Flexible welding device and method for aircraft guide pipe

Abstract

The invention belongs to the field of aeronautical manufacturing, and relates to an aircraft duct flexible welding device which comprises a base platform, a linear motion module, a rotary motion module, a sorting module, a control module and a positioner base. The base platform is fixed on the ground, and the linear motion module is fixed above the base platform; the rotary motion module is fixed above the linear motion module; a positioner base is mounted above the rotary motion module; the linear motion module is used for adjusting the three-dimensional coordinates of the positioner base, and the rotary motion module is used for adjusting the spatial attitude of the positioner base; a sorting module is fixed beside the base platform; the sorting module is used for selecting the positioners and mounting the positioners on the positioner base; and the control module is used for controlling the linear motion module, the rotary motion module and the sorting module.

Description

Technical Field

[0001] The invention belongs to the field of aviation manufacturing and relates to a flexible welding device and method for an aircraft duct. Background Art

[0002] The duct assemblies in aviation equipment are assembled by welding. The existing duct assembly welding is mainly based on rigid welding fixtures for positioning and detection, and is mainly manual. According to the changes in duct diameter, duct posture and duct joints, each duct assembly of a certain structure needs to provide a set of dedicated rigid welding fixtures. However, the interchangeability of rigid welding fixtures is poor, resulting in the need for a large number of rigid welding fixtures to meet the various structural changes of duct assemblies. A large number of dedicated rigid welding fixtures has greatly increased the welding cost; the existing duct assembly positioning welding method is mainly manual, and the workers' different operating levels lead to unstable welding quality. Summary of the invention

[0003] Purpose of the invention: The present invention overcomes the deficiencies in the prior art and provides an aircraft duct flexible welding device and method, which realizes reconfigurable flexible welding of duct components through a combination of standard modules + multi-specification assembly modules.

[0004] Technical solution:

[0005] An aircraft duct flexible welding device comprises: a base platform, a linear motion module, a rotary motion module, a sorting module, a control module, and a positioner base;

[0006] The base platform is fixed on the ground, a linear motion module is fixed above the base platform; a rotary motion module is fixed above the linear motion module; and a positioner base is installed above the rotary motion module;

[0007] The linear motion module is used to adjust the three-dimensional coordinates of the positioner base, and the rotational motion module is used to adjust the spatial posture of the positioner base;

[0008] A sorting module is fixed next to the base platform; the sorting module is used to pick up the locator and install it on the locator base;

[0009] The control module is used to control the linear motion module, the rotary motion module and the sorting module.

[0010] Further, the base platform includes: a rectangular frame, a horizontal linear guide rail, a horizontal lead screw, a lead screw motor module, and a module zero return reset detection mechanism;

[0011] Three horizontal linear guide rails are installed on the upper end surface of the rectangular frame, two of which are adjacently arranged along one long side, and another horizontal linear guide rail is arranged along the other long side;

[0012] A plurality of horizontal lead screws are arranged along the length direction in the rectangular frame; N lead screw motor modules are arranged on the plurality of horizontal lead screws; the lead screw motor modules can move along the lead screws;

[0013] The module zero return reset detection mechanism is used to detect whether the screw motor module is reset in place.

[0014] Furthermore, N mutually parallel linear motion modules are installed on the horizontal linear guide rail of the base platform, and each linear motion module is connected to a lead screw motor module, and the lead screw motor module is used to drive the linear motion module to move along the horizontal linear guide rail;

[0015] The N rotary motion modules are respectively mounted on the N linear motion modules.

[0016] Further, the linear motion module includes: a Y-axis motion component;

[0017] The Y-axis motion assembly includes: a vertical lead screw, a vertical linear guide rail, a lead screw lifter stepper motor unit, two positioning slide blocks, and a horizontal plate;

[0018] Two positioning slide blocks are respectively arranged on the horizontal linear guide rails and slide along the horizontal linear guide rails;

[0019] A vertical linear guide rail is installed on the side walls of the two positioning slide blocks respectively, and the vertical linear guide rail slides along the positioning slide blocks;

[0020] A horizontal plate is connected to the upper ends of the two vertical linear guide rails;

[0021] Two vertical lead screws are installed on the lower surface of the horizontal plate; two lead screw lifter stepper motor units are installed on two positioning slide blocks respectively;

[0022] The screw lifter stepper motor unit cooperates with the vertical screw to drive the horizontal plate to move up and down.

[0023] Further, the linear motion module also includes: an X-axis motion component;

[0024] The X-axis motion components include: X-axis horizontal linear guide rail, X-axis slider, horizontal lead screw, chain, and X-stepping motor;

[0025] The X-direction slider is arranged on the X-direction horizontal linear guide rail, and the chain is sleeved on the outside of the X-direction slider and arranged along the X-direction horizontal linear guide rail;

[0026] The horizontal lead screw is arranged parallel to the X-axis horizontal linear guide rail.

[0027] The horizontal plate is arranged with an X stepper motor, which drives the horizontal lead screw to rotate;

[0028] The X-direction sliding block is provided with a threaded hole, and the horizontal lead screw is screwed into the threaded hole of the X-direction sliding block.

[0029] Further, the rotary motion module includes: a Z-axis rotary mechanism and a Z connecting plate;

[0030] The Z-axis rotating mechanism is a worm gear assembly;

[0031] The worm gear assembly is arranged between the Z connecting plate and the X-direction slider;

[0032] The Z-axis rotation mechanism is used to drive the Z connecting plate to rotate around the Z axis.

[0033] Further, the rotary motion module includes: a Y-axis rotary mechanism and a Y-connecting plate;

[0034] The Y-axis rotating mechanism is a worm gear assembly;

[0035] The worm gear assembly is arranged between the Y connecting plate and the Z-direction slider;

[0036] The Z-axis rotation mechanism is used to drive the Y connecting plate to rotate around the Y axis.

[0037] Further, a cylinder is installed on the Y connecting plate, and a positioner base is installed above the cylinder.

[0038] A flexible welding method for aircraft ducts is implemented based on the above-mentioned device, and the method comprises:

[0039] S1: The control module converts the reverse scanning model of the catheter sample into catheter processing data, and the host computer performs calculation and analysis to obtain the motion positioning parameters of the motion module;

[0040] Motion positioning parameters include: catheter size, catheter welding coordinates and welding posture

[0041] S2: Start the control module to control the sorting module to work, and control the four-axis robot claw to pick up the locator that matches the size of the catheter through the stepping servo motor;

[0042] S3: The four-axis robot gripper installs the positioner in the positioner base and controls the cylinder to clamp the positioner;

[0043] S4: The control module controls the screw motor module and the linear motion module to adjust the positioner to the welding coordinate;

[0044] S5: The control module controls the rotary motion module to adjust the positioner to a welding posture;

[0045] S6: welding conduit;

[0046] S7: After welding is completed, the guide tube is removed, and the four-axis robot claw puts the positioner back to the sorting module; the control module controls the screw motor module to reset.

[0047] Beneficial effects: The present invention provides a flexible welding device and an operating method, which has the characteristics of automatic reconfiguration, solves the deficiencies in the processing capabilities and process technologies of existing welding fixtures, and provides a new set of automatic flexible welding process equipment. Through the mutual cooperation of the control module and the mechanical system, the welding clamping and positioning of the catheter assembly are accurate and fast.

[0048] Compared with the existing rigid welding fixture, the present invention saves fixture manufacturing costs, controls the positioning accuracy of the catheter assembly from about 0.5mm to within 0.1mm, and improves production efficiency by more than 3 times compared with the traditional rigid fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present invention includes 9 drawings, and the drawings and the descriptions of the drawings are as follows:

[0050] Figure 1 It is a schematic diagram of the flexible welding device of the present invention;

[0051] Figure 2 This is a schematic diagram of the base platform;

[0052] Figure 3 This is a schematic diagram of the installation position of the linear motion module and the rotary motion module on the base;

[0053] Figure 4 Schematic diagram of the structure of the linear motion module and the rotary motion module (1);

[0054] Figure 5 Schematic diagram of the structure of the linear motion module and the rotary motion module (2);

[0055] Figure 6 It is a schematic diagram of the structure of the rotary motion module;

[0056] Figure 7 This is a schematic diagram of the sorting module;

[0057] Figure 8 is a schematic diagram of the locator;

[0058] Fig. 9 This is a schematic diagram of the zero return reset mechanism;

[0059] Among them: 1. Base platform, 2. Linear motion module, 3. Rotary motion module, 4. Sorting module, 5. Control module, 6. Work ladder, 7a. Horizontal linear guide, 7b. Vertical linear guide, 8a. Horizontal lead screw, 8b. Vertical lead screw, 8c. Horizontal lead screw, 9. Lead screw motor module, 10. Module zero return mechanism, 11. XY guide slider mechanism, 12. Y rotation mechanism, 13. Z guide slider mechanism, 14. Positioning slider, 15. Bridge-type double-sided openable tank chain, 16. Lead screw lifter + stepper motor, 17. Stepper motor, 18. Turbine, 19. Worm, 20. Bearing, 21. Cylinder, 22. Positioner base, 23. Frame, 24. Four-axis machine claw, 25. Stepper servo motor, 26. Positioner, 27. Positioner placement plate, 28. Steel pin probe, 29. Proximity switch. DETAILED DESCRIPTION

[0060] The present invention provides a flexible welding device for aircraft ducts, such as Figure 1 As shown, the device is composed of five major parts: a base platform 1, a linear motion module 2, a rotary motion module 3, a sorting module 4, and a control module 5; and is equipped with a working ladder 6.

[0061] like Figure 2 , Figure 3 As shown, the base platform 1 includes three horizontal linear guide rails 7a parallel to each other along the length direction, two horizontal lead screws 8a, a lead screw motor module 9, and a module zero return reset mechanism 10.

[0062] The base platform is a rectangular frame structure, and three horizontal linear guide rails 7a are installed on the upper surface of the base platform, two of which are adjacently arranged along one long side, and the other horizontal linear guide rail 7a is arranged along the other long side.

[0063] Two horizontal lead screws are arranged in the base platform along the length direction; lead screw motor modules are installed on the two horizontal lead screws; and a module zero return reset mechanism is installed on the inner wall of the base platform.

[0064] Ten groups of mutually parallel linear motion modules 2 are installed on the horizontal linear guide rails of the base platform; and ten groups of rotary motion modules 3 are respectively installed on the ten groups of linear motion modules.

[0065] After being leveled, the base platform 1 is fixedly connected to the floor of the production workshop.

[0066] like Figure 4 , Figure 5 As shown, the linear motion module 2 and the rotary motion module 3 are composed of an XY guide rail slider mechanism 11, a Y-axis rotation mechanism 12, and a Z-axis rotation mechanism 13.

[0067] The XY guide rail slider mechanism 11 includes: a positioning slider 14, a bridge-type double-sided openable tank chain 15, two sets of horizontal linear guides 7c, a vertical linear guide 7b, a horizontal lead screw 8a, a vertical lead screw 8b, a lead screw lifter + stepper motor 16, and a stepper motor 17;

[0068] The Y-direction rotating mechanism 12 includes: a Y-direction turbine 18, a Y-direction worm 19, and a Y-direction bearing 20;

[0069] The Z-direction rotating mechanism 13 includes: a Z-direction turbine 18, a Z-direction worm 19, a Z-direction bearing 20,

[0070] A positioner cylinder 21 and a positioner base 22 are installed on the Z-axis rotating mechanism.

[0071] The XY guide rail slider mechanism 11 includes: a positioning slider 14, a bridge-type double-sided openable tank chain 15, two sets of horizontal linear guide rails 7c, a vertical linear guide rail 7b, a horizontal lead screw 8a, a vertical lead screw 8b, and a lead screw lifter + stepping motor 16;

[0072] The XY guide rail slider mechanism 11 is installed on three horizontal linear guide rails 7a on the base platform through three sliders 14 along the length direction of the base platform. Each set of XY guide rail slider mechanism 11 corresponds to a lead screw motor module 9.

[0073] Two layers of steel plates are laid in parallel on the slider 14, the steel plates are bolted to the slider, the two layers of steel plates are connected to two vertical linear guide rails 7b through connecting plates, and a vertical lead screw 8b, a lead screw lifter + stepper motor 16 are installed between the upper and lower layers of steel plates.

[0074] Two parallel horizontal linear guide rails 7a are laid on the upper steel plate, and a bridge-type double-sided openable tank chain 15 is parallel to the horizontal linear guide rail 7a; the horizontal lead screw 8c and the lead screw lifter + stepper motor 16 are connected by bolts between the vertical plate and the upper steel plate and installed above the horizontal linear guide rail 7a. Slide blocks are installed on the two parallel horizontal linear guide rails 7a, and the slide blocks drive the horizontal lead screw to move along the linear guide rails.

[0075] The Y-axis rotating mechanism 12 includes: a stepper motor 17, a Y-axis turbine 18, a Y-axis worm 19, and a Y-axis bearing 20; the stepper motor 17 controls the rotation of the turbine worm bearing to drive the Y-axis rotating mechanism to move, thereby realizing spatial posture adjustment in the Y direction.

[0076] The Y-rotation mechanism 12 is installed along the Y direction at one end of the XY guide rail slider mechanism 11, and is connected to the XY guide rail slider mechanism 11 on the horizontal lead screw 8c through a U-shaped connection seat.

[0077] The Z-direction rotating mechanism 13 includes a stepping motor 17 , a Z-direction turbine 18 , a Z-direction worm 19 , and a Z-direction bearing 20 .

[0078] The Z-axis rotating mechanism 13 is installed above the Y-axis rotating mechanism through an L-shaped connecting plate. A Z-axis turbine 18, a Z-axis worm 19, and a Z-axis bearing 20 are installed on one side of the L-plate. The stepper motor 17 controls the rotation of the Z-axis turbine 18, the Z-axis worm 19, and the Z-axis bearing 20 to drive the Z-axis rotating mechanism to move, thereby realizing the spatial posture adjustment in the Z direction. A positioner cylinder 21 and a positioner base 22 are installed on the other side of the L-plate. The positioner base 22 is installed on the positioner cylinder 21, and the positioner cylinder 21 is connected to the turbine and worm mechanism through a threaded pin.

[0079] like Figure 4 As shown, the sorting module 4 includes a frame 23, a four-axis machine claw 24, a stepping servo motor 25, positioners 26 of various specifications, and a positioner placement plate 27. The sorting module is fixedly connected to the floor of the production workshop by chemical bolts.

[0080] Working ladder: A working ladder is fixedly placed next to the base platform. The working ladder is an auxiliary platform for welding operations.

[0081] It serves as a safety protection.

[0082] Reset: The reset mechanism is installed on one side of the long side of the base platform by bolts. Ten steel pin probes are installed on the reset mechanism. Each steel pin probe corresponds to a group of proximity switches on the linear motion mechanism. The control system controls the motion mechanism to return to zero and reset. The steel pin probe is used to detect the spatial position of the proximity switch on the linear motion mechanism to determine whether the motion mechanism has returned to zero.

[0083] The working process of this device includes:

[0084] First, the control module 5 reverse scans the actual sample of the catheter assembly to model or convert the design digital model into catheter processing data, and the host computer performs calculations and analysis to obtain the motion module motion positioning parameters and generate the catheter assembly clamping state image. After the operator confirms that it is correct, the control module 5 is started to control the sorting module 4 to work, and the four-axis robot claw 24 is controlled by the stepping servo motor 25 to pick up the positioner 26 with the corresponding parameters.

[0085] The sorting module 4 is equipped with various specifications of positioners 26 according to the requirements. After the sorting module 4 picks up the positioner 26 according to the instruction, the four-axis robot claw 24 puts the positioner 26 into the designated positioner base 22 along the XY guide slider mechanism 11, the Y rotation mechanism 12, and the Z rotation mechanism 13. The clamping and loosening of the positioner base 22 are controlled by the cylinder 21.

[0086] After the positioner 26 is placed, the XY guide slider mechanism 11 drives the bridge-type double-sided openable tank chain 15 through the screw lifter + stepper motor 16 to realize the linear motion of the positioning slider 14 on the horizontal linear guide 7a. The screw lifter + stepper motor 16 and the screw motor module 9 control the movement of the mutually perpendicular screws 8a and 8b, so as to realize the precise positioning of the positioning slider 14 in the XY direction under the control of the horizontal linear guide 7a and the vertical linear guide 7b in cooperation with the horizontal screw 8a and the vertical screw 8b.

[0087] The Y-axis rotating mechanism 12 and the Z-axis rotating mechanism 13 drive the turbine 18, the worm 19 and the bearing 20 to move through the stepping motor 17, so as to realize the precise rotation positioning of the positioning slide block 14 in space.

[0088] The catheter assembly is precisely positioned with 6 degrees of freedom through the XY guide slider mechanism 11, the Y rotation mechanism 12, and the Z rotation mechanism 13. The catheter assembly posture is generally adjusted to the positioning state set by the control module 5, and the positioning welding process of the catheter assembly is performed.

[0089] After the positioning welding process of the catheter assembly is completed, the finished catheter assembly is removed, and the control module 5 senses the position of the proximity switch 29 connected to the linear motion module 2 through the 10 groups of steel pin probes 28 on the module zero reset mechanism 10, and controls the XY guide slider mechanism 11, the Y rotation mechanism 12, and the Z rotation mechanism 13 to return to the initial 0 position, and the sorting module 4 picks up the locator 26 and puts it back into the square hole in the placement plate 27, and finally the entire system returns to the zero position.

[0090] Embodiment 1

[0091] Combined with Figure 1 A flexible welding device and method for aircraft ducts of the present invention are described in detail. The device consists of a base platform 1, a linear motion module 2, a rotary motion module 3, a sorting module 4, and a control module 5; and is equipped with a working ladder 6.

[0092] like Figure 2 , Figure 3 As shown, the base platform 1 includes three horizontal linear guide rails 7a parallel to each other along the length direction, two horizontal lead screws 8a, a lead screw motor module 9, and a module zero return reset mechanism 10. Ten groups of mutually parallel linear motion modules 2 and rotary motion modules 3 are installed on the base platform 1 along the length direction. After leveling, the base platform 1 is fixedly connected to the floor of the production workshop.

[0093] like Figure 4 , Figure 5As shown, the linear motion module 2 and the rotary motion module 3 are composed of an XY guide slider mechanism 11, a Y rotation mechanism 12, and a Z rotation mechanism 13. And each set of XY guide slider mechanism 11, Y rotation mechanism 12, and Z rotation mechanism 13 is equipped with a positioning slider 14 for controlling the direction, a bridge-type double-sided openable tank chain 15, two sets of horizontal linear guides 7a, vertical linear guides 7b, horizontal lead screw 8a, vertical lead screw 8b, lead screw lifter + stepper motor 16, stepper motor 17, turbine 18, worm 19, bearing 20, cylinder 21, and positioner base 22.

[0094] like Figure 4 As shown, the sorting module 4 includes a frame 23, a four-axis machine claw 24, a stepping servo motor 25, positioners 26 of various specifications, and a positioner placement plate 27. The sorting module is fixedly connected to the floor of the production workshop by chemical bolts.

[0095] The working process of this device includes:

[0096] First, the control module 5 reverse scans the actual sample of the catheter assembly to model or convert the design digital model into catheter processing data, and the host computer performs calculations and analysis to obtain the motion module motion positioning parameters and generate the catheter assembly clamping state image. After the operator confirms that it is correct, the control module 5 is started to control the sorting module 4 to work, and the four-axis robot claw 24 is controlled by the stepping servo motor 25 to pick up the positioner 26 with the corresponding parameters.

[0097] The sorting module 4 is equipped with various specifications of positioners 26 according to the requirements. After the sorting module 4 picks up the positioner 26 according to the instruction, the four-axis robot claw 24 puts the positioner 26 into the designated positioner base 22 along the XY guide slider mechanism 11, the Y rotation mechanism 12, and the Z rotation mechanism 13. The clamping and loosening of the positioner base 22 are controlled by the cylinder 21.

[0098] After the positioner 26 is placed, the XY guide slider mechanism 11 drives the bridge-type double-sided openable tank chain 15 through the screw lifter + stepper motor 16 to realize the linear motion of the positioning slider 14 on the horizontal linear guide 7a. The screw lifter + stepper motor 16 and the screw motor module 9 control the movement of the mutually perpendicular screws 8a and 8b, so as to realize the precise positioning of the positioning slider 14 in the XY direction under the control of the horizontal linear guide 7a and the vertical linear guide 7b in cooperation with the horizontal screw 8a and the vertical screw 8b.

[0099] The Y-axis rotating mechanism 12 and the Z-axis rotating mechanism 13 drive the turbine 18, the worm 19 and the bearing 20 to move through the stepping motor 17, so as to realize the precise rotation positioning of the positioning slide block 14 in space.

[0100] The catheter assembly is precisely positioned with 6 degrees of freedom through the XY guide slider mechanism 11, the Y rotation mechanism 12, and the Z rotation mechanism 13. The catheter assembly posture is generally adjusted to the positioning state set by the control module 5, and the positioning welding process of the catheter assembly is performed.

[0101] After the positioning welding process of the catheter assembly is completed, the finished catheter assembly is removed, and the control module 5 senses the position of the proximity switch 29 connected to the linear motion module 2 through the 10 groups of steel pin probes 28 on the module zero reset mechanism 10, and controls the XY guide slider mechanism 11, the Y rotation mechanism 12, and the Z rotation mechanism 13 to return to the initial 0 position, and the sorting module 4 picks up the locator 26 and puts it back into the square hole in the placement plate 27, and finally the entire system returns to the zero position.

Claims

1. A flexible welding device for aircraft ducts, characterized in that: The device includes: Base platform, linear motion module, rotary motion module, sorting module, control module, positioner base; The base platform is fixed on the ground, a linear motion module is fixed above the base platform; a rotary motion module is fixed above the linear motion module; and a positioner base is installed above the rotary motion module; The linear motion module is used to adjust the three-dimensional coordinates of the positioner base, and the rotational motion module is used to adjust the spatial posture of the positioner base; A sorting module is fixed next to the base platform; the sorting module is used to pick up the locator and install it on the locator base; The control module is used to control the linear motion module, the rotary motion module and the sorting module.

2. The device according to claim 1, characterized in that: The base platform includes: a rectangular frame, a horizontal linear guide rail, a horizontal lead screw, a lead screw motor module, and a module zero return reset detection mechanism; Three horizontal linear guide rails are installed on the upper end surface of the rectangular frame, two of which are adjacently arranged along one long side, and another horizontal linear guide rail is arranged along the other long side; A plurality of horizontal lead screws are arranged along the length direction in the rectangular frame; N lead screw motor modules are arranged on the plurality of horizontal lead screws; the lead screw motor modules can move along the lead screws; The module zero return reset detection mechanism is used to detect whether the screw motor module is reset in place.

3. The device according to claim 2, characterized in that: N mutually parallel linear motion modules are installed on the horizontal linear guide rail of the base platform, and each linear motion module is connected to a lead screw motor module, which is used to drive the linear motion module to move along the horizontal linear guide rail; The N rotary motion modules are respectively mounted on the N linear motion modules.

4. The device according to claim 3, characterized in that: The linear motion module includes: Y-axis motion component; The Y-axis motion assembly includes: a vertical lead screw, a vertical linear guide rail, a lead screw lifter stepper motor unit, two positioning slide blocks, and a horizontal plate; Two positioning slide blocks are respectively arranged on the horizontal linear guide rails and slide along the horizontal linear guide rails; A vertical linear guide rail is installed on the side walls of the two positioning slide blocks respectively, and the vertical linear guide rail slides along the positioning slide blocks; A horizontal plate is connected to the upper ends of the two vertical linear guide rails; Two vertical lead screws are installed on the lower surface of the horizontal plate; two lead screw lifter stepper motor units are installed on two positioning slide blocks respectively; The screw lifter stepper motor unit cooperates with the vertical screw to drive the horizontal plate to move up and down.

5. The device according to claim 4, characterized in that: The linear motion module also includes: an X-axis motion component; The X-axis motion components include: X-axis horizontal linear guide rail, X-axis slider, horizontal lead screw, chain, and X-stepping motor; The X-direction slider is arranged on the X-direction horizontal linear guide rail, and the chain is sleeved on the outside of the X-direction slider and arranged along the X-direction horizontal linear guide rail; The horizontal lead screw is arranged parallel to the X-axis horizontal linear guide rail. The horizontal plate is arranged with an X stepper motor, which drives the horizontal lead screw to rotate; The X-direction sliding block is provided with a threaded hole, and the horizontal lead screw is screwed into the threaded hole of the X-direction sliding block.

6. The device according to claim 5, characterized in that: The rotary motion module includes: a Z-axis rotary mechanism and a Z connecting plate; The Z-axis rotating mechanism is a worm gear assembly; The worm gear assembly is arranged between the Z connecting plate and the X-direction slider; The Z-axis rotation mechanism is used to drive the Z connecting plate to rotate around the Z axis.

7. The device according to claim 6, characterized in that: The rotary motion module includes: a Y-axis rotary mechanism and a Y connecting plate; The Y-axis rotating mechanism is a worm gear assembly; The worm gear assembly is arranged between the Y connecting plate and the Z-direction slider; The Z-axis rotation mechanism is used to drive the Y connecting plate to rotate around the Y axis.

8. The device according to claim 7, characterized in that: The cylinder is installed on the Y connecting plate, and the positioner base is installed above the cylinder.

9. A method for flexible welding of aircraft ducts, implemented based on any of the above-mentioned devices, characterized in that: Methods include: S1: The control module converts the reverse scanning model of the catheter sample into catheter processing data, and the host computer performs calculation and analysis to obtain the motion positioning parameters of the motion module; Motion positioning parameters include: catheter size, catheter welding coordinates and welding posture S2: Start the control module to control the sorting module to work, and control the four-axis robot claw to pick up the locator that matches the size of the catheter through the stepping servo motor; S3: The four-axis robot gripper installs the positioner in the positioner base and controls the cylinder to clamp the positioner; S4: The control module controls the screw motor module and the linear motion module to adjust the positioner to the welding coordinate; S5: The control module controls the rotary motion module to adjust the positioner to a welding posture; S6: welding conduit; S7: After welding is completed, the guide tube is removed, and the four-axis robot claw puts the positioner back to the sorting module; the control module controls the screw motor module to reset.

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