connecting sleeve (345). A limiting member (3412) is provided on the outer side of the upper portion of the handle top sleeve (349), a sliding groove (3416) for the limiting member (3412) to slide is provided on the handle connecting sleeve (345), and a first spring (348) sleeved on the handle connecting sleeve (345) for resisting the limiting member (3412), a first pressing block (3410) for squeezing the limiting member (3412) and driving the limiting member (3412) to slide in the sliding groove (3416), and a second pressing block (3414) for squeezing the first pressing block (3410) are provided in the pressing block shaft cylinder (342). ) and a second spring (3413) for driving the first pressure block (3410) to reset, the upper cover plate (341) is provided with a gas pressure interface (3411) for gas to enter to push the second pressure block (3414) to squeeze the first pressure block (3410), the lower part of the tool handle top sleeve (349) is provided with a ball (346) for locking the welding head (7) or milling cutter inserted into the tool handle connecting sleeve (345), and the tool handle connecting sleeve (345) is also provided with a groove (3417) for the ball (346) to be embedded in and then release the welding head (7) or milling cutter, wherein: When it is necessary to withdraw the welding head (7) or the milling cutter, gas is introduced into the air pressure interface (3411), and the gas presses the second pressure block (3414) to move downward, and the second pressure block (3414) presses the first pressure block (3410) to move downward, and the first pressure block (3410) pushes the limiter (3412) to move downward, thereby driving the tool handle top sleeve (349) to move downward, and when the ball (346) moves with the tool handle top sleeve (349) into the slot (3417) of the tool handle connecting sleeve (345), the welding head (7) or the milling cutter can be freely taken out of the tool handle connecting sleeve (345); When the welding head (7) or the milling cutter needs to be installed, gas is introduced into the air pressure interface (3411), and the gas presses the second pressure block (3414) to move downward, and the second pressure block (3414) presses the first pressure block (3410) to move downward, and the first pressure block (3410) pushes the limiter (3412) to move downward, thereby driving the tool handle top sleeve (349) to move downward, and when the ball (346) moves with the tool handle top sleeve (349) into the slot (3417) of the tool handle connecting sleeve (345), the welding head (7) or the milling cutter will be moved by the tool changing mechanism. (4) Push the handle top sleeve (349) upward to move it upward, and at the same time drive the ball (346) to move upward to disengage from the slot (3417). At this time, the air pressure interface (3411) is controlled to stop the gas from entering. The limiter (3412) will be reset under the action of the first spring (348), and the first pressure block (3410) and the second pressure block (3414) will be reset under the action of the second spring (3413). When the overall reset is complete, the ball (346) will clamp the main welding head (7) or the milling cutter, completing the installation of the welding head (7) or the milling cutter.

5. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 4, characterized in that: The tool changing mechanism (4) comprises a tool changing transmission mechanism and a tool changing body, wherein the tool changing transmission mechanism comprises a support frame (41) fixed on the Z-axis moving assembly (23), a slider (42) slidably connected to the support frame (41) and fixed to the tool changing body, and a second motor (43) for driving the slider (42) to slide on the support frame (41), wherein the second motor (43) is electrically connected to a controller.

6. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 5, characterized in that: The tool changing body comprises a box (44) fixed on the slider (42), a rotating shaft (45) rotatably connected in the box (44), a first gear (46) connected to one end of the rotating shaft (45), a second gear (47) meshing with the first gear (46), a third motor (48) for driving the second gear (47) to rotate, a bearing (49) arranged at one end of the rotating shaft (45), a connecting rod (410) connected to the bearing (49), a cylinder (411) for driving the connecting rod (410) to move vertically in the Z-axis direction, and a mechanical grasping assembly (412) arranged at the other end of the rotating shaft (45), wherein the mechanical grasping assembly (412) comprises a grasping body (4121) fixed at the other end of the rotating shaft (45), a horizontally sliding grasping body (4121) and a second gear (47) meshing with the first gear (46), a third motor (48) for driving the second gear (47) to rotate, a bearing (49) arranged at one end of the rotating shaft (45), a connecting rod (410) connected to the bearing (49), a cylinder (411) for driving the connecting rod (410) to move vertically in the Z-axis direction, and a mechanical grasping assembly (412) arranged at the other end of the rotating shaft (45). A top column (4122) is provided to abut against a welding head (7) or a milling cutter, a third spring (4123) is sleeved outside the top column (4122 and is used to drive the top column (4122) to reset, and a stepped pin (4124) is vertically slid in the gripping body (4121) and is located below the box body (44) and is used to control the position of the top column (4122). Both sides of the gripping body (4121) are provided with gripping parts (4125) for the welding head (7) or the milling cutter to extend into and thus clamp the welding head (7) or the milling cutter. One end of the top column (4122 extends out of the gripping part (4125), and the other end of the top column (4122) is against the stepped pin (4124). A positioning key (4126) for positioning the welding head (7) or the milling cutter is also provided on the gripping part (4125), wherein: When clamping is required, when the welding head (7) or the milling cutter is inserted into the gripping portion (4125), the welding head (7) or the milling cutter will push the third spring (4123) to compress until the end of the top column (4122) hits the coarse step section of the step pin (4124), thereby achieving clamping; When it is necessary to release, the control cylinder (411) drives the rotating shaft (45) to rise. When the rotating shaft (45) reaches the specified position, the stepped pin (4124) is pressed down. At this time, the fine step of the stepped pin (4124) moves to the position of the coarse step of the original stepped pin (4124), and the top column (4122) moves inward to release the clamped welding head (7) or milling cutter, thereby achieving release.

7. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 6, characterized in that: The clamping mechanism (5) comprises a base plate (51) fixed on the Y-axis moving component (22), a positioning block (52) arranged on the base plate (51), a first clamp (53) arranged on the base plate (51) for fixing the die-casting shell (8), and a second clamp (54) arranged on the base plate (51) for fixing the cold chamber pressure plate (9), and the first clamp (53) and the second clamp (54) are both electrically connected to a controller.

8. The device for friction stir welding and weld burr removal of die-cast housing components according to claim 7, characterized in that: The detection mechanism (6) includes a first camera (61) and a second camera (62), the first camera (61) and the second camera (62) are respectively fixed on both sides of the housing (35), and the first camera (61) and the second camera (62) are both electrically connected to the controller, wherein: The first camera (61) is used to monitor the working status of the pressure strips of the first clamp (53) and the second clamp (54) and whether there is any misalignment in the assembly between the die-casting shell (8) and the cold chamber pressure plate (9); The second camera (62) is used to monitor the quality of the weld between the cold chamber press plate (9) and the die-cast shell (8) and the quality of deburring.

9. A control method for a device for friction stir welding and weld burr removal of a die-cast housing component, characterized in that: It includes the following steps: S1, placing the die-cast shell (8) on the base plate (51), and positioning and fixing the die-cast shell (8) by using the positioning block (52) and the first clamp (53), then placing the cold chamber pressing plate (9) at a position to be welded, and fixing the cold chamber pressing plate (9) by using the second clamp (54); S2, control the tool change transmission mechanism to move the tool change body to the bottom of the automatic tool change spindle (34), at this time the welding head (7) clamped on the tool change body and the automatic tool change spindle (34) are on the same straight line, control the automatic tool change spindle (34) to be in a loose state, then control the tool change body to push the welding head (7) into the automatic tool change spindle (34), then control the tool change body to release the welding head (7) and control the automatic tool change spindle (34) to be in a clamped state, finally control the tool change transmission mechanism to move the tool change body to a safe position, and complete the installation of the welding head (7); S3, controlling the moving mechanism (2) to operate, driving the welding head (7) to move to the initial welding position of the die-cast shell (8), then starting the first motor (31) to drive the welding head (7) to rotate for welding, and at the same time controlling the moving mechanism (2) to drive the welding head (7) to move along the welding path, thereby achieving welding of the die-cast shell (8); S4. When the moving mechanism (2) controls the welding head (7) to move to the final welding position, the tool change transmission mechanism is controlled to move the tool change body to the bottom of the automatic tool change spindle (34), and then the tool change body is controlled to clamp the welding head (7). Then the automatic tool change spindle (34) is controlled to be in a loose state. Then the Z-axis moving assembly (23) is controlled to move upward so that the welding head (7) is separated from the automatic tool change spindle (34). Then the tool change body is controlled to rotate 180 degrees so that the milling cutter and the automatic tool change spindle (34) are on the same straight line. Then the Z-axis moving assembly (23) is controlled to move downward to a suitable position. Then the tool change body is controlled to push up and insert the milling cutter into the automatic tool change spindle (34). Then the tool change body is controlled to release the milling cutter and the automatic tool change spindle (34) is controlled to be in a clamped state. Finally, the tool change transmission mechanism is controlled to move the tool change body to a safe position to complete the installation of the milling cutter. S5, controlling the moving mechanism (2) to operate, driving the milling cutter to move to the initial milling position of the die-cast housing (8), then starting the first motor (31) to drive the milling cutter to rotate for milling, and simultaneously controlling the moving mechanism (2) to drive the milling cutter to move along the milling path, thereby removing burrs from the weld seam of the welded die-cast housing (8); S6. When the moving mechanism (2) controls the welding head (7) to move to the final milling position, the tool change transmission mechanism is controlled to move the tool change body to the bottom of the automatic tool change spindle (34), and then the tool change body is controlled to clamp the milling cutter. Then, the automatic tool change spindle (34) is controlled to be in a loose state, and then the Z-axis moving assembly (23) is controlled to move upward so that the milling cutter is separated from the automatic tool change spindle (34). Finally, the tool change transmission mechanism is controlled to move the tool change body to a safe position, thereby completing the overall friction stir welding and weld burr removal.

10. The control method of the device for friction stir welding and weld burr removal of die-cast housing components according to claim 9, characterized in that: In step S1, the position and posture of the first camera (61) need to be adjusted according to the assembly spatial position between the die-casting shell (8) and the cold chamber pressure plate (9), and the position and posture of the second camera (62) need to be adjusted according to the spatial position of the weld between the die-casting shell (8) and the cold chamber pressure plate (9); When welding is performed in step S3 or milling is performed in step S5, the first camera (61) constantly detects the distance between the welding head (7) or the milling cutter and the second clamp (54) bead. When it is detected that the distance between the welding head (7) or the milling cutter and the second clamp (54) bead is less than or equal to the set R, it is determined that the second clamp (54) bead is not normally lifted according to the set welding path or milling path, and the first motor (31) is controlled to stop rotating while the moving mechanism (2) is controlled to stop moving. When welding is performed in step S3, the first camera (61) constantly detects the misalignment of the die-cast shell (8) and the cold chamber pressure plate (9). When the misalignment is greater than a set threshold, the first motor (31) is controlled to stop rotating and the moving mechanism (2) is controlled to stop moving. When welding is performed in step S3, the second camera (62) will constantly detect the welding state of the welding head (7) and the weld morphology after welding to judge the quality of the welding; when milling is performed in step S5, the second camera (62) will constantly detect the burrs on the weld to judge the quality of the deburring.

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