CN113478066B - A follow-up fixture for friction stir machining of gate valve plate surface and follow-up control method - Google Patents

Abstract

A follow-up fixture and a follow-up control method for friction stir machining on the surface of a gate valve plate, characterized in that it comprises an upper pressing device, a lower pressing device, a bearing, a motor, a gear, a bottom plate, a pressing plate, an information processor, etc. . Before machining, first position the valve plate on the base plate, then install the bearing on the mounting ring of the base plate, then fix the upper pressing device and the lower pressing device together and install it on the outer ring of the bearing, while making the lower pressing device The gears in the tightening device and the gears connected to the motor are matched together, and then the upper and lower pressing devices are compressed with the pressing plate. During processing, the information processor automatically calculates the rotation speed of the upper and lower pressing devices that are suitable for it through the movement track of the stirring head, and drives the upper and lower pressing devices to move through the motor to continuously provide motion for the movement of the stirring head. space. The invention is easy to implement and easy to control, and can perform friction stir processing on the entire surface of the valve plate.

Description

A follow-up fixture for friction stir machining of gate valve plate surface and follow-up control method

technical field

The invention belongs to the field of special fixtures, in particular to a friction stir welding fixture, in particular to a follow-up fixture and a follow-up control method for friction stir processing of the surface of a gate valve plate.

Background technique

The valve plate is the key part of the gate valve, which is prone to corrosion and wear during long-term use. When the valve plate is corroded, worn, and other damage, it will directly affect the service life of the gate valve. The use of friction stir processing technology to modify the surface of the valve plate can effectively improve the corrosion resistance and wear resistance of the valve plate surface, thereby prolonging the service life of the valve plate. Since the stirring head needs to move continuously to different positions on the surface of the valve plate when friction stir processing is performed on the surface of the valve plate, and the general fixture in the existing friction stir equipment cannot meet the requirements of continuous processing of the entire surface of the valve plate, it is necessary to design a A follow-up fixture that can be used for friction stir machining on the surface of the gate valve plate is proposed, and an effective control method is proposed to enable the movement of the follow-up fixture and the movement of the stirring head to be performed synchronously.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a follow-up fixture and a follow-up control method for friction stir processing of the surface of the gate valve valve plate, aiming at the problem that the general fixture in the friction stir processing equipment cannot continuously process the entire surface of the valve plate.

One of the technical solutions of the present invention is:

A follow-up fixture for friction stir machining on the surface of a gate valve plate, which mainly includes an upper pressing device, a lower pressing device, a bearing, a motor, a first gear, a mounting ring, a fixed V-shaped block, and a telescopic short cylinder Pins, movable V-blocks, pressure plates, information processors, etc.

The upper pressing device is an annular structure, and an upper connecting hole, a pressing groove and an ejecting groove are designed on it. The upper connecting hole is used for connecting with the lower pressing device, and the pressing groove is It is used for positioning when the pressing plate is pressed, and the ejecting groove is used for positioning when the upper pressing device is ejected.

The lower pressing device is designed with a second gear, a lower connecting hole, a movable hole, a plane bearing and an inner mounting hole. The second gear is used to cooperate with the first gear connected to the motor for transmission. The lower connecting hole It is used to connect with the upper pressing device, the movable hole is used to provide movement space for the stirring head, the width of the movable hole is larger than the diameter of the stirring head, the overall length of the movable hole is larger than the radius of the valve plate, the plane The bearing is located on the bottom surface of the lower pressing device, so that the upper pressing device can still rotate on the upper surface of the valve plate under the condition of being pressed, and the mounting inner hole is used for matching with the outer ring of the bearing.

The motor is connected with the first gear, the first gear is matched with the second gear in the lower pressing device, and the motor is used for driving the lower pressing device to rotate.

The telescopic short cylindrical pin includes a pin base, a mounting hole and a short cylindrical pin, the mounting hole is used to fix the telescopic short cylindrical pin on the bottom plate of the fixture, and the short cylindrical pin can be extended or retracted into the pin base.

The pressing plate is designed with connecting holes, anti-skid patterns and plane bearings for pressing the upper pressing device and the lower pressing device on the surface of the valve plate, and the connecting holes are used to connect with the automatic clamping mechanism 17, so The automatic clamping mechanism can move up and down, compress the valve plate downward, and disassemble the valve plate upward. In the ejecting groove, the flat bearing is used to press the upper and lower pressing devices against the valve plate, and the upper and lower pressing devices can still be rotated, and act on the pressing grooves of the upper pressing device.

The information processor is used to collect the motion trajectory data of the stirring head from the friction stir processing equipment system, automatically calculate the rotation speed of the lower pressing device suitable for the movement of the stirring head, and drive the lower pressing device through the motor and the first gear. Rotating, the information processor can feed back the movement track of the stirring head to the motor in real time, so that the movement of the stirring head and the rotation of the lower pressing device are synchronized, and the precise control of the fixture follower device can be realized.

The second technical scheme of the present invention is:

A follow-up control method for friction stir machining on the surface of a gate valve plate, which is characterized in that: firstly, the inner ring of the bearing is mounted on the mounting ring of the base plate, and the upper pressing device and the lower pressing device are fixed on the mounting ring by a bolt group. At the same time, position the valve plate, that is, first place the valve plate on the bottom plate of the fixture and contact with the fixed V-block 11, and then extend the cylindrical pin part of the telescopic short cylindrical pin 12 into the diameter of the valve plate. Then push the movable V-shaped block 13 into contact with the outer circular surface of the valve plate, then put the fixed upper and lower pressing devices into the outer ring of the bearing and make the second gear in the lower pressing device and the The first gear connected to the motor is meshed, and then the pressing groove of the upper pressing device is pressed with the pressing plate, and finally the stirring head is positioned at the center of the valve plate; during formal processing, the information processor continuously obtains the stirring head to carry out the circumference The moving feed speed F, x and y coordinates automatically calculate the matching motor speed, and send it to the motor synchronously. The motor drives the pressing device to rotate, providing processing space for the movement of the stirring head and realizing the follow-up of the fixture. Automatic control.

When the stirring head moves on the surface of the valve plate, the information processor can know the forward speed F of the circular motion of the stirring head and the coordinates x and y of the movement on the horizontal plane. Mode:

（1）

(1)

为搅拌头在阀板表面作圆周运动时的角速度。in:

It is the angular velocity when the stirring head makes a circular motion on the surface of the valve plate.

Available:

（2）

(2)

，则下压紧装置中的第二齿轮在其分度圆处的圆周速度v₁可表示为：To ensure that the stirring head has enough movement space in the movable hole of the lower pressing device, the lower pressing device should rotate synchronously at the same angular velocity while the stirring head is in circular motion, that is,

, then the peripheral speed v ₁ of the second gear in the lower pressing device at its index circle can be expressed as:

（3）

(3)

为下压紧装置的转动角速度，R为下压紧装置中第二齿轮的分度圆半径。in:

is the rotational angular velocity of the lower pressing device, and R is the indexing circle radius of the second gear in the lower pressing device.

可表示为：To ensure that the peripheral speed of the second gear in the lower pressing device is v ₁ , the rotational angular velocity of the first gear connected to the motor

can be expressed as:

（4）

(4)

Where: r is the indexing circle radius of the first gear connected to the motor.

之间的关系为：The speed n of the motor is

The relationship between is:

（5）

(5)

Available:

（6）

(6)

It can be seen from this that after obtaining the forward speed F of the circular motion of the stirring head and the coordinates x and y of the movement on the valve plate plane, the information processor can calculate the synchronization between the lower pressing device and the stirring head by formula (6). The motor speed n during movement, and the value is transmitted to the motor, so that the motor drives the lower pressing device to rotate, and the information processor continuously obtains the F, x, and y of the movement of the stirring head, and then processes them and feeds them back to the motor to realize the lower pressing. Synchronous movement of the device and the mixing head.

The beneficial effects of the present invention are:

1. The present invention utilizes the principle that the clamp pressing device automatically rotates with the movement track of the stirring head to continuously provide movement space for the friction stir processing of the stirring head. Requirements for friction stir machining of complete surfaces.

2. The fixture follow-up control method of the present invention is simple, the control process adopts the first gear transmission, the transmission process is stable and easy to realize, and the synchronous control of the pressing device can be completed according to the movement of the stirring head.

3. The function of the present invention can be realized by improving the original general workbench of the friction stir equipment, and the valve plate is easy to install and disassemble, and the processing operation is simple.

Description of drawings

FIG. 1 is an overall exploded view of a follow-up fixture and a follow-up control method for friction stir machining of the surface of the gate valve plate of the patent of the present invention.

Figure 2 is a schematic top view of the upper pressing device.

FIG. 3 is a schematic bottom view of the upper pressing device.

Figure 4 is a schematic top view of the lower hold down device.

FIG. 5 is a schematic bottom view of the lower pressing device.

Figure 6 is a schematic diagram of a telescopic short cylindrical pin.

Figure 7 is a schematic top view of the platen.

Fig. 8 is a schematic view of the bottom surface of the pressing plate.

FIG. 9 is an overall assembly effect diagram of a follow-up fixture and a follow-up control method for friction stir machining of the surface of the gate valve plate of the present invention.

FIG. 10 is a schematic diagram of the calculation of the cutting path and the follow-up control according to the embodiment.

Labels in the figure: 1 main shaft, 2 stirring head, 3 upper pressing device, 31 upper connecting hole, 32 pressing and ejecting groove, 4 lower pressing device, 41 second gear, 42 lower connecting hole, 43 movable hole, 44 first plane bearing, 45 mounting hole, 5 bearing, 6 valve plate, 7 motor, 8 first gear, 9 bottom plate, 10 mounting ring, 11 fixed V-block, 12 telescopic short cylindrical pin, 121 pin Column base, 122 mounting holes, 123 short cylindrical pins, 13 movable V-blocks, 14 pressure plates, 141 connecting holes, 142 anti-skid patterns, 143 second plane bearings, 15 information processors, A circular motion track, B linear motion track , C circular motion trajectory, D linear motion trajectory, E circular motion trajectory.

Detailed ways

In order to make the objectives and technical solutions of the present invention more intuitive and clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "left", "right", "bottom", "top", etc. are based on the orientations or positional relationships shown in the accompanying drawings, only for the purpose of It is convenient to describe the present invention and to simplify the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

As shown in Figure 1-10.

A follow-up fixture for friction stir machining on the surface of a gate valve plate, which includes an upper pressing device 3, a lower pressing device 4, a bearing 5, a motor 7, a first gear 8, an installation ring 10, and a fixed V-shaped block 11. The telescopic short cylindrical pin 12, the movable V-shaped block 13, the pressing plate 14 and the information processor 15, as shown in FIG. 1, the upper pressing device 3 and the lower pressing device 4 are connected together by bolts, and Installed on the outer ring of the bearing 5, the inner ring of the bearing 5 is installed on the installation ring 10, the pressure plate 14 is installed on the automatic clamping mechanism 17 and can move up and down under its drive to realize the upper pressing For the pressing and loosening of the device 3, the automatic clamping mechanism 17 is installed on the installation base 16. The automatic clamping mechanism 17 can be realized by a lifting cylinder or a hydraulic cylinder. When pressing, the pressing plate 14 is driven to descend. The automatic clamping mechanism 17 drives the pressing plate 14 to rise to realize the loosening of the lower pressing device 4 and the valve plate 6 to facilitate taking out the valve plate; the lower pressing device 4 connected with the upper pressing device 3 passes through the first plane bearing on it. 44 is pressed on the valve plate 6, the upper pressing device 3 and the lower pressing device 4 not only press the valve plate 6 but also make relative movement with the valve plate 6, the valve plate 6 is fixed on the bottom plate 9; the stirring head 2 Driven by the main shaft 1 to move, the stirring head 2 acts on the valve plate 6 through the through hole of the upper pressing device 3 and the movable hole 43 of the lower pressing device 4; the first gear 8 is driven by the motor 7, and the motor 7 and the main shaft 1 are controlled by the information processor 15, the first gear 8 is matched with the second gear 41 in the lower pressing device 4, as shown in FIG. 1, and the assembly structure is shown in FIG. 9.

In specific implementation, the upper pressing device 3 includes an upper connecting hole 31 and a pressing and ejecting groove 32 , as shown in FIGS. 2 and 3 . The lower pressing device 4 includes a second gear 41 for cooperating with the first gear 8 for transmission, a lower connecting hole 42 for assembling with the upper pressing device 3, and a movable hole 43 for the processing movement of the stirring head, such as: As shown in FIG. 4 , there are also a first plane bearing 44 for the lower pressing device 4 to rotate on the upper surface of the valve plate 6 and a mounting inner hole 45 for assembling with the outer ring of the bearing 5, as shown in FIG. 5; the movable hole 43 is radially distributed from the center of the lower pressing device 4 , its length is greater than the radius of the valve plate, and its width is greater than the diameter of the stirring head; the first plane bearing 44 is arranged around the periphery of the movable hole 43 . The second gear 41 meshes with the first gear 8, the motor 7 is connected to the first gear 8, and drives the first gear 8 to rotate, and the motor 7 is mounted on the mounting base 16 through a bracket. The valve plate 6 is positioned on the base plate 9 and in the installation ring 10 by the fixed V-shaped block 11, the movable V-shaped block 13 and the telescopic short cylindrical pin 12, and the fixed V-shaped block 11 and the telescopic short cylindrical pin 12 are fixed On the base plate 9, the movable V-shaped block 13 is also installed on the base plate 9, and the movable V-shaped block 13 can be moved radially by using a screw nut. The structure of the telescopic short cylindrical pin 12 is shown in FIG. 6. Including a pin base 121, a mounting hole 122 and a short cylindrical pin 123, the mounting hole 122 is used to fix the pin base 121 on the bottom plate 9, and the short cylindrical pin 123 can be extended or retracted to the pin base seat 121 (using a common spring pin structure). The structure of the pressing plate 14 is shown in Figures 7 and 8. It is designed with a connecting hole 141, an anti-skid pattern 142 and a second plane bearing 143. The connecting hole 141 is used for connecting with the automatic clamping mechanism 17, and the anti-skid pattern 142 is used for When the upper pressing device 3 is pushed upwards, it is anti-slip, and the second plane bearing 143 is used to press the upper pressing device 3 on the valve plate 6 to still make it rotate. When pressing the upper top surface of the ejecting groove 32 , the second plane bearing 143 acts on the lower bottom surface of the pressing and ejecting groove 32 during operation. The information processor 15 (equivalent to a PLC controller or a computer controller, and the software can be compiled using conventional techniques) is used to collect the motion trajectory data of the stirring head 2 from the friction stir processing equipment system and automatically calculate the motion phase of the stirring head 2. Adapt to the rotation speed of the lower pressing device 4, and drive the lower pressing device 4 to rotate through the motor 7 and the first gear 8, so that the movable hole 43 in the lower pressing device 4 can follow the movement and rotation of the stirring head 2, At the same time, feedback is updated according to the new movement position of the stirring head 2 to determine the real-time rotation speed of the lower pressing device 4, so as to ensure that the movement of the stirring head 2 is synchronized with the rotation of the lower pressing device 4, so that the stirring head 2 can operate on the valve plate. 6 different positions for continuous processing.

The follow-up control method of the present invention is:

When performing friction stir processing on the surface of the valve plate 6, first install the inner ring of the bearing 5 on the mounting ring 10, and then use the bolt set to connect the upper pressing device 3 and the lower pressing device 4 through the upper connecting hole 31 and the lower The connecting holes 42 are fastened together; then the valve plate 6 is positioned on the bottom plate 9. The specific positioning process is to first place the valve plate 6 on the fixture bottom plate 9 and make the left outer circular surface of the valve plate 6 and the fixed V-shaped block 11. contact, then the short cylindrical pin 123 of the telescopic short cylindrical pin 12 is extended and inserted into the radial hole in the middle of the valve plate 6, and finally the movable V-shaped block 13 is pushed to make it contact with the outer cylindrical surface on the right side of the valve plate 6 The positioning is completed; then the upper pressing device 3 and the lower pressing device 4 that are fastened together are installed into the outer ring of the bearing 5 through the mounting inner hole 45 on the bottom surface of the lower pressing device 4, and the lower pressing device 4 is installed at the same time. The second gear 41 in the middle is matched with the first gear 8; then the second plane bearing 143 at the bottom of the pressing plate 14 is used to press the pressing and ejecting groove 32 in the upper pressing device 3 to realize the clamping of the follower clamp. The overall effect after the assembly of the follow-up fixture is shown in Figure 9.

Details are as follows:

According to an embodiment provided by the present invention, the upper pressing device 3 is a ring-shaped structure, and an upper connecting hole 31 and a pressing and ejecting groove 32 are designed thereon, and the connecting hole 31 is arranged along the upper pressing device 3 The width of the pressing and ejecting grooves 32 is slightly larger than the diameter of the second plane bearing 143 on the bottom surface of the pressing plate 14. The pressing and ejecting grooves 32 can not only be used for positioning when the pressing plate 14 is pressed, It can also be used for positioning when the upper pressing device 3 is pushed out by the pressing plate 14 .

According to an embodiment provided by the present invention, the lower pressing device 4 is designed with a second gear 41 , a lower connecting hole 42 , a movable hole 43 , a first plane bearing 44 and an inner mounting hole 45 , the second gear 41 In cooperation with the first gear 8, the first gear 8 is driven by the motor 7, the index circle radius of the second gear 41 is R, the index circle radius of the first gear 8 is r, the lower The connecting hole 42 is used to connect with the upper pressing device 3, and the movable hole 43 is used to provide space for the processing of the stirring head 2. During the follow-up process, the position of the movable hole 43 will rotate with the movement of the stirring head 2, so the The width of the movable hole 43 is larger than the diameter of the stirring head 2 , the overall length of the movable hole 43 is larger than the radius of the valve plate 6 , and the first plane bearing 44 is used for pressing the pressing and ejecting concave of the upper pressing device 3 . The groove 32 enables the upper pressing device 3 to rotate while being pressed, and the mounting inner hole 45 is used for mounting on the outer ring of the bearing 5 .

According to an embodiment provided by the present invention, the telescopic short cylindrical pin 12 includes a pin base 121 , a mounting hole 122 and a short cylindrical pin 123 , and the mounting hole 122 is used for fixing the telescopic short cylindrical pin 12 On the fixture base 9 , the short cylindrical pins 123 can be extended or retracted into the pin bases 121 .

According to an embodiment provided by the present invention, a connecting hole 141 , an anti-skid pattern 142 and a second plane bearing 143 are designed in the pressing plate, and the connecting hole 141 is used for connecting with an automatic clamping mechanism. The automatic clamping mechanism 17 The valve plate 6 can be moved up and down, the valve plate 6 can be pressed downward, and the valve plate 6 can be disassembled upward. On the top edge of the pressing and ejecting groove 32 of the upper pressing device 3, the second plane bearing 143 is used for pressing the upper pressing device 3 and the lower pressing device 4 on the valve plate 6. The upper pressing device 3 and the lower pressing device 4 rotate and act on the pressing and ejecting groove 32 of the upper pressing device 3 .

According to an embodiment provided by the present invention, the information processor 15 is used to collect the motion trajectory data of the stirring head 2 in the friction stir processing equipment system and automatically calculate the rotation speed of the lower pressing device 4 suitable for the movement of the stirring head 2 , and through the drive of the motor 7 and the first gear 8 to make the lower pressing device 4 rotate, the information processor 15 can continuously update the movement track of the stirring head 2 and feed it back to the motor 7 in real time, so that the movement of the stirring head 2 and the down The rotation of the pressing device 4 is performed synchronously to realize the precise control of the fixture follow-up device. The control process will be given below in combination with the specific processing process and processing parameters.

When the stirring head 2 modifies the surface of the valve plate 6, the tool path can be carried out by using a circular motion to offset outward. As shown in Figure 10, the tool path is: A (circular motion track-B (linear motion) track)-C (circular motion track)-D (linear motion track)-E (circular motion track)….

为：When the stirring head 2 moves in a circular motion at the feed speed F=200 mm/min, if the position coordinates of the stirring head 2 are (50 mm, 50 mm), and the coordinate origin O is at the center of the valve plate 6, then according to the formula ( 2) The angular velocity of the circular motion of the stirring head 2 can be obtained

for:

应与

相同，若下压紧装置4中的第二齿轮41的分度圆半径R=200 mm，则第二齿轮41分度圆处的线速度

可表示为：To make the movable hole 43 in the lower pressing device 4 move synchronously with the stirring head 2, the rotational angular velocity of the lower pressing device 4

should match

In the same way, if the indexing circle radius of the second gear 41 in the lower pressing device 4 is R=200 mm, then the linear velocity at the indexing circle of the second gear 41

can be expressed as:

可表示为：If the index circle radius of the first gear 8 is r=50 mm, then the angular velocity of the first gear 8

can be expressed as:

之间的关系为：The speed n of the motor 7 and

The relationship between is:

Available:

时就可实现下压紧装置4与搅拌头2进行同步转动。当搅拌头2运动的位置坐标（x,y）改变时，按照上述相同的步骤可计算出相应的电机7的转速，并由信息处理器15进行实时更新驱动电机7转动。Therefore, when the information processor 15 adjusts the rotational speed of the motor 7 to

At the same time, the synchronous rotation of the lower pressing device 4 and the stirring head 2 can be realized. When the position coordinates (x, y) of the movement of the stirring head 2 change, the corresponding rotation speed of the motor 7 can be calculated according to the same steps as above, and the information processor 15 can update the rotation speed of the motor 7 in real time.

When the stirring head 2 moves on a linear trajectory, the motor 7 stops rotating, and the lower pressing device 4 is stationary. At this time, the stirring head 2 moves along the length direction of the movable hole 43 in the lower pressing device 4 . When the stirring head 2 completes all the cutting paths, the friction stir processing on the surface of the valve plate 6 can be completed.

Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these Modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

The parts not involved in the present invention are the same as or can be implemented by using the prior art.

Claims (6)

1. A follow-up clamp for friction stir machining on the surface of gate valve plate, characterized in that: it comprises an upper pressing device (3), a lower pressing device (4), a bearing (5), a motor (7), The first gear (8), the installation ring (10), the fixed V-shaped block (11), the retractable short cylindrical pin (12), the movable V-shaped block (13), the pressure plate (14) and the information processor (15) ), the upper pressing device (3) and the lower pressing device (4) are connected together by bolts and mounted on the outer ring of the bearing (5), and the inner ring of the bearing (5) is mounted on the mounting circle On the ring (10), the pressing plate (14) is installed on the automatic clamping mechanism (17) and can move up and down under its driving to realize the pressing and loosening of the upper pressing device (3), and the automatic clamping The mechanism (17) is installed on the mounting base (16); the lower pressing device (4) connected with the upper pressing device (3) is pressed against the valve plate (6) by the first plane bearing (44) on it. Up, the upper pressing device (3) and the lower pressing device (4) not only press the valve plate (6) but also make relative movement with the valve plate (6). 11), the movable V-shaped block (13) and the telescopic short cylindrical pin (12) are positioned on the base plate (9) and in the installation ring (10), and the fixed V-shaped block (11) and the telescopic short cylindrical pin The pin (12) is fixed on the bottom plate (9), and the movable V-shaped block (13) is also mounted on the bottom plate (9); the stirring head (2) is driven by the main shaft (1) to move, and the stirring head (2) passes through the upper pressure The through hole (43) of the pressing device (3) and the movable hole (43) of the lower pressing device (4) act on the valve plate (6); the first gear (8) is driven by the motor (7), the motor (7) and The main shaft (1) is controlled by the information processor (15), the first gear (8) is matched with the second gear (41) in the lower pressing device (4); the upper pressing device (3) is a ring The upper connecting hole (31) is evenly distributed along the circumferential direction of the bottom surface of the upper pressing device (3), and the outer circle of the upper pressing device (3) is provided with Press the ejection groove (32); the lower pressing device (4) has a second gear (41) for cooperating with the first gear (8) for transmission, and is used for assembling with the upper pressing device (3) The lower connecting hole (42), the movable hole (43) for the processing movement of the stirring head, the first plane bearing (44) for the lower pressing device (4) to rotate on the upper surface of the valve plate (6), and the The mounting inner hole (45) assembled with the outer ring of the bearing (5); the movable hole (43) is radially distributed from the center of the lower pressing device (4), its length is greater than the radius of the valve plate, and its width is greater than that of the stirring head. diameter; the first plane bearing (44) is arranged around the periphery of the movable hole (43); the bolt passes through the corresponding upper connecting hole (31) and the lower connecting hole (42) on the upper pressing device (3) and the lower pressing device (4) ) to connect the two. 2 . The follow-up fixture for friction stir machining of the surface of the gate valve plate according to claim 1 , wherein the motor ( 7 ) is connected to the first gear ( 8 ) and drives the first gear ( 8 ). 3 . Rotate, the motor (7) is mounted on the mounting base (16) through the bracket. 3. The follower fixture for friction stir machining of the surface of the gate valve plate according to claim 1, characterized in that: the retractable short cylindrical pin (12) has a pin base (121) and a mounting hole (122) and a short cylindrical pin (123), the mounting hole (122) is used to fix the telescopic short cylindrical pin (12) on the bottom plate (9), and the short cylindrical pin (123) can extend or Retract into Pin Base (121). 4 . The follow-up clamp for friction stir machining of the surface of the gate valve plate according to claim 1 , wherein the pressure plate ( 14 ) is designed with a connecting hole ( 141 ), an anti-skid pattern ( 142 ) and a second The plane bearing (143), the connecting hole (141) is used for connecting with the automatic clamping mechanism (17), the anti-skid pattern (142) is used for anti-skid when the upper pressing device (3) is pushed upward, the The second plane bearing (143) is used to make the upper pressing device (3) rotate when it is pressed against the valve plate (6), and the anti-skid pattern (142) acts on the pressing and ejecting grooves when working On the upper side of (32), the second plane bearing (143) acts on the lower side of the pressing and ejecting groove (32) when working. 5. The follow-up fixture for friction stir machining on the surface of a gate valve plate according to claim 1, wherein the information processor (15) is used to collect the stirring head (2) from the friction stir machining equipment system and automatically calculate the rotation speed of the lower pressing device (4) that is suitable for the movement of the stirring head (2), and drive the lower pressing device (4) to rotate through the motor (7) and the first gear (8). , so that the movable hole (43) in the lower pressing device (4) can follow the movement and rotation of the stirring head (2), and at the same time, feedback and update according to the new movement position of the stirring head (2), so as to determine the lower pressing device (4) real-time rotation speed, so as to ensure that the movement of the stirring head (2) is synchronized with the rotation of the lower pressing device (4), so that the stirring head (2) can be continuously processed at different positions of the valve plate (6). 6. A follow-up control method based on the friction stir machining of the gate valve plate surface of the follow-up clamp for friction stir machining of the gate valve plate surface according to claim 1, it is characterized in that: at first the bearing inner ring is installed on the base plate On the installation ring, fix the upper pressing device and the lower pressing device together with the bolt group, and then position the valve plate, that is, first put the valve plate on the bottom plate of the fixture and contact the fixed V-block (11). , and then insert the cylindrical pin part of the telescopic short cylindrical pin (12) into the radial hole in the valve plate, and then push the movable V-block (13) to contact the outer surface of the valve plate, and then fix the The upper pressing device and the lower pressing device are sleeved into the outer ring of the bearing, and the second gear in the lower pressing device meshes with the first gear connected to the motor, and then the pressing top of the upper pressing device is pressed with a pressing plate. out the groove, and finally position the stirring head to the center of the valve plate; during formal processing, the information processor automatically calculates the matching motor speed by continuously acquiring the feed speed F, x and y coordinates of the circular motion of the stirring head, And synchronously convey it to the motor, and the lower pressing device is driven by the motor to rotate, which provides a processing space for the movement of the stirring head, and realizes the follow-up automatic control of the fixture.

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