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CN-121972770-A - Intelligent welding device and method for processing aluminum alloy templates

CN121972770ACN 121972770 ACN121972770 ACN 121972770ACN-121972770-A

Abstract

The invention relates to the technical field of intelligent welding and bionic robots, in particular to an intelligent welding device and method for processing an aluminum alloy template; the system comprises a base, a cable driving winch, a multi-section bionic welding arm, a double-spiral elastic cooling flow passage, a variable-rigidity skin, a gas protection welding gun, a vacuum negative pressure system and the like; the device combines the cable driving and pneumatic stiffness changing principle, the winch tightens the high-strength steel cable to drive the bionic arm to flexibly bend and enter the deep cavity of the workpiece, the core is that after the welding pose is reached, a vacuum negative pressure system is utilized to pump air from the multi-layer alternately stacked stiffness changing skins, the films are tightly pressed by atmospheric pressure, so that the flexible bionic arm is transiently locked into a rigid state, the technical problems that the traditional rigid arm is difficult to penetrate into a narrow space and the conventional flexible arm cannot effectively resist arc counter force are solved, and the flexibility of penetrating into an unstructured space and the stability of rigid support during arc starting welding are both considered by utilizing the design of rigid-flexible state conversion.

Inventors

  • GE XIU
  • LIU TONG
  • FENG CHAO
  • REN LINGYAN

Assignees

  • 河南法施科模架有限公司

Dates

Publication Date
20260505
Application Date
20260317

Claims (9)

  1. 1. An intelligent welding set that aluminum alloy template processing was used, its characterized in that includes: a base (100) fixedly provided with a cable drive winch (110), the output shaft (112) of which is connected with a plurality of high-strength steel cables (210); A multi-section bionic welding arm (200), one end of which is fixed on the base (100) and the other end of which extends to form a free end, wherein the free end comprises a plurality of hollow joint frameworks (220) which are hinged in sequence, a high-strength steel cable (210) passes through a circumferential guide hole (221) of the high-strength steel cable, and the tail end of the high-strength steel cable is fixed on the hollow joint framework (220) at the tail end; a double-spiral elastic cooling flow passage (300) penetrating through the inner cavity (223) of the hollow joint skeleton (220), and the outer wall (310) of the double-spiral elastic cooling flow passage is in fit contact with the inner wall of the hollow joint skeleton (220); The variable-rigidity skin (400) is wrapped outside the multi-section bionic welding arm (200) and is formed by alternately stacking a plurality of films, and the edges of the variable-rigidity skin are sealed to form an airtight cavity (410); The wire feeding mechanism is connected with the gas shielded welding gun (500) through a wire feeding hose; The cooling circulation system (600) is connected with two ends of the double-spiral elastic cooling flow channel (300) and used for injecting high-pressure cooling liquid; and the controller is electrically connected with the cable driving winch (110), the wire feeding mechanism, the gas shielded welding gun (500), the vacuum negative pressure system (700) and the cooling circulation system (600) respectively.
  2. 2. The intelligent welding device for processing the aluminum alloy templates according to claim 1, wherein the double-spiral elastic cooling flow channel (300) is wound in a double-spiral structure, and the spiral winding direction of the double-spiral elastic cooling flow channel (300) is opposite to the torsion moment generated when the high-strength steel cable (210) drives the multi-section bionic welding arm (200) to bend.
  3. 3. The intelligent welding device for processing the aluminum alloy template according to claim 1, wherein the variable stiffness skin (400) is formed by alternately laminating a plurality of aramid papers (420) and a plurality of spring steel sheets (430), and the vacuum negative pressure system (700) comprises a vacuum pump and a high-frequency electromagnetic proportional valve (710).
  4. 4. The intelligent welding device for processing the aluminum alloy templates according to claim 1, wherein the cable driving winch (110) is connected with three high-strength steel cables (210) distributed in an equilateral triangle shape, and adjacent hollow joint frameworks (220) are connected through a spherical hinge structure (222).
  5. 5. The intelligent welding device for aluminum alloy template machining according to claim 1, wherein the double-spiral elastic cooling flow channel (300) is made of a silica gel composite material and is configured to generate radial expansion to form interference fit with the inner wall of the hollow joint skeleton (220) when high-pressure cooling liquid is filled.
  6. 6. The control method is applied to the intelligent welding device for processing the aluminum alloy template according to any of claims 1 to 5, and is characterized by comprising the following steps: S1, controlling the cooling circulation system (600) to inject high-pressure cooling liquid into the double-spiral elastic cooling flow channel (300) to build hydrostatic pressure, controlling the cable driving winch (110) to tighten the high-strength steel cable (210), and driving the multi-section bionic welding arm (200) to bend into a workpiece deep cavity; s2, controlling the vacuum negative pressure system (700) to exhaust the airtight cavity (410) of the variable-rigidity skin (400), and pressing the films by using atmospheric pressure to lock the multi-section bionic welding arm (200) into a rigid state; S3, controlling the gas shielded welding gun (500) to start an arc for welding, and collecting air extraction flow data of the vacuum negative pressure system (700) and welding current data of the gas shielded welding gun (500) in real time; s4, calculating the extrusion contact force of a workpiece to the gas shielded welding gun (500) based on the pulsation characteristic of the air extraction flow data, and calculating the shaking state of the tail end of the gas shielded welding gun (500) based on the pulsation characteristic of the welding current data; s5, calculating a target damping coefficient according to the calculation result, and controlling the vacuum negative pressure system (700) to execute pulse pressure regulation; And if the detected vibration amplitude of the tail end of the gas shielded welding gun (500) exceeds a preset tolerance, controlling to improve the vacuum degree.
  7. 7. The control method according to claim 6, wherein in step S1, the centripetal pressing force generated by the high-strength wire rope (210) and the radial expansion force generated by the double spiral elastic cooling flow passage (300) cancel each other.
  8. 8. The control method according to claim 6, characterized in that step S4 includes: Performing time domain analysis on the collected air extraction flow data and filtering pulsation noise lower than a preset frequency threshold value; if the mutation that the change rate of the air extraction flow data exceeds a preset threshold value is detected, calculating the change trend of the extrusion contact force according to mutation characteristics; and if the deviation of the fluctuation frequency of the welding current data and the wire feeding frequency is detected to be in a preset resonance interval, judging that the tail end of the gas shielded welding gun (500) is buffeting.
  9. 9. The control method according to claim 6, characterized in that step S5 includes: and alternately switching high vacuum and low vacuum states in a preset high-frequency period by utilizing a high-frequency electromagnetic proportional valve (710), so that the multi-section bionic welding arm (200) is in a damping state corresponding to the target damping coefficient.

Description

Intelligent welding device and method for processing aluminum alloy templates Technical Field The invention relates to the technical field of intelligent welding and bionic robots, in particular to an intelligent welding device and method for processing an aluminum alloy template. Background In the manufacturing process of the aluminum alloy template, continuous welding operation is often required to be carried out in a C-shaped reinforcing rib deep cavity, the deep cavity is extremely narrow in inner space and belongs to a complex unstructured physical environment, meanwhile, dynamic deformation interference caused by high-frequency welding vibration and workpiece heating is also accompanied in the welding process, in order to meet the requirement of the deep cavity welding, the prior art generally faces the dilemma that flexibility and rigidity are difficult to be compatible, if a traditional rigid welding mechanical arm is adopted, the traditional rigid welding mechanical arm is difficult to avoid obstacles and smoothly goes deep into a narrow cavity for operation due to the fact that the physical form is fixed and the space freedom degree is low, and if the traditional flexible driving mechanical arm is adopted, the problem of flexibility of space crossing and entering is solved, but due to the fact that the self-structure bearing capacity is weak, arc counter force cannot be effectively resisted in the arc starting welding, the phenomenon of instability and the high-frequency vibration phenomenon of a tail end welding gun is extremely easy to be caused when the extrusion contact force and the high-frequency dynamic thermal deformation are faced, and finally the welding seam forming quality is reduced or damaged due to mechanical collision. Therefore, how to make the welding device not only have flexibility deep into narrow and long limited space, but also dynamically adjust self damping under the interference of complex thermodynamic coupling to provide reliable rigid support, thereby maintaining high-precision welding posture, and becoming a technical problem to be solved. Disclosure of Invention In order to solve the technical problems, the invention provides an intelligent welding device and a method for processing an aluminum alloy template, and specifically, the technical scheme of the invention is as follows: an intelligent welding device for processing an aluminum alloy template, comprising: The base is fixedly provided with a cable driving winch, and the output shaft of the base is connected with a plurality of high-strength steel cables; The multi-section bionic welding arm comprises a plurality of hollow joint frameworks which are hinged in sequence, a high-strength steel cable penetrates through a circumferential guide hole of the multi-section bionic welding arm, one end of the high-strength steel cable is fixed on a base, and the other end of the high-strength steel cable extends to form a free end; The double-spiral elastic cooling flow passage penetrates through the inner cavity of the hollow joint skeleton, and the outer wall of the double-spiral elastic cooling flow passage is in matched contact with the inner wall of the hollow joint skeleton; The variable stiffness skin is wrapped outside the multi-section bionic welding arm and is formed by alternately stacking a plurality of films, and the edges of the variable stiffness skin are sealed to form an airtight cavity; The wire feeding mechanism is connected with the gas protection welding gun through a wire feeding hose; the cooling circulation system is connected with two ends of the double-spiral elastic cooling flow channel and used for injecting high-pressure cooling liquid; and the controller is respectively and electrically connected with the cable driving winch, the wire feeding mechanism, the gas shielded welding gun, the vacuum negative pressure system and the cooling circulation system. In some embodiments, the double-spiral elastic cooling flow channel is wound in a double-spiral structure, and the spiral winding direction of the double-spiral elastic cooling flow channel is opposite to the torsion moment generated when the high-strength steel cable drives the multi-section bionic welding arm to bend. In some embodiments, the variable stiffness skin is formed by alternately laminating a plurality of aramid papers and a plurality of spring steel sheets, and the vacuum negative pressure system comprises a vacuum pump and a high-frequency electromagnetic proportional valve. In some embodiments, the cable driving winch is connected with three high-strength steel cables distributed in an equilateral triangle, and adjacent hollow joint frameworks are connected through a spherical hinge structure. In some embodiments, the double helical elastic cooling flow channel is made of a silicone composite material and is configured to radially expand to form an interference fit with an inner wall of the hollow joint skeleton when filled wit