Ultrasonic continuous welding equipment and welding method thereof

Abstract

The invention discloses ultrasonic continuous welding equipment and a welding method thereof. The ultrasonic continuous welding equipment comprises a rack, a track extending to the outside is arranged below the rack, a trolley is movably assembled on the track, and a bearing wall plate is fixed on the trolley; a main cross beam and an auxiliary cross beam which are arranged in parallel are assembled on the top of the rack in a sliding mode through guide rails, a welding actuator is installed on the main cross beam through a main mechanical arm, and an auxiliary actuator is installed on the auxiliary cross beam through an auxiliary mechanical arm. The placing rack is used for placing stringers in order; during actual welding, the auxiliary mechanical arm can grab the stringer and place the stringer at a preset welding position through the auxiliary actuator, the auxiliary actuator fixes the position of the stringer relative to the wall plate, spot welding of the welding actuator is combined to fix the stringer relative to the wall plate, and then continuous welding is conducted according to a preset path. The problem of deflection deformation in the welding process is effectively solved, the device is particularly suitable for welding of long and thin pieces, and the welding quality of automatic welding is greatly improved and guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, in particular to an ultrasonic continuous welding equipment and a welding method thereof. Background Art

[0002] There are various connection methods used for composite components, mainly including riveting, gluing, bolting and welding. The welding connection methods are mainly composed of resistance welding, induction welding and ultrasonic welding. The existing ultrasonic welding is mainly spot welding, that is, the ultrasonic welding head contacts the workpiece and then immediately loses contact with the workpiece. The welding range is small and can only be connected in a small range, and long-distance welding between workpieces cannot be achieved.

[0003] With the development of domestic large aircraft, the application of thermoplastic composite materials in large aircraft has become increasingly prominent. The connection of traditional composite materials in large aircraft is mainly based on metal riveting. Due to the large number of aircraft components, a large amount of metal is consumed in the riveting process, which leads to an increase in the weight of the aircraft and an increase in energy consumption. Therefore, ultrasonic continuous welding technology has become an important means of connecting thermoplastic composite components of large aircraft.

[0004] However, most components of large aircraft are long strips of stringers welded on the aircraft wall panels. Most of the stringers are large-span components with a length of several meters. Precise positioning is required during the welding process, otherwise deformation and displacement will occur, resulting in the scrapping of the entire workpiece. The present invention focuses on introducing a fully automatic large aircraft cabin wall panel and stringer ultrasonic continuous welding equipment and welding process. Summary of the invention

[0005] To solve the above problems, the present invention provides an ultrasonic continuous welding device and a welding method with a reasonable structure, thereby effectively solving the problem of deflection deformation during welding, and is particularly suitable for welding of slender parts, greatly improving and ensuring the welding quality.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An ultrasonic continuous welding device comprises a frame, a track extending to the outside is arranged below the frame, a trolley is movably mounted on the track, and a load-bearing wall plate is fixed on the trolley; a main crossbeam and a secondary crossbeam arranged in parallel are slidably mounted on the top of the frame via a guide rail, a welding actuator is installed on the main crossbeam via a main mechanical arm, and an auxiliary actuator is installed on the secondary crossbeam via an auxiliary mechanical arm; and a placement frame is also included for orderly placing long girders.

[0008] As a further improvement of the above technical solution:

[0009] The structure of the welding actuator is as follows: it includes a back plate, a welding machine is installed in the middle of the side of the back plate, and the welding machine is equipped with a welding head facing downward; a pre-pressing mechanism and a pressure-maintaining mechanism are respectively installed on both sides of the welding machine, the pressure wheel at the bottom end of the pre-pressing mechanism is located in the front part of the forward direction of the welding head, and the pressure wheel at the bottom end of the pressure-maintaining mechanism is located in the rear part of the forward direction of the welding head.

[0010] The pre-pressing mechanism and the pressure-maintaining mechanism are symmetrically installed at the front and rear of the welding machine, and the structures of the pre-pressing mechanism and the pressure-maintaining mechanism are the same; the structure of the pre-pressing mechanism is: it includes a downward pressure cylinder, the output end of the downward pressure cylinder is downward and is installed with a moving seat, a sliding seat is installed under the moving seat for sliding back and forth, a wheel seat is installed at the lower part of the sliding seat for swinging back and forth, and a pressure wheel is installed on the wheel seat; the sliding seat is fixed relative to the moving seat by a top screw.

[0011] A swing arm is embedded in the upper part of the wheel seat, and the swing arm is rotatably installed on the sliding seat via a pin shaft; an arc groove is opened on the sliding seat, and a swing pin running through the swing arm is installed in the arc groove, and the arc groove is arranged with the pin shaft as the center.

[0012] The auxiliary actuator includes a support plate, on which a clamping assembly and a guide assembly are arranged and installed in the front and back of the support plate. The clamping assembly absorbs the long stringer via a suction cup, and the guide assembly is guided and limited on the surface of the long stringer via a guide wheel.

[0013] The structure of the clamping assembly is as follows: it includes a clamping cylinder installed on the support plate, a clamping seat is installed on the output end of the clamping cylinder facing downward, the bottom surface of the clamping seat is arranged in the shape of the long stringer, and a plurality of suction cups are installed on the clamping seat;

[0014] The structure of the guide assembly is as follows: it includes a guide cylinder installed on a support plate, a guide seat is installed at the downward output end of the guide cylinder, and a guide wheel is installed on the bottom surface of the guide seat; the guide wheel includes a pair of guide wheels 1 arranged axially in the left-right direction and a pair of guide wheels 2 arranged axially in the vertical direction.

[0015] The top surface of the trolley is an inwardly concave arc structure, the wall panel is matched with the top surface of the trolley in profile, and the wall panel is fixed on the trolley via clamping pieces arranged in order on the edge.

[0016] The placement rack comprises a platform, on which two or more groups of vertical plates are installed at intervals, and each group of vertical plates comprises a plurality of vertical plates arranged in parallel and at intervals, and an accommodating groove for accommodating a long stringer is formed between adjacent vertical plates.

[0017] A welding method using the ultrasonic continuous welding device, wherein the ultrasonic continuous welding device is used to weld long stringers on a wall panel, wherein a plurality of long stringers are arranged in parallel and at intervals along the length direction of the wall panel;

[0018] The welding method comprises the following steps:

[0019] The wall panel is hoisted and placed on the trolley, and the trolley is moved along the track to the welding area inside the frame, and locked in place;

[0020] The auxiliary actuator moves to the placement rack, and the suction cup in the clamping assembly sucks the long stringer, and the guide assembly is away from the long stringer;

[0021] The auxiliary actuator moves the sucked long stringer to the set position of the wall panel, and the welding actuator reaches the end of the long stringer for spot welding, so that the long stringer is fixed relative to one end of the wall panel;

[0022] The guide assembly in the auxiliary actuator works downward and is guided by the guide wheel to be limited on the surface of the long stringer, and the clamping assembly stops working and moves away from the long stringer;

[0023] The auxiliary actuator drives the guide assembly to move along the length direction of the long stringer, and the guide wheel maintains the guide limit position with the long stringer;

[0024] As the auxiliary actuator moves, the welding position is released, and the welding actuator then performs two or more interval spot welding between the long stringer and the wall plate, forming a spot welding fixation of more than three points;

[0025] The auxiliary actuator exits the welding area, and the welding actuator performs continuous welding along the length direction of the long stringer according to a preset welding path.

[0026] As a further improvement of the above technical solution:

[0027] After the wall panel moves to the welding area with the trolley and is locked in position, the actual position of the wall panel is confirmed by teaching, including the following steps:

[0028] A triangularly arranged target is set on the wall panel to establish a workpiece coordinate system; another target is coaxially installed on the end of the welding actuator, and the target at the end of the welding actuator is sequentially contacted with the target on the wall panel for teaching to determine the actual position of the wall panel.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention provides welding actuators and auxiliary actuators which act independently and cooperate with each other. During actual welding, the auxiliary robot arm can grab the long stringer through the auxiliary actuator and place it in a preset welding position. The auxiliary actuator fixes the position of the long stringer relative to the wall panel. The spot welding of the welding actuator is combined to fix the long stringer relative to the wall panel. Then, continuous welding is performed according to a preset path. This effectively solves the problem of deflection deformation during welding. The invention is particularly suitable for welding of slender parts, which greatly improves and guarantees the welding quality.

[0031] The present invention also includes the following advantages:

[0032] The pressure wheel in the pre-pressing mechanism and the pressure-maintaining mechanism is installed at the output end of the downward pressure cylinder via a slide seat and a swing arm, which can effectively ensure that the pressure wheel applies downward force to the workpiece below.

[0033] Through the setting of the auxiliary actuator, especially the setting of the clamping assembly and the guide assembly in the auxiliary actuator, not only can the automatic loading of the long stringer before welding be realized, but also the long stringer can be effectively and reliably fixed relative to the wall panel during the spot welding process, effectively reducing or even avoiding the welding deviation of the long stringer due to deflection, thereby ensuring the welding quality and realizing the automation of welding.

[0034] During the ultrasonic continuous welding process performed by the welding actuator, the welding head is in close contact with the workpiece, causing the workpiece to melt. The pre-pressing mechanism located in front of the welding head in the forward direction presses the workpiece to keep it in contact and fit. The pressure-maintaining mechanism located behind the welding head in the forward direction presses the workpiece that is still in a molten state to ensure complete contact, thereby ensuring the welding effect when it cools down. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of the present invention.

[0036] Figure 2 It is a schematic structural diagram of the welding actuator of the present invention.

[0037] Figure 3 It is a structural schematic diagram of the pre-pressing mechanism in the welding actuator of the present invention.

[0038] Figure 4 It is a structural schematic diagram of the auxiliary actuator of the present invention.

[0039] Figure 5 It is a schematic diagram of the state when the wall panel is supported on the trolley of the present invention.

[0040] Figure 6 for Figure 5 A partial enlarged view of point A in the middle.

[0041] Figure 7 It is a structural schematic diagram of the placement rack of the present invention.

[0042] Figure 8 It is a schematic diagram of the guide assembly and the long stringer of the present invention in working state.

[0043] Among them: 1. Track; 2. Frame; 3. Trolley; 4. Welding actuator; 5. Main beam; 6. Secondary beam; 7. Auxiliary actuator; 8. Placement rack; 10. Wall plate; 11. Target; 20. Long girder;

[0044] 21. Guide rails;

[0045] 30. Clamping parts;

[0046] 40. Main mechanical arm; 41. Back plate; 42. Welding machine; 43. Down-pressing cylinder; 44. Moving seat; 45. Sliding seat; 46. Wheel seat; 47. Pressing wheel; 48. Welding head; 49. Support; 441. T-type assembly structure; 451. Arc groove; 460. Swing arm; 461. Swing pin; 462. Pin shaft; 491. Cylinder seat;

[0047] 70. Auxiliary robot arm; 71. Support plate; 72. Clamping cylinder; 73. Guide member 1; 74. Clamping seat; 75. Guide cylinder; 76. Guide member 2; 77. Guide seat; 78. Guide wheel 1; 79. Guide wheel 2; 741. Suction cup;

[0048] 81. Platform; 82. Vertical board. DETAILED DESCRIPTION

[0049] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0050] like Figure 1 As shown, an ultrasonic continuous welding device of this embodiment includes a frame 2, a track 1 extending to the outside is provided below the frame 2, a trolley 3 is movably mounted on the track 1, and a load-bearing wall panel 10 is fixed on the trolley 3; a main beam 5 and a secondary beam 6 arranged in parallel are slidably mounted on the top of the frame 2 via a guide rail 21, a welding actuator 4 is installed on the main beam 5 via a main robotic arm 40, and an auxiliary actuator 7 is installed on the secondary beam 6 via an auxiliary robotic arm 70; and also includes a placement rack 8 for orderly placing long beams 20.

[0051] In this embodiment, by setting a welding actuator 4 and an auxiliary actuator 7 which act independently and cooperate with each other, during actual welding, the auxiliary robot arm 70 can grab the long stringer 20 through the auxiliary actuator 7 and place it in a preset welding position. The auxiliary actuator 7 fixes the position of the long stringer 20 relative to the wall panel 10, and the spot welding of the welding actuator 4 is combined to achieve the fixation of the long stringer 20 relative to the wall panel 10, and then continuous welding is performed according to the preset path, which effectively solves the problem of deflection deformation during welding.

[0052] In this embodiment, the trolley 3 can move from the outside to the inside or from the inside to the outside relative to the frame 2 via the track 1, which is convenient for loading and unloading workpieces including the wall panels 10 on the trolley 3, and is particularly suitable for lifting and loading and unloading large-sized and heavy-weight workpieces.

[0053] In this embodiment, the placement rack 8 is used for orderly storage of the long stringers 20, which effectively helps to realize the automation of the entire welding process.

[0054] In this embodiment, the sliding assembly of the main beam 5 and the auxiliary beam 6 relative to the frame 2 can adopt a conventional linear motion mechanism, such as a linear drive, a gear rack structure driven by a motor, etc., which can be selected according to actual needs.

[0055] like Figure 2 As shown, the structure of the welding actuator 4 is as follows: it includes a back plate 41, a welding machine 42 is installed in the middle of the side of the back plate 41, and the welding machine 42 is equipped with a welding head 48 facing downward; a pre-pressing mechanism and a pressure-maintaining mechanism are respectively installed on both sides of the welding machine 42, and the pressure wheel 47 at the bottom end of the pre-pressing mechanism is located in the front part of the forward direction of the welding head 48, and the pressure wheel 47 at the bottom end of the pressure-maintaining mechanism is located in the rear part of the forward direction of the welding head 48.

[0056] In this embodiment, during the ultrasonic continuous welding process performed by the welding actuator 4, the welding head 48 is in close contact with the workpiece to melt the workpiece, and the pre-pressing mechanism located in front of the welding head 48 in the forward direction presses the workpiece to keep the workpiece in contact and fit. The pressure-maintaining mechanism located behind the welding head 48 in the forward direction presses the workpiece that is still in a molten state to ensure complete contact, thereby ensuring the welding effect when it is cooled.

[0057] The pre-pressing mechanism and the pressure-maintaining mechanism are symmetrically installed in front and behind the welding machine 42, and the structures of the pre-pressing mechanism and the pressure-maintaining mechanism are the same; Figure 3 As shown, the structure of the pre-pressing mechanism is: it includes a downward pressing cylinder 43, the output end of the downward pressing cylinder 43 faces downward and is installed with a moving seat 44, a slide seat 45 is installed below the moving seat 44 for sliding back and forth, a wheel seat 46 is installed at the lower part of the slide seat 45 for swinging back and forth, and a pressure wheel 47 is installed on the wheel seat 46; the slide seat 45 is fixed relative to the moving seat 44 by a top screw.

[0058] In this embodiment, the pressure wheel 47 in the pre-pressing mechanism and the pressure-maintaining mechanism is swingably mounted on the output end of the downward pressure cylinder 43 via the slide 45, which can effectively ensure that the pressure wheel 47 contacts and applies force to the workpiece below.

[0059] In the present embodiment, a sliding mounting structure in the front-to-back direction is formed between the top of the slide 45 and the bottom of the moving seat 44 via a T-shaped mounting structure 441; in actual use, the specific position of the slide 45 relative to the moving seat 44 can be adjusted according to actual needs, thereby adjusting the actual distance between the pressure wheel 47 in the pre-pressing mechanism and the pressure-maintaining mechanism and the welding head 48, so as to adapt to the parameter requirements in different welding scenarios and effectively help to ensure the welding quality; when the slide 45 moves to a preset appropriate position relative to the moving seat 44, the slide 45 is fixed relative to the moving seat 44 using a top screw.

[0060] In this embodiment, the movable seat 44 can be set as an L-shaped structure, and one side of the movable seat 44 is slidably assembled with the support 49 via a guide component, and the other side of the movable seat 44 is equipped with a slide seat 45; the downward pressure cylinder 43 can be installed on the support 49 via a cylinder seat 491, and a space for the movable seat 44 to slide and slidably fit is formed between the support 49 and the cylinder seat 491. The overall layout is compact, reasonable and ingenious.

[0061] A swing arm 460 is embedded in the upper part of the wheel seat 46, and the swing arm 460 is rotatably installed on the slide seat 45 via the pin shaft 462; an arc groove 451 is opened on the slide seat 45, and the swing pin 461 passing through the swing arm 460 is fitted in the arc groove 451, and the arc groove 451 is arranged with the pin shaft 462 as the center.

[0062] In this embodiment, an elastic member, such as a torsion spring, can be installed on the pin shaft 462. When no force is applied, the elastic member can be used to maintain the swing arm 460 at a preset angle relative to the slide seat 45. When force is applied, the elastic member is overcome and the swing arm 460 swings relative to the slide seat 45 with the pin shaft 462 as the center.

[0063] When in use, the pressing wheel 47 is driven downward by the pressing cylinder 43. After the pressing wheel 47 moves downward and contacts the workpiece, as the pressing cylinder 43 continues to move downward, the swing arm 460 drives the pressing wheel 47 to swing upward relative to the slide 45, effectively ensuring reliable contact and downward pressure between the pressing wheel 47 and the workpiece.

[0064] In this embodiment, the swing range of the swing arm 460 relative to the slide seat 45 can be limited by the length of the arc groove 451 .

[0065] In this embodiment, the swing arm 460 uses a rotating shaft to install the wheel seat 46, and the axial direction of the rotating shaft is perpendicular to the axial direction of the pin shaft 462. The rotating shaft allows the wheel seat 46 to have a certain rotation margin in the left and right directions relative to the swing arm 460 to adapt to the uneven surface of the welding workpiece and the fit between the pressure wheel 47 and the workpiece surface.

[0066] like Figure 4 As shown, the auxiliary actuator 7 includes a support plate 71, on which a clamping assembly and a guide assembly are arranged and installed in the front and back. The clamping assembly absorbs the long stringer 20 via a suction cup 741, and the guide assembly is guided and limited to the surface of the long stringer 20 via a guide wheel.

[0067] In this embodiment, through the setting of the auxiliary actuator 7, especially the setting of the clamping assembly and the guide assembly in the auxiliary actuator 7, not only can the automatic loading of the long stringer 20 before welding be achieved, but also the long stringer 20 can be effectively and reliably fixed relative to the wall panel 10 during the spot welding process, effectively reducing or even avoiding the welding deviation of the long stringer 20 due to deflection, thereby ensuring the welding quality and realizing the automation of welding.

[0068] The structure of the clamping assembly is as follows: it includes a clamping cylinder 72 installed on a support plate 71, a clamping seat 74 is installed at the downward output end of the clamping cylinder 72, the bottom surface of the clamping seat 74 is configured to conform to the long stringer 20, and a plurality of suction cups 741 are installed on the clamping seat 74.

[0069] In the present embodiment, the cross-section of the long stringer 20 is triangular, and one side surface (or flange) of the long stringer 20 is attached to the wall panel 10 during welding; the clamping seat 74 can be set as an inverted V-shaped structure that imitates the long stringer 20, and the other two side surfaces of the long stringer 20 are accommodated in the inverted V-shaped structure, and the suction cups 741 adsorb the other two side surfaces of the long stringer 20, thereby realizing the clamping of the long stringer 20 by the clamping assembly, which is convenient for the transfer of the long stringer 20.

[0070] In this embodiment, a guide member 73 is further installed between the clamping seat 74 and the support plate 71.

[0071] The structure of the guide assembly is as follows: it includes a guide cylinder 75 installed on the support plate 71, a guide seat 77 is installed at the downward output end of the guide cylinder 75, and a guide wheel is installed on the bottom surface of the guide seat 77; the guide wheel includes a pair of guide wheels 1 78 arranged axially in the left-right direction and a pair of guide wheels 2 79 arranged axially in the vertical direction.

[0072] In this embodiment, the guide wheel 1 78 and the guide wheel 2 79 can cooperate to limit and fix the long stringer 20 in the up and down directions and the left and right directions, respectively, so as to effectively keep its position relatively fixed and prevent the long stringer 20 from bending and deforming.

[0073] In this embodiment, the guide wheel 1 78 and the guide wheel 2 79 respectively apply force to the surface of the long stringer 20 through the circumferential surface contact, and the guide wheel 1 78 is arranged lower than the guide wheel 2 79 .

[0074] In the present embodiment, the flanges on both sides of the long stringer 20 are fitted to the inner side of the wall panel 10, and force can be applied to the flanges via the guide wheel 1 78, thereby effectively ensuring the reliable fit between the long stringer 20 and the wall panel 10 and achieving fixed limitation in the up and down directions; at the same time, the guide wheel 2 79 is fitted to apply force to the side surfaces of the long stringer 20 at an angle, thereby achieving fixed limitation in the left and right directions, especially effectively preventing the deflection and deformation of the long stringer 20 in the length direction.

[0075] In this embodiment, two sets of guide wheels 1 78 and guide wheels 2 79 may be spaced apart in the front-rear direction, to effectively ensure the position limitation of the long stringer 20 and keep its position fixed.

[0076] In this embodiment, a second guide member 76 is installed between the guide seat 77 and the support plate 71 .

[0077] like Figure 5 and Figure 6 As shown, the top surface of the trolley 3 is an inwardly concave arc structure, the wall panel 10 matches the top surface of the trolley 3 in shape, and the wall panel 10 is fixed on the trolley 3 via clamping members 30 arranged in an orderly manner on the edge.

[0078] In actual use, the top surface of the trolley 3 can also be set to be suitable for welding structural wall panels 10 of other shapes.

[0079] In this embodiment, the clamping member 30 can be a component including a U-shaped seat and a locking member. The U-shaped seat is buckled on the edge of the wall panel 10 and the trolley 3, and the locking member passes through the side wall of one side of the U-shaped seat and moves toward the other side wall, thereby clamping and fixing the wall panel 10 and the trolley 3 between the locking member and the other side wall of the U-shaped seat.

[0080] like Figure 7 As shown, the placement rack 8 includes a platform 81, on which two or more groups of vertical plates 82 are installed at intervals, and each group of vertical plates 82 includes a plurality of vertical plates 82 arranged in parallel and at intervals, and adjacent vertical plates 82 form a receiving groove for accommodating the long stringer 20, thereby achieving orderly and stable placement of the long stringer 20 and facilitating automatic loading.

[0081] This embodiment also proposes a welding method using an ultrasonic continuous welding device, wherein a long stringer 20 is welded on a wall panel 10 using an ultrasonic continuous welding device, and a plurality of long strings 20 are arranged in parallel and spaced apart along the length direction of the wall panel 10;

[0082] The welding method includes the following steps:

[0083] Step 1: hoist the wall panel 10 onto the trolley 3, move the trolley 3 along the track 1 to the welding area inside the frame 2, and lock it in place;

[0084] At the same time, the long stringers 20 are placed on the placement rack 8 in an orderly manner along the receiving grooves formed by the vertical plates 82 .

[0085] Step 2: The auxiliary actuator 7 moves to the placement rack 8 , and the suction cup 741 in the clamping assembly sucks the long stringer 20 . At this time, the guide assembly is away from the long stringer 20 .

[0086] Specifically, the clamping cylinder 72 in the clamping assembly works to drive the clamping seat 74 downward to be buckled above the long stringer 20 , and the long stringer 20 is sucked by the clamping assembly in combination with the adsorption of the suction cup 741 .

[0087] Step 3: The auxiliary actuator 7 moves the sucked long stringer 20 to the set position of the wall panel 10, and the welding actuator 4 reaches the end of the long stringer 20 for spot welding, so that the long stringer 20 is fixed relative to one end of the wall panel 10.

[0088] Step 4: The guide assembly in the auxiliary actuator 7 works downward and is guided by the guide wheel to be limited on the surface of the long stringer 20, and the clamping assembly stops working and moves away from the long stringer 20.

[0089] Specifically, the guide cylinder 75 in the guide assembly works to drive the guide seat 77 downward, so that the guide wheel 1 78 and the guide wheel 2 79 are respectively fitted and applied to the surface of the long stringer 20; and the clamping cylinder 72 in the clamping assembly moves upward, so that the clamping seat 74 moves upward and separates from the long stringer 20.

[0090] Step 5: The auxiliary actuator 7 drives the guide assembly to move along the length direction of the long stringer 20 , and the guide wheel maintains the guide limit position with the long stringer 20 .

[0091] Specifically, as the guide assembly moves, the guide wheel attached to the surface of the long stringer 20 rotates and moves accordingly. Figure 8 As shown, the guide wheel 1 78 applies force to the flanges on both sides of the long stringer 20, and the guide wheel 2 79 applies force to the side surfaces on both sides of the long stringer 20 at an included angle, and the shape guidance and positioning of the long stringer 20 are achieved by moving the guide assembly.

[0092] Step 6: As the auxiliary actuator 7 moves, the long stringer 20 is guided along the length direction, and on the other hand, a welding position is made available, and the welding actuator 4 then performs two or more interval spot welding between the long stringer 20 and the wall panel 10, forming a spot welding fixation of more than three points;

[0093] In actual operation, the long stringer 20 can be fixed relative to the wall panel 10 by three-point spot welding at the head, middle and tail of the long stringer 20 , so that the long stringer 20 is basically fixed on the wall panel 10 .

[0094] Step 7: The auxiliary actuator 7 exits the welding area, and the welding actuator 4 performs continuous welding along the length direction of the long stringer 20 according to a preset welding path.

[0095] In actual automated operations, the models of the wall panels 10 and the long girder 20 can be imported into the motion control software, and the starting point and end point of the welding, as well as the motion parameters including the motion speed, offset, motion compensation, etc., and the welding parameters including the consolidation pressure and welding speed, etc. can be set through the control software.

[0096] After the wall panel 10 moves to the welding area with the trolley 3 and is locked in position, the actual position of the wall panel 10 is confirmed by a teaching method, including the following steps:

[0097] A triangularly arranged target 11 is provided on the wall panel 10, and a sharp point is provided on the target 11, which is called the workpiece coordinate center point, to establish a workpiece coordinate system; another target 11 is coaxially installed at the end of the welding actuator 4, and a sharp point called the tool coordinate center point is provided on the target 11, and the target 11 at the end of the welding actuator 4 is sequentially contacted with the target 11 on the wall panel 10 through teaching, that is, the tool coordinate center point is sequentially matched with the workpiece coordinate center point, to determine the actual position of the wall panel 10 in the control system.

[0098] In this embodiment, the targets 11 can be temporarily fixed to the wall panel 10 by means of bolts or bonding. In actual operation, the targets 11 arranged in a triangular pattern can be set above the edges of both sides of the wall panel 10 .

[0099] The invention effectively solves the problem of deflection deformation during welding, is particularly suitable for welding of slender parts, and greatly improves and ensures the welding quality of automated welding.

[0100] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0101] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. An ultrasonic continuous welding device, characterized in that: The invention comprises a frame (2), a track (1) extending to the outside is arranged below the frame (2), a trolley (3) is movably arranged on the track (1), and a bearing wall plate (10) is fixed on the trolley (3); a main crossbeam (5) and a secondary crossbeam (6) arranged in parallel are slidably arranged on the top of the frame (2) via a guide rail (21), a welding actuator (4) is installed on the main crossbeam (5) via a main mechanical arm (40), and an auxiliary actuator (7) is installed on the secondary crossbeam (6) via an auxiliary mechanical arm (70); and a placement frame (8) is also included for orderly placing long beams (20).

2. The ultrasonic continuous welding equipment according to claim 1, characterized in that: The structure of the welding actuator (4) is as follows: it includes a back plate (41), a welding machine (42) is installed in the middle of the side of the back plate (41), and the welding machine (42) is equipped with a welding head (48) facing downward; a pre-pressing mechanism and a pressure-maintaining mechanism are respectively installed on both sides of the welding machine (42), the pressure wheel (47) at the bottom end of the pre-pressing mechanism is located in the front part of the forward direction of the welding head (48), and the pressure wheel (47) at the bottom end of the pressure-maintaining mechanism is located in the rear part of the forward direction of the welding head (48).

3. An ultrasonic continuous welding device as claimed in claim 2, characterized in that: The pre-pressing mechanism and the pressure-maintaining mechanism are symmetrically installed at the front and rear of the welding machine (42), and the structures of the pre-pressing mechanism and the pressure-maintaining mechanism are the same; the structure of the pre-pressing mechanism is: it includes a downward pressure cylinder (43), the output end of the downward pressure cylinder (43) is downward and is installed with a movable seat (44), a slide seat (45) is installed under the movable seat (44) for sliding back and forth, a wheel seat (46) is installed at the lower part of the slide seat (45) for swinging back and forth, and a pressure wheel (47) is installed on the wheel seat (46); the slide seat (45) is fixed relative to the movable seat (44) by a top screw.

4. An ultrasonic continuous welding device as claimed in claim 3, characterized in that: A swing arm (460) is embedded in the upper part of the wheel seat (46), and the swing arm (460) is rotatably mounted on the slide seat (45) via a pin shaft (462); an arc groove (451) is provided on the slide seat (45), and a swing pin (461) passing through the swing arm (460) is fitted in the arc groove (451), and the arc groove (451) is arranged with the pin shaft (462) as the center of the circle.

5. The ultrasonic continuous welding equipment according to claim 1, characterized in that: The auxiliary actuator (7) comprises a support plate (71), on which a clamping assembly and a guide assembly are arranged and installed at the front and rear sides, the clamping assembly adsorbs the long stringer (20) via a suction cup (741), and the guide assembly is guided and limited on the surface of the long stringer (20) via a guide wheel.

6. The ultrasonic continuous welding equipment according to claim 5, characterized in that: The structure of the clamping assembly is as follows: it comprises a clamping cylinder (72) mounted on a support plate (71); a clamping seat (74) is mounted on the output end of the clamping cylinder (72) facing downward; the bottom surface of the clamping seat (74) is arranged in the same shape as the long stringer (20); and a plurality of suction cups (741) are mounted on the clamping seat (74); The structure of the guide assembly is as follows: it comprises a guide cylinder (75) mounted on a support plate (71); a guide seat (77) is mounted on the output end of the guide cylinder (75) facing downward; a guide wheel is mounted on the bottom surface of the guide seat (77); the guide wheel comprises a pair of guide wheels (78) arranged in a left-right direction and a pair of guide wheels (79) arranged in a vertical direction.

7. The ultrasonic continuous welding equipment according to claim 1, characterized in that: The top surface of the trolley (3) is an inwardly concave arc-shaped structure, the wall panel (10) is matched with the top surface of the trolley (3) in profile, and the wall panel (10) is fixed on the trolley (3) via clamping pieces (30) arranged in an orderly manner on the edge.

8. The ultrasonic continuous welding equipment according to claim 1, characterized in that: The placement rack (8) comprises a platform (81), on which two or more groups of vertical plates (82) are installed at intervals, and each group of vertical plates (82) comprises a plurality of vertical plates (82) arranged in parallel and at intervals, and an accommodating groove for accommodating the long stringer (20) is formed between adjacent vertical plates (82).

9. A welding method of the ultrasonic continuous welding equipment according to claim 5, characterized in that: The ultrasonic continuous welding device is used to weld long stringers (20) on the wall panel (10), and a plurality of long stringers (20) are arranged in parallel and at intervals along the length direction of the wall panel (10); The welding method comprises the following steps: The wall panel (10) is hoisted and placed on the trolley (3), and is moved along the track (1) with the trolley (3) to the welding area inside the frame (2), and locked in place; The auxiliary actuator (7) moves to the placement rack (8), and the suction cup (741) in the clamping assembly sucks the long stringer (20), and the guide assembly is away from the long stringer (20); The auxiliary actuator (7) moves the sucked long stringer (20) to a set position of the wall panel (10), and the welding actuator (4) reaches the end of the long stringer (20) for spot welding, so that the long stringer (20) is fixed relative to one end of the wall panel (10); The guide assembly in the auxiliary actuator (7) works downward and is guided by the guide wheel to be limited to the surface of the long stringer (20), and the clamping assembly stops working and moves away from the long stringer (20); The auxiliary actuator (7) drives the guide assembly to move along the length direction of the long stringer (20), and the guide wheel maintains a guide limit position with the long stringer (20); As the auxiliary actuator (7) moves, the welding position is released, and the welding actuator (4) then performs two or more interval spot welding between the long stringer (20) and the wall plate (10), thereby forming a spot welding fixation of more than three points; The auxiliary actuator (7) exits the welding area, and the welding actuator (4) performs continuous welding along the length direction of the long stringer (20) according to a preset welding path.

10. The welding method of the ultrasonic continuous welding equipment according to claim 9, characterized in that: After the wall panel (10) moves to the welding area with the trolley (3) and is locked in position, a teaching method is used to confirm the actual position of the wall panel (10), including the following steps: A triangularly arranged target (11) is arranged on the wall panel (10) to establish a workpiece coordinate system; another target (11) is coaxially installed at the end of the welding actuator (4), and the target (11) at the end of the welding actuator (4) is sequentially contacted with the target (11) on the wall panel (10) for teaching, so as to determine the actual position of the wall panel (10).

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