Double-shaft-shoulder friction stir welding equipment for titanium alloy plates

Abstract

The utility model relates to the technical field of titanium alloy plate welding, in particular to double-shaft-shoulder friction stir welding equipment for titanium alloy plates, which comprises a base, an X-direction moving pair, a frame, a Y-direction moving pair, a Z-direction moving pair, a double-shaft-shoulder friction stir welding component and a welding worktable. A machine frame is arranged on the rear side of the top end of the base, a Y-direction moving pair is arranged on the upper portion of the machine frame, a Z-direction moving pair is arranged at the moving end of the Y-direction moving pair, a double-shaft-shoulder friction stir welding assembly is installed at the moving end of the Z-direction moving pair, and a welding workbench used for fixing a titanium alloy plate to be welded is installed at the moving end of the X-direction moving pair. The double-shaft-shoulder friction stir welding assembly conducts friction stir welding on the titanium alloy plate to be welded. The double-shaft-shoulder friction stir welding device is suitable for welding of the titanium alloy plate.

Description

TECHNICAL FIELD

[0001] The utility model relates to titanium alloy plate welding technical field especially titanium alloy plate double shaft shoulder friction stir welding equipment. BACKGROUND

[0002] Friction stir welding (FSW) as a new industrial technology, the technology initially focuses on the welding of light metal low melting point materials such as aluminum alloy, gradually by its unique advantage is widely received by the industry. With the deepening of the research on friction stir welding, its application field also gradually expands. Today, friction stir welding not only plays an important role in the traditional marine, highway and material factory fields, but also shows great potential in the high-end manufacturing field of aerospace.

[0003] Titanium alloy is widely used in military, aerospace and marine vessels due to its lightweight, high strength and excellent corrosion resistance. There are reports on the successful connection of titanium alloy using various fusion welding methods. However, titanium alloy has low thermal conductivity and high chemical activity at high temperatures, which leads to defects such as porosity and inclusions at the joint during traditional fusion welding. Additionally, the high residual stress value after welding leads to significant deformation. Due to these factors, the mechanical properties of titanium alloy fusion welded joints are significantly reduced. Friction stir welding (FSW) is a solid-phase joining technique that uses a non-consumable tool to achieve plasticization and joining of the welded material through rotational friction. Compared to traditional fusion welding, FSW has lower heat input and significantly avoids the problems of traditional fusion welding. Therefore, friction stir welding is a new and suitable welding method for titanium alloy plate welding.

[0004] After in-depth research and analysis, it was found that traditional single-shoulder friction stir welding technology may have weak bonding defects at the root of the weld, thickness reduction of the weld, and large axial load during welding. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a double-shoulder friction stir welding equipment for titanium alloy plate to solve the technical problems in the background technology.

[0006] To achieve the above-mentioned purpose, the technical scheme of the utility model is as follows:

[0007] The utility model provides a kind of titanium alloy plate double-shoulder friction stir welding equipment, including: base, X direction moving pair, frame, Y direction moving pair, Z direction moving pair, double-shoulder friction stir welding assembly and welding workbench, the top middle part of the base is provided with X direction moving pair, the rear side of the top of the base is provided with frame, the upper portion of the frame is provided with Y direction moving pair, the moving end of the Y direction moving pair is provided with Z direction moving pair, the moving end of the Z direction moving pair is installed with double-shoulder friction stir welding assembly, the moving end of the X direction moving pair is installed with the welding workbench for fixing titanium alloy plate to be welded, and double-shoulder friction stir welding assembly is stirred friction welding to titanium alloy plate to be welded.

[0008] Further, the base includes: bottom plate, side plate and backing plate, the top left and right sides of the bottom plate are symmetrically fixedly connected with two side plates, the top of the side plate is fixedly connected with the backing plate, and the length direction of the side plate and the backing plate is parallel to the X direction.

[0009] Further, the X direction moving pair includes: optical axis support seat one, optical axis one, guide rail one, sliding table one, bearing seat one, screw rod one, screw nut one and servo motor one, the optical axis support seat one and guide rail one are both provided with four, the optical axis one is provided with two, the axial direction of the two optical axis one is parallel to the X direction, the front and rear ends of the two optical axis one are fixedly installed at the front and rear positions on the top left and right sides of the base through the four optical axis support seat one, the four guide rail one is axially slidably sleeved on the two optical axis one, and the top of the four guide rail one is fixedly connected with the bottom end of the sliding table one; the bearing seat one is provided with two, and the two bearing seat one is symmetrically arranged at the middle part of the front and rear ends of the base; the screw rod one is installed on the two bearing seat one; the screw rod one penetrates and is threadedly connected with the screw nut one; the top of the screw nut one is fixedly connected with the bottom end of the sliding table one; the rear end of the screw rod one is fixedly connected with the output end of the servo motor one; and the servo motor one is fixedly installed on the rear bearing seat one.

[0010] Further, the frame includes: Z direction support column and cross beam, the Z direction support column is symmetrically provided with two, the bottom end of the two Z direction support column is symmetrically fixedly connected on the top rear side of the two backing plates, and the upper portion of the side of the two Z direction support column is fixedly connected with the left and right ends of the cross beam.

[0011] Further, the Y-direction moving pair comprises: two optical axis support seats two, two optical axes two, two guide rails two, two sliding tables two, two bearing seats two, two lead screws two, two lead screw nuts two and two servo motors two, the two optical axis support seats two and the two guide rails two are both provided with four, the two optical axes two are provided with two, the axial directions of the two optical axes two are both parallel to the Y-direction, the left and right ends of the two optical axes two are respectively fixedly installed on the upper and lower sides of the upper ends of the two Z-direction supporting columns through the four optical axis support seats two, four guide rails two are axially slidably sleeved on the two optical axes two, the front ends of the four guide rails two are respectively fixedly connected with the rear end four corners of the two sliding tables two, the two bearing seats two are symmetrically arranged on the upper parts of the sides away from each other of the two Z-direction supporting columns, the two lead screws two are installed on the two bearing seats two, the two lead screws two penetrate and are threadedly connected with the two lead screw nuts two, the front ends of the two lead screw nuts two are fixedly connected with the rear end of the two sliding tables two, the left end of the two lead screws two is fixedly connected with the output end of the two servo motors two, and the two servo motors two are fixedly installed on the left bearing seat two.

[0012] Further, the Z-direction moving pair comprises: three optical axis support seats three, three optical axes three, three guide rails three, three sliding tables three, three bearing seats three, three lead screws three, three lead screw nuts three and three servo motors three, the three optical axis support seats three and the three guide rails three are both provided with four, the three optical axes three are provided with two, the axial directions of the three optical axes three are both parallel to the Z-direction, the upper and lower ends of the three optical axes three are respectively fixedly installed on the upper and lower positions of the front end of the two sliding tables two through the four optical axis support seats three, four guide rails three are axially slidably sleeved on the three optical axes three, the front ends of the four guide rails three are respectively fixedly connected with the rear end four corners of the three sliding tables three, the three bearing seats three are symmetrically arranged on the middle positions of the upper and lower ends of the two sliding tables two, the three lead screws three are installed on the three bearing seats three, the three lead screws three penetrate and are threadedly connected with the three lead screw nuts three, the front ends of the three lead screw nuts three are fixedly connected with the rear end of the three sliding tables three, the upper end of the three lead screws three is fixedly connected with the output end of the three servo motors three, and the three servo motors three are fixedly installed on the upper bearing seat three.

[0013] Further, the double-shoulder friction stir welding assembly comprises: a driving motor and a double-shoulder stir welding head, the driving motor is vertically fixedly installed on the middle part of the front end of the three sliding tables three, and the bottom output end of the driving motor is fixedly installed with the double-shoulder stir welding head.

[0014] Further, it further comprises: a cover shell, which is a hollow shell with an open rear end and a bottom end, the cover shell is fixedly connected at the front end edge position of the three sliding tables three, the cover shell can completely cover the driving motor, and the double-shoulder stir welding head extends out of the bottom end of the cover shell to below the cover shell.

[0015] Further, the welding workbench comprises a workbench body, through grooves, extension tables, fasteners and clamping blocks, the workbench body is fixedly installed at one end of the sliding table, a plurality of through grooves are formed at the top end of the workbench body, the length direction of the through grooves is parallel to the Y direction, the width of the through grooves is greater than the diameter of the lower shoulder of the double-shoulder stirring head, the depth of the through grooves is greater than the height of the lower shoulder of the double-shoulder stirring head, two extension tables are symmetrically and fixedly connected to the front and rear ends of the workbench body, the two extension tables are connected to the two clamping blocks through the two fasteners respectively, the clamping blocks are L-shaped, the vertical parts of the two clamping blocks are vertically and slidingly connected to the front and rear ends of the two extension tables respectively, the horizontal parts of the two clamping blocks are located directly above the top ends of the two extension tables, and the fastener comprises a bolt and a nut.

[0016] Compared with the prior art, the welding workbench has the following beneficial effects:

[0017] 1. The X-direction moving pair, the Y-direction moving pair and the Z-direction moving pair can realize the accurate movement of the double-shoulder stirring head in the X, Y and Z directions, which is very helpful for controlling the welding speed, position and pressing depth, thereby ensuring the welding quality and facilitating the automatic integration.

[0018] 2. The double-shoulder friction welding assembly is driven by the driving motor to rotate the double-shoulder stirring head and complete the pressing of the double-shoulder stirring head by the Z-direction moving pair. When the double-shoulder stirring head is used to weld the titanium alloy plate, the upper and lower shoulders act simultaneously, which can better constrain the metal flow in the welding process, make the material stirring more uniform, and effectively reduce the generation of welding defects such as pores and slag. Compared with the traditional welding method, the internal structure of the welding seam is more dense, which can improve the integrity and reliability of the welding joint. In the welding process, the heat generated by the double-shoulder friction welding is relatively concentrated in the welding area, and the heat effects of the upper and lower shoulders are balanced with each other, so that the thermal stress distribution in the welding process is more uniform. For the titanium alloy plate which has high requirements for size precision, the flatness and shape precision of the plate after welding can be better guaranteed, and the subsequent deformation correction process is reduced. Moreover, after the welding is completed, the residual stress level at the double-shoulder friction welding joint is relatively low, and the low residual stress is beneficial to improve the fatigue performance and corrosion resistance of the welding joint, and prolong the service life of the titanium alloy welded part.

[0019] The material is not completely melted during the welding process, the problems such as heat-affected zone grain coarsening commonly seen in the fusion welding process are avoided, the good structure and mechanical properties of the base material are maintained, meanwhile, the weld metal is strengthened through the stirring effect, so that the welded joint is excellent in the mechanical property tests such as tensile and shearing, therefore, the welded joint formed by the double-shoulder friction stir welding has high strength, and can reach or even exceed the strength level of the base material; meanwhile, due to the uniform and fine weld structure, the stress concentration points and micro defects are reduced, when the impact load or cyclic load is borne, the double-shoulder friction stir welded joint can effectively resist the initiation and propagation of cracks, and has better toughness and fatigue life than the traditional welding method, and further improves the use safety and reliability of the titanium alloy welded structure under complex working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0020] Fig. 1 is a structural schematic view of the utility model;

[0021] Fig. 2 is a longitudinal sectional view of the utility model at one place of the screw rod;

[0022] Fig. 3 is a transverse sectional view of the utility model at two places of the screw rod;

[0023] Fig. 4 is a transverse longitudinal sectional view of the utility model at three places of the screw rod;

[0024] Fig. 5 is a longitudinal longitudinal sectional view of the utility model at three places of the screw rod.

[0025] The reference signs in the drawings are as follows: 1-base, 2-optical axis support seat one, 3-optical axis one, 4-guide rail one, 5-slideway one, 6-bearing seat one, 7-screw rod one, 8-screw nut one, 9-servo motor one, 10-Z direction support column, 11-cross beam, 12-optical axis support seat two, 13-optical axis two, 14-guide rail two, 15-slideway two, 16-bearing seat two, 17-screw rod two, 18-screw nut two, 19-servo motor two, 20-optical axis support seat three, 21-optical axis three, 22-guide rail three, 23-slideway three, 24-bearing seat three, 25-screw rod three, 26-screw nut three, 27-servo motor three, 28-driving motor, 29-double-shoulder stirring head, 30-housing, 31-workbench body, 3101-through slot, 32-extended table, 33-fastener, 34-clamping block. DETAILED DESCRIPTION

[0026] The utility model will be further explained in detail in combination with the drawings and embodiments.

[0027] Referring to Figs. 1-5As shown, a kind of titanium alloy plate double-shoulder friction stir welding equipment, including: base 1, X direction moving pair, rack, Y direction moving pair, Z direction moving pair, double-shoulder friction stir welding assembly and welding workbench, the top middle part of base 1 is provided with X direction moving pair, the top rear side of base 1 is provided with rack, the upper part of rack is provided with Y direction moving pair, the moving end of Y direction moving pair is provided with Z direction moving pair, the moving end of Z direction moving pair is installed with double-shoulder friction stir welding assembly, the moving end of X direction moving pair is installed with the welding workbench for fixing the titanium alloy plate to be welded, and double-shoulder friction stir welding assembly is stirred friction welded to the titanium alloy plate to be welded.

[0028] Base 1 includes: bottom plate, side plate and backing plate, two side plates are symmetrically fixedly connected on the left and right sides of the top end of bottom plate, backing plate is fixedly connected to the top end of side plate, and the length direction of side plate and backing plate is parallel to X direction.

[0029] X direction moving pair includes: optical axis support seat one 2, optical axis one 3, guide rail one 4, sliding table one 5, bearing seat one 6, screw rod one 7, screw nut one 8 and servo motor one 9, four optical axis support seats one 2 and guide rails one 4 are all arranged, two optical axes one 3 are arranged, the axial direction of two optical axes one 3 is parallel to X direction, the front and rear ends of two optical axes one 3 are fixedly installed at the front and rear positions on the top left and right sides of base 1 through four optical axis support seats one 2 respectively, four guide rails one 4 are axially slidably arranged on two optical axes one 3 respectively, the top end of four guide rails one 4 is fixedly connected to the bottom end of sliding table one 5 at four corners respectively, two bearing seats one 6 are arranged, two bearing seats one 6 are symmetrically arranged at the middle part of the front and rear ends of base 1, screw rod one 7 is installed on two bearing seats one 6, screw rod one 7 penetrates and is threadedly connected with screw nut one 8, the top end of screw nut one 8 is fixedly connected to the bottom end of sliding table one 5, the rear end of screw rod one 7 is fixedly connected with the output end of servo motor one 9, servo motor one 9 is fixedly installed on the rear bearing seat one 6, and sliding table one 5 and the welding workbench on the top of sliding table one 5 are driven to displace along X direction by rotating screw rod one 7 driven by servo motor one 9.

[0030] Rack includes: Z direction support column 10 and cross beam 11, two Z direction support columns 10 are symmetrically arranged, the bottom ends of two Z direction support columns 10 are symmetrically fixedly connected to the rear top of two backing plates, and the left and right ends of cross beam 11 are fixedly connected to the upper parts of the left and right sides of two Z direction support columns 10 facing each other; Z direction support column 10 and cross beam 11 all adopt profile type structure, rack adopts gantry type structure, has high structural stability: the gantry type structure frame is firm, can effectively disperse axial force, lateral force and torque generated during welding, reduces equipment deformation, ensures stable welding process; it is convenient to install high-precision transmission components, realizes the accurate movement of double-shoulder stir head 29 in X, Y, Z directions, is very helpful to control welding speed, position and pressing depth and other parameters, guarantees welding quality, and is convenient for automatic integration.

[0031] The Y-direction moving pair comprises four optical axis support seats 12, two optical axes 13, four guide rails 14, a sliding table 15, two bearing seats 16, a screw rod 17, a screw rod nut 18 and a servo motor 19. The optical axis support seats 12 and the guide rails 14 are provided with four, and the optical axes 13 are provided with two. The two optical axes 13 are parallel to the Y-direction. The left and right ends of the two optical axes 13 are fixedly installed on the upper and lower sides of the upper end of the two Z-direction support columns 10 through the four optical axis support seats 12. The four guide rails 14 are axially slidably sleeved on the two optical axes 13. The front ends of the four guide rails 14 are fixedly connected to the rear end of the sliding table 15. The two bearing seats 16 are symmetrically arranged on the upper part of the side of the two Z-direction support columns 10. The screw rod 17 is installed on the two bearing seats 16. The screw rod 17 penetrates and is threadedly connected to the screw rod nut 18. The front end of the screw rod nut 18 is fixedly connected to the rear end of the sliding table 15. The left end of the screw rod 17 is fixedly connected to the output end of the servo motor 19. The servo motor 19 is fixedly installed on the left bearing seat 16. Different from the X-direction moving pair, the Y-direction moving pair needs to bear a large upsetting force, so it needs to ensure a large torque output while meeting the transmission function. Therefore, the servo motor 19 is a large inertia servo motor.

[0032] The Z-direction moving pair comprises four optical axis support seats 20, two optical axes 21, four guide rails 22, a sliding table 23, two bearing seats 24, a screw rod 25, a screw rod nut 26 and a servo motor 27. The optical axis support seats 20 and the guide rails 22 are provided with four, and the optical axes 21 are provided with two. The two optical axes 21 are parallel to the Z-direction. The upper and lower ends of the two optical axes 21 are fixedly installed on the upper and lower positions of the front end of the sliding table 15 through the four optical axis support seats 20. The four guide rails 22 are axially slidably sleeved on the two optical axes 21. The front ends of the four guide rails 22 are fixedly connected to the rear end of the sliding table 23. The two bearing seats 24 are symmetrically arranged on the upper and lower ends of the sliding table 15. The screw rod 25 is installed on the two bearing seats 24. The screw rod 25 penetrates and is threadedly connected to the screw rod nut 26. The front end of the screw rod nut 26 is fixedly connected to the rear end of the sliding table 23. The upper end of the screw rod 25 is fixedly connected to the output end of the servo motor 27. The servo motor 27 is fixedly installed on the upper bearing seat 24. In addition to bearing the upsetting force in the Y-direction, the rotating shaft of the Z-direction moving pair also bears the radial force that can damage the material. The stroke is short and only needs to complete linear motion, so the servo motor 27 is a torque motor.

[0033] The double-shoulder friction stir welding assembly comprises a driving motor 28, a double-shoulder stirring head 29 and a cover 30, the driving motor 28 is vertically fixedly installed in the middle of the front end of the third sliding table 23, and the bottom output end of the driving motor 28 is fixedly installed with the double-shoulder stirring head 29; the cover 30 is a hollow shell with an open rear end and bottom end, the rear end of the cover 30 is fixedly connected to the front end edge position of the third sliding table 23, the cover 30 can completely cover the driving motor 28, and the double-shoulder stirring head 29 extends out of the bottom end of the cover 30 to below the cover 30; the driving motor 28 is a torque motor; the double-shoulder stirring head 29 is driven to rotate by the driving motor 28, the double-shoulder stirring head 29 is pressed down by the Z-direction moving pair, and the double-shoulder stirring head 29 used can better constrain the metal flow in the welding process when welding titanium alloy plates, so that the material stirring is more uniform, and the generation of welding defects such as pores and slag inclusions is effectively reduced; compared with the traditional welding method, the internal structure of the welding seam is more dense, and the integrity and reliability of the welded joint can be improved; in the welding process, the heat generated by the double-shoulder friction stir welding is relatively concentrated in the welding area, and the heat actions of the upper and lower shoulders are balanced with each other, so that the thermal stress distribution in the welding process is more uniform, and compared with single-shoulder friction stir welding or other traditional welding methods, the plate deformation caused by uneven thermal stress is significantly reduced; for titanium alloy plates which have high requirements for size precision, the flatness and shape precision of the plates after welding can be better ensured, and the process of correcting deformation is reduced. Moreover, the residual stress level at the double-shoulder friction stir welding joint is relatively low after welding, which is due to the special welding mechanism that the plastic deformation and thermal cycle of the metal are coordinated with each other in the welding process, so that the residual stress is effectively controlled; the lower residual stress is beneficial to improve the fatigue performance and corrosion resistance of the welded joint, and prolong the service life of the titanium alloy welded part.

[0034] In the welding process, the material is not completely melted, which avoids the problems such as coarse grains in the heat-affected zone in the melting welding process, maintains the good organizational structure and mechanical properties of the base material, and strengthens the weld metal through stirring, so that the welded joint performs well in the mechanical property tests such as tensile and shear, and therefore the welded joint formed by the double-shoulder friction stir welding has high strength and can reach or even exceed the strength level of the base material; at the same time, due to the uniform and fine weld structure, the stress concentration points and micro defects are reduced, and when the double-shoulder friction stir welded joint bears impact load or cyclic load, it can effectively resist the initiation and propagation of cracks, and has better toughness and fatigue life than the traditional welding method, thereby further improving the use safety and reliability of the titanium alloy welded structure under complex working conditions.

[0035] The welding workbench comprises a workbench body 31, through grooves 3101, extension tables 32, fasteners 33 and clamping blocks 34, the workbench body 31 is fixedly installed at the top end of the sliding table 1, a plurality of through grooves 3101 are formed in the top end of the workbench body 31, the length direction of the through grooves 3101 is parallel to the Y direction, the width of the through grooves 3101 is greater than the diameter of the lower shaft shoulder of the double shaft shoulder stirring head 29, and the depth of the through grooves 3101 is greater than the height of the lower shaft shoulder of the double shaft shoulder stirring head 29, two extension tables 32 are symmetrically and fixedly connected to the front and rear ends of the workbench body 31, the two extension tables 32 are connected to the two clamping blocks 34 through the two fasteners respectively, the clamping blocks 34 are L-shaped, the vertical parts of the two clamping blocks 34 are vertically and slidingly connected to the front and rear ends of the two extension tables 32 respectively, the horizontal parts of the two clamping blocks 34 are located directly above the top ends of the two extension tables 32, and the fastener comprises a bolt and a nut, the bolt penetrates through the middle position of the horizontal part of the clamping block 34 and the middle part of the extension table 32 from top to bottom and is threadedly connected to the nut below the extension table 32; the through grooves 3101 are arranged due to the characteristics of the double shaft shoulder, the lower shaft shoulder serves as a new rigid gasket, the demand for the clamp is greatly reduced, but therefore a workbench body 31 of a through type material has to be adopted, and the through grooves 3101 formed in the workbench body 31 serve as the passage of the stirring head.

[0036] The working process of the whole device is as follows: the titanium alloy plate is clamped by the clamping system composed of the extension table 32, the fastener 33 and the clamping block 34, meanwhile, the upper and lower shaft shoulders of the double shaft shoulder stirring head 29 are fixed, the X, Y and Z direction movement pairs are linked to reach the welding position, when reaching the welding position, the large inertia servo motor in the Y direction movement pair starts to move, the double shaft shoulder stirring head 29 moves along the Y direction between the two plates through the through grooves 3101, and the welding is completed.

[0037] In the description of the present application, it should be explained that the terms "upper", "lower", "left", "right", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0038] The above is only a preferred embodiment of the present application, and does not limit the present application in any form, any skilled person in the art, without departing from the technical solution range of the present application, according to the technical essence of the present application, any simple modification, equivalent replacement and improvement of the above embodiment, etc., still belongs to the protection range of the technical solution of the present application.

Claims

1. A dual-shouldered friction stir welding apparatus for titanium alloy plate, characterized by, Include: Base (1), X direction moving pair, rack, Y direction moving pair, Z direction moving pair, double shaft shoulder friction stir welding assembly and welding workbench, the top middle of the base (1) is provided with X direction moving pair, the top rear side of the base (1) is provided with rack, the upper part of the rack is provided with Y direction moving pair, the moving end of the Y direction moving pair is provided with Z direction moving pair, the moving end of the Z direction moving pair is installed with double shaft shoulder friction stir welding assembly, the moving end of the X direction moving pair is installed with the welding workbench for fixing the titanium alloy plate to be welded, and the double shaft shoulder friction stir welding assembly is used for friction stir welding of the titanium alloy plate to be welded.

2. The bi-shouldered friction stir welding apparatus for titanium alloy plate according to claim 1, characterized by: The base (1) comprises a bottom plate, side plates and a backing plate, the top ends of the left and right sides of the bottom plate are symmetrically fixedly connected with two side plates, the top end of the side plate is fixedly connected with the backing plate, and the length direction of the side plate and the backing plate is parallel to the X direction.

3. The bi-shouldered friction stir welding apparatus for titanium alloy plate according to claim 2, characterized by: The X direction moving pair comprises: optical axis support seat one (2), optical axis one (3), guide rail one (4), sliding table one (5), bearing seat one (6), screw rod one (7), screw nut one (8) and servo motor one (9), the optical axis support seat one (2) and the guide rail one (4) are provided with four, the optical axis one (3) is provided with two, the axial direction of the two optical axis one (3) is parallel to the X direction, the front and rear ends of the two optical axis one (3) are fixedly installed at the front and rear positions on the top left and right sides of the base (1) through the four optical axis support seat one (2), and the four guide rails one (4) are axially slidably sleeved on the two optical axis one (3) respectively, the top ends of the four guide rails one (4) are fixedly connected with the bottom end corners of the sliding table one (5) respectively, the bearing seat one (6) is provided with two, the two bearing seat one (6) are symmetrically arranged at the middle of the front and rear ends of the base (1), the screw rod one (7) is installed on the two bearing seat one (6), the screw rod one (7) penetrates and is threadedly connected with the screw nut one (8), the top end of the screw nut one (8) is fixedly connected with the bottom end of the sliding table one (5), the rear end of the screw rod one (7) is fixedly connected with the output end of the servo motor one (9), and the servo motor one (9) is fixedly installed on the rear bearing seat one (6).

4. The bi-shouldered friction stir welding apparatus for titanium alloy plate according to claim 3, characterized by: The rack comprises a Z direction support column (10) and a cross beam (11), the Z direction support column (10) is symmetrically provided with two, the bottom ends of the two Z direction support columns (10) are symmetrically fixedly connected on the rear top of the two backing plates, and the upper parts of the opposite sides of the two Z direction support columns (10) are fixedly connected with the left and right ends of the cross beam (11).

5. A bi-shouldered friction stir welding apparatus for titanium alloy plate as defined in claim 4, wherein: The Y-direction moving pair comprises two optical axis support seats 12, two optical axes 13, two guide rails 14, two sliding tables 15, two bearing seats 16, two lead screws 17, two lead screw nuts 18 and two servo motors 19, the two optical axis support seats 12 and the two guide rails 14 are provided with four, the two optical axes 13 are provided with two, the axial directions of the two optical axes 13 are parallel to the Y direction, the left and right ends of the two optical axes 13 are fixedly installed on the upper and lower sides of the upper part of the front end of the two Z-direction supporting columns 10 through the four optical axis support seats 12, respectively, four guide rails 14 are axially slidably sleeved on the two optical axes 13, respectively, the front ends of the four guide rails 14 are fixedly connected to the rear end of the four corners of the two sliding tables 15, respectively, the two bearing seats 16 are provided with two, the two bearing seats 16 are symmetrically arranged on the upper part of the side of the two Z-direction supporting columns 10, the two lead screws 17 are installed on the two bearing seats 16, the two lead screws 17 penetrate and are threadedly connected to the two lead screw nuts 18, the front end of the two lead screw nuts 18 is fixedly connected to the rear end of the two sliding tables 15, the left end of the two lead screws 17 is fixedly connected to the output end of the two servo motors 19, and the two servo motors 19 are fixedly installed on the left bearing seat 16.

6. A bi-shouldered friction stir welding apparatus for titanium alloy plate as defined in claim 5, wherein: The Z-direction moving pair comprises three optical axis support seats 20, three optical axes 21, three guide rails 22, three sliding tables 23, three bearing seats 24, three lead screws 25, three lead screw nuts 26 and three servo motors 27, the three optical axis support seats 20 and the three guide rails 22 are provided with four, the three optical axes 21 are provided with two, the axial directions of the two optical axes 21 are parallel to the Z direction, the upper and lower ends of the two optical axes 21 are fixedly installed on the upper and lower positions of the left and right sides of the front end of the two sliding tables 15 through the four optical axis support seats 20, respectively, four guide rails 22 are axially slidably sleeved on the two optical axes 21, respectively, the front ends of the four guide rails 22 are fixedly connected to the rear end of the four corners of the three sliding tables 23, respectively, the three bearing seats 24 are provided with two, the two bearing seats 24 are symmetrically arranged on the upper and lower ends of the two sliding tables 15, the three lead screws 25 are installed on the two bearing seats 24, the three lead screws 25 penetrate and are threadedly connected to the three lead screw nuts 26, the front end of the three lead screw nuts 26 is fixedly connected to the rear end of the three sliding tables 23, the upper end of the three lead screws 25 is fixedly connected to the output end of the three servo motors 27, and the three servo motors 27 are fixedly installed on the upper bearing seat 24.

7. A bi-shouldered friction stir welding apparatus for titanium alloy plate as defined in claim 6 wherein: The double-shoulder friction stir welding assembly comprises a driving motor 28 and a double-shoulder stir welding head 29, the driving motor 28 is vertically fixedly installed on the front end of the three sliding tables 23, and the bottom output end of the driving motor 28 is fixedly installed with the double-shoulder stir welding head 29.

8. A bi-shouldered friction stir welding apparatus for titanium alloy plate as defined in claim 7, wherein: Also include: The cover (30) is a hollow shell with open rear end and bottom end, the cover (30) is fixedly connected at the front end edge position of the third sliding table (23), the cover (30) can completely cover the driving motor (28), and the double shoulder stirring head (29) is stretched out below the cover (30) by the bottom end opening of the cover (30).

9. The bi-shouldered friction stir welding apparatus for titanium alloy plate of claim 7, wherein: The welding workbench comprises a workbench body (31), a through slot (3101), an extension table (32), a fastener (33) and a clamping block (34), the workbench body (31) is fixedly installed at the top end of the first sliding table (5), a plurality of through slots (3101) are formed at the top end of the workbench body (31), the length direction of the through slot (3101) is parallel to the Y direction, the width of the through slot (3101) is greater than the diameter of the lower shaft shoulder of the double shoulder stirring head (29), the depth of the through slot (3101) is greater than the height of the lower shaft shoulder of the double shoulder stirring head (29), two extension tables (32) are symmetrically and fixedly connected at the front and rear ends of the workbench body (31), the two extension tables (32) are connected with the two clamping blocks (34) through the two fasteners (33), the clamping block (34) is L-shaped, the vertical parts of the two clamping blocks (34) are respectively vertically and slidingly connected with the front and rear ends of the two extension tables (32), the horizontal parts of the two clamping blocks (34) are located directly above the top ends of the two extension tables (32), and the fastener (33) comprises a bolt and a nut, the bolt penetrates through the middle position of the horizontal part of the clamping block (34) and the middle part of the extension table (32) from top to bottom and is threadedly connected with the nut below the extension table (32).

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