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Redundant-driven friction stir welding parallel robot

A technology of friction stir welding and robots, which is applied in welding equipment, non-electric welding equipment, metal processing equipment, etc., can solve the problems of low rigidity and small working space, achieve high rigidity, high processing precision, and improve rigidity and precision performance Effect

Inactive Publication Date: 2016-08-10
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] There are already 3 degrees of freedom invention patents with similar configurations (such as CN104625198A, CN104551714A, CN104772628A), which have the problems of small working space and relatively low rigidity, and redundant driving can be used to overcome these problems question

Method used

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  • Redundant-driven friction stir welding parallel robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] like figure 1 Shown: a 3-DOF parallel mechanism for friction stir welding, including frame 11, moving platform 5, stirring head 6 and four branches connecting the frame and moving platform; the stirring head used for processing Fixed on the moving platform; the first branch (this branch is a PRS type motion branch chain) and the third branch are arranged symmetrically to the moving platform; the second branch (this branch is a PRU type motion branch chain) and the fourth branch are symmetrical to the moving platform Arrangement; the hinge center points of the first branch, the second branch, the third branch and the fourth branch and the moving platform are evenly distributed around the moving platform and arranged in 90° equal parts to each other; the first branch and the third branch are respectively In turn, it includes the first moving pair 1P connected between the frame 11 and the moving platform (including the slider 12 and the guide rod fixed on the frame 11), th...

Embodiment 2

[0026] Embodiment two, such as figure 2 Shown: a 3-DOF parallel mechanism for friction stir welding, including frame 11, moving platform 5, stirring head 6 and four branches connecting the frame and moving platform; the stirring head used for processing Fixed on the moving platform; the first branch (the branch is the RPS type motion branch chain) and the third branch are arranged symmetrically to the moving platform; the second branch and the fourth branch are arranged symmetrically to the moving platform; the first branch, the second branch, The hinge center points of the third branch and the fourth branch and the moving platform are evenly distributed around the moving platform and are arranged equally at 90° to each other; Between the first rotating pair 1R, the first moving pair 1P (including the slider 12 and the first guide rod 15), the first guide rod 15 and the ball joint 1S; the second branch and the fourth branch respectively include connecting The second rotating...

Embodiment 3

[0028] Embodiment three, such as image 3 Shown: a 3-DOF parallel mechanism for friction stir welding, including frame 11, moving platform 5, stirring head 6 and four branches connecting the frame and moving platform; the stirring head used for processing Fixed on the moving platform; the first branch (the branch is the RRS type motion branch chain) and the third branch are arranged symmetrically to the moving platform; the second branch and the fourth branch are arranged symmetrically to the moving platform; the first branch, the second branch, The hinge center points of the third branch and the fourth branch and the moving platform are evenly distributed around the moving platform and arranged equally at 90° to each other; Between the third rotating pair 1R 1 , the third connecting rod 17, the fourth revolving pair 1R 2 , the fourth connecting rod 18 and the ball joint 1S; the second branch and the fourth branch respectively include the fifth rotating pair 2R connected betwe...

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Abstract

The invention relates to a redundant-driven friction stir welding parallel robot. A provided parallel mechanism can guarantee high rigidity and machining precision and has the advantages of being simple in associated movement, simple in structure, easy to machine and assemble, easy to control and the like. According to the technical scheme, the redundant-driven friction stir welding parallel robot is characterized in that the parallel mechanism comprises a movable platform, a rack and four branch mechanisms connected between the rack and the movable platform, wherein the first branch mechanism and the third branch mechanism are symmetrically arranged with respect to the movable platform, and the second branch mechanism and the fourth branch mechanism are symmetrically arranged with respect to the movable platform; the central hinging point of the first branch mechanism with the movable platform, the central hinging point of the second branch mechanism with the movable platform, the central hinging point of the third branch mechanism with the movable platform and the central hinging point of the fourth branch mechanism with the movable platform are evenly distributed around the movable platform and form 90-degree included angles with one another.

Description

technical field [0001] The invention relates to the technical field of friction stir welding, in particular to a redundantly driven friction stir welding parallel robot. Background technique [0002] Friction stir welding (FSW) is a new solid phase joining technology invented by the British Welding Institute in 1991. Compared with traditional fusion welding, friction stir welding has many advantages, such as: small welding deformation, good mechanical properties, etc., so it is very easy to realize engineering and automation, and it belongs to green manufacturing, with stable quality and high reliability. [0003] Parallel mechanism (PM) can be defined as a closed-loop mechanism in which the moving platform (end effector) and the fixed platform (frame) are connected through at least two independent kinematic chains and driven in parallel. Compared with the traditional series mechanism, the parallel mechanism has greater stiffness, load and higher precision. Therefore, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K20/12
CPCB23K20/1245
Inventor 李秦川朱旭彪贺磊盈柴馨雪
Owner ZHEJIANG SCI-TECH UNIV
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