Titanium tube laser welding and sealing equipment for sealing seed source and method of titanium tube laser welding and sealing equipment

Abstract

The invention relates to the technical field of laser welding and sealing equipment, in particular to titanium tube laser welding and sealing equipment for sealing a seed source and a method thereof.The titanium tube laser welding and sealing equipment comprises a station rotating stand capable of periodically rotating by 60 degrees, an upper gear ring and a middle gear ring which synchronously rotate are installed on the station rotating stand, and a lower gear ring which coaxially and reversely rotates with the middle gear ring is further installed on the station rotating stand; six positioning cylinders are mounted on the station rotating stand, a clamping cylinder is rotationally mounted in each positioning cylinder, a clamping module is mounted in each clamping cylinder, and a feeding station, a clamping pre-detection station, a welding station, a post-detection station, a clamping loosening station and a discharging station are sequentially arranged on the station rotating stand in the clockwise direction. The station rotating frame capable of periodically rotating by 60 degrees is designed, the feeding station, the clamping pre-detection station, the welding station, the post-detection station, the clamping loosening station, the discharging station and other stations are arranged in order, cooperative operation of the temperature control mechanism is matched, and an efficient and coherent process flow is successfully constructed.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding and sealing equipment, and particularly to a titanium tube laser welding and sealing equipment and method for sealing seed sources. Background Art

[0002] In the manufacturing of radioactive medical equipment, high-precision laser welding technology is required for titanium tube encapsulation of sealed seed sources to ensure airtightness. In the prior art, most laser welding equipment uses fixed workstations or simple rotating structures to complete the welding of titanium tube caps. For example, the patent with publication number CN119407318A discloses a titanium tube laser automatic welding and sealing device, which realizes welding through laser welding combined with a cooling structure. However, such equipment still has significant defects in actual applications:

[0003] Insufficient process coherence: Traditional equipment lacks multi-station collaborative design, and the connection between welding, detection, and cooling processes is not smooth, resulting in a long processing cycle and inability to achieve continuous and efficient production;

[0004] Low degree of automation: The clamping of titanium tubes, adjustment of welding parameters, and quality inspection rely on manual operations, which are prone to introducing human errors and difficult to meet the requirements of precision sealing;

[0005] Poor mechanical synergy: There is no linkage between the laser welding process, temperature control, and dynamic clamping. The temperature in the heat-affected zone during welding fluctuates greatly, easily causing deformation of titanium tubes or uneven weld strength, affecting the sealing reliability.

[0006] In addition, existing laser welding equipment has technical bottlenecks in multi-angle welding of titanium tubes and real-time temperature control, and it is difficult to meet the strict requirements of medical-grade sealed seed sources for welding precision and stability. Therefore, there is an urgent need for a laser welding and sealing equipment that integrates multi-station collaboration, automatic control, and precise temperature control to improve the processing efficiency and finished product quality of titanium tube sealing. Summary of the Invention

[0007] In view of the technical problems existing in the prior art, the present invention provides a titanium tube laser welding and sealing equipment and method for sealing seed sources to solve the technical bottlenecks existing in the existing laser welding equipment in multi-angle welding of titanium tubes and real-time temperature control, and it is difficult to meet the strict requirements of medical-grade sealed seed sources for welding precision and stability.

[0008] The technical solution of the present invention to solve the above technical problems is as follows: a titanium tube laser welding sealing device for sealing seed sources, comprising a station turret that can rotate periodically by 60 degrees, an upper gear ring and a middle gear ring that rotate synchronously are installed on the station turret, a lower gear ring that rotates coaxially with the middle gear ring and in the opposite direction is also installed on the station turret, six positioning cylinders are installed on the station turret, a clamping cylinder is rotatably installed in each of the positioning cylinders, a clamping module is installed in the clamping cylinder, and a loading station, a clamping pre-detection station, and a welding station are sequentially arranged on the station turret in a clockwise direction. , post-inspection station, unclamping station and unloading station. The clamping pre-inspection station and post-inspection station are both equipped with detection components. The welding station is provided with a welding component. It also includes a fixed-point transmission module and a temperature control mechanism. The fixed-point drive module drives the clamping module to achieve clamping at the clamping pre-inspection station and to achieve unclamping at the unclamping station. The fixed-point drive module drives the clamping cylinder to spin at the welding station and the post-inspection station. The temperature control mechanism drives the clamping cylinder to preheat at the loading station, the clamping pre-inspection station and the welding station, and dissipate heat at the post-inspection station, the unclamping station and the unloading station.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, it also includes a bracket, on which a single-chip microcomputer is installed, the work station turret is rotatably installed on the bracket, a positive shaft is rotatably installed on the inner wall of the work station turret, and a reverse shaft is rotatably installed on the inner wall of the positive shaft, the upper gear ring and the middle gear ring are fixedly installed on the positive shaft, and the lower gear ring is fixedly installed on the reverse shaft, a servo motor is installed on the bracket, the output shaft end of the servo motor is transmission-connected with a synchronous belt, the positive shaft is transmission-connected with the synchronous belt, a reverse shaft is rotatably installed on the bracket, a reverse bevel gear is installed on the reverse shaft, a driven bevel gear is installed on both the positive shaft and the reverse shaft, the two driven bevel gears are transmission-connected with the reverse bevel gear, and the two driven bevel gears are respectively arranged on both sides of the reverse bevel gear.

[0011] The beneficial effect of adopting the above scheme is that the servo motor is started before use, and the servo motor drives the positive shaft to rotate through the synchronous belt, thereby causing the upper gear ring and the middle gear ring to rotate synchronously. When the positive shaft rotates, it drives the driven bevel gear on it to rotate, and the driven bevel gear drives the driven bevel gear on the counter-shaft to rotate in the opposite direction through the reverse bevel gear, so that the reverse shaft drives the lower gear ring and the middle gear ring to rotate coaxially and in the opposite direction, providing a power basis for the coordinated operation of subsequent workstations, solving the power transmission problem of synchronous and reverse rotation of multiple gear rings. Compared with the existing technology, this transmission method has a compact structure and stable transmission, can effectively ensure the accuracy of equipment operation, and avoids instability and error accumulation during power transmission.

[0012] Furthermore, a differential shaft is rotatably mounted on the bracket, a large toothed pulley is mounted on the differential shaft, a small toothed pulley is fixedly mounted on the output shaft end of the servo motor, a toothed belt is transmission-connected between the large toothed pulley and the small toothed pulley, the radius of the large toothed pulley is 6 to 10 times the radius of the small toothed pulley, an incomplete gear is mounted on the differential shaft, an indexing gear is mounted on the workstation turret, a transmission tooth surface is provided on the incomplete gear, the transmission tooth surface is transmission-connected to the indexing gear, the central angle corresponding to the transmission tooth surface is 60°, and the radius of the incomplete gear is the same as that of the indexing gear.

[0013] The beneficial effect of adopting the above scheme is that when in use, the servo motor drives the small toothed pulley to rotate, and the small toothed pulley drives the large toothed pulley to rotate through the toothed belt. Since the radius of the large toothed pulley is 6-10 times the radius of the small toothed pulley, it plays a role in reducing speed and increasing torque. The large toothed pulley drives the differential shaft to rotate, and the incomplete gear on the differential shaft rotates accordingly. When the transmission tooth surface of the incomplete gear contacts the indexing gear, it drives the workstation turret to rotate 60° clockwise to realize the switching of the workstation, solving the problem of periodic and precise rotation of the workstation turret. Compared with the existing technology, this differential transmission structure is simple and low in cost, can accurately control the rotation angle and speed of the workstation turret, and improves the production efficiency and processing accuracy of the equipment.

[0014] Furthermore, the chuck is movably filled with the titanium tube to be welded, the titanium tube to be welded is movably filled with a sealed seed source, a cover is provided on the top of the titanium tube to be welded, and a weld to be welded is provided between the cover and the titanium tube to be welded.

[0015] The beneficial effect of adopting the above-mentioned further scheme is that during the operation of the equipment, the clamp can stably fix and support the titanium tube to be welded, so that the sealed seed source in the titanium tube to be welded is in a stable state, which is convenient for subsequent welding operations. The weld seam between the cover and the titanium tube to be welded provides a clear position for welding, which solves the problem of fixing and positioning the sealed seed source during the welding process. Compared with the existing technology, this structural design ensures the accuracy of welding, reduces the risk of leakage of the sealed seed source, and improves the quality and safety of the product.

[0016] Furthermore, the detection component includes two electric push rods, and the bottom ends of the two electric push rods are each equipped with a pressing rubber head and a visual acquisition probe facing the seam to be contained, and the data ends of the two visual acquisition probes are both connected to the microcontroller data.

[0017] The beneficial effects of adopting the above further solution are as follows. At the clamping pre-detection station, the electric push rod pushes the pressing rubber head to press the sealing cap, and makes the sealing cap stably clamped on the titanium tube to be welded. At the same time, the visual acquisition probe at the clamping pre-detection station performs visual acquisition to judge the levelness of the sealing cap and the width of the weld seam to be welded, thereby facilitating the setting of the welding parameters of the welding assembly.

[0018] At the post-detection station, the electric push rod works reciprocally and pushes the pressing rubber head to reciprocally press the welded sealing cap. Through the reciprocal pressing, the welding strength between the sealing cap and the titanium tube to be welded is tested.

[0019] At the same time, the visual acquisition probe collects the image data of the weld seam to be welded and transmits it to the single-chip microcomputer. The single-chip microcomputer performs image analysis and recognition on the data to judge whether the weld strength is qualified.

[0020] Through the setting of the double detection components, the problems of weld quality detection before and after welding are solved. Compared with the prior art, this detection method has strong real-time performance and high precision, can timely detect the defects existing in the weld seam, avoid unqualified products from entering the next process, and reduce the production cost.

[0021] Further, the welding assembly includes a lifting frame. A set of lifting push rods are installed between the lifting frame and the bracket. A linear transmission module is installed inside the lifting frame. A moving frame is drivingly installed on the linear transmission module. A laser welder is installed on the moving frame.

[0022] The beneficial effects of adopting the above further solution are as follows. During use, at the welding station, the lifting push rod pushes the lifting frame to rise or fall, so that the laser welder reaches the appropriate welding height. The linear transmission module drives the moving frame to move, thereby controlling the laser welder to perform precise welding at the weld seam to be welded, solving the problems of position adjustment and welding path control of the laser welder. Compared with the prior art, this welding assembly can flexibly adjust the welding position and angle, can adapt to titanium tubes to be welded with different specifications, and improves the flexibility and adaptability of welding.

[0023] Further, the clamping module includes a bidirectional lead screw rotatably connected inside the clamping cylinder. A positive thread section and a reverse thread section are respectively arranged on the bidirectional lead screw. A clamping block is drivingly installed on both the positive thread section and the reverse thread section. The inner wall of the clamping cylinder is slidably connected with two symmetrically arranged clamping pliers. A connecting rod is hinged between each of the two clamping blocks and the clamping pliers. An upper gear is installed at the bottom of the clamping cylinder. A middle gear and a lower gear are respectively installed at the bottom of the driving lead screw.

[0024] The beneficial effects of adopting the above further scheme are as follows. At the pre-detection station for clamping, the fixed-point drive module drives the middle gear to rotate, the middle gear drives the bidirectional lead screw to rotate, and the positive thread section and the reverse thread section on the bidirectional lead screw cause the two clamping blocks to move towards each other, and the clamp is pushed by the connecting rod to clamp the titanium tube to be welded. At the unclamping station, the fixed-point drive module drives the lower gear to rotate in the reverse direction to release the clamp, solving the problems of stable clamping and release of the titanium tube to be welded. Compared with the prior art, this clamping method has a simple structure and uniform clamping force, can effectively prevent the titanium tube to be welded from displacing during the welding process, and ensures the welding quality.

[0025] Further, the fixed-point drive module includes two couplings and two transmission shafts. The two couplings are respectively arranged at the pre-detection station for clamping and the unclamping station. A linkage gear is installed on each of the two couplings. One linkage gear is in transmission fit with the middle gear ring and the middle gear, and the other linkage gear is in linkage fit with the lower gear and the lower gear ring. The two transmission shafts are respectively arranged at the welding station and the post-detection station. A transmission gear is installed on each of the two transmission shafts, and the transmission gear is in transmission fit with the upper gear ring and the upper gear.

[0026] The beneficial effects of adopting the above further scheme are as follows. At the pre-detection station for clamping, the linkage gear in fit with the middle gear ring and the middle gear drives the middle gear to rotate to achieve clamping. At the unclamping station, the linkage gear in fit with the lower gear ring and the lower gear drives the lower gear to rotate to achieve unclamping. At the welding station and the post-detection station, the transmission gear drives the upper gear to rotate respectively, so that the clamping cylinder rotates by itself, facilitating 360° welding and 360° detection of the titanium tube, solving the problem of action control of the clamping cylinder and the clamping module under different stations. Compared with the prior art, this fixed-point drive method can accurately control the actions of each station, improving the automation degree and working efficiency of the equipment.

[0027] Further, the temperature control mechanism includes a temperature control cylinder, a valve cylinder rotatably sleeved on the temperature control cylinder, a hot air blower and a cold air blower mounted on the bracket. An isolated heating chamber and an air cooling chamber are defined in the temperature control cylinder. The hot air outlet of the hot air blower communicates with the heating chamber, and the air outlet of the cold air blower communicates with the air cooling chamber. Heat distribution holes communicating with the heating chamber are formed in the temperature control cylinder corresponding to the positions of the tight clamping pre-detection station, the loading station and the welding station. Cold air supply holes communicating with the air cooling chamber are formed in the temperature control cylinder corresponding to the positions of the post-detection station, the loose clamping station and the unloading station. A flow channel with an open bottom end is fixedly formed inside the bidirectional lead screw. The bottom end of the flow channel is rotatably communicated with a three-way pipe through a rotary joint. The other two ends of the three-way pipe are communicated with the valve cylinder corresponding to the positions of the heating chamber and the air cooling chamber respectively. A cavity communicating with the flow channel is formed inside the clamping cylinder. Two groups of symmetrically arranged through holes communicating with the cavity are formed in the clamping cylinder. A group of electric heating rods are arranged inside the clamping cylinder. Conductive terminals for supplying power to the group of electric heating rods are arranged on the clamping cylinder. A conductive arc rail is mounted on the bracket. The conductive terminals are adapted to the conductive arc rail. The central angle corresponding to the conductive arc rail is 120°. The conductive arc rail is located between the loading station and the welding station.

[0028] The beneficial effects of adopting the above further scheme are as follows. At the tight clamping pre-detection station, the loading station and the welding station, the hot air blower works. The hot air enters the clamping cylinder through the heating chamber, the heat distribution holes, the flow channel, the cavity and the through holes to preheat the clamping cylinder and the titanium tube to be welded. At the same time, the conductive terminals slide on the conductive arc rail to be electrified, and the electric heating rods assist in heating. At the post-detection station, the loose clamping station and the unloading station after welding, the cold air blower works. The cold air enters the clamping cylinder through the air cooling chamber and the cold air supply holes for heat dissipation. The problem of temperature control during the welding process is solved, and the deformation of the titanium tube or the decline of the welding quality caused by excessive temperature change is avoided. Compared with the prior art, this temperature control mechanism can accurately control the temperature before and after welding, improving the welding quality and the stability of the product.

[0029] A welding seam method for a titanium tube laser welding and sealing device for a sealed seed source includes the following steps:

[0030] SS01. Loading preparation: Place the titanium tube to be welded in the clamping cylinder, place the sealed seed source in the titanium tube to be welded, and install a cover on the top of the titanium tube to be welded to form a weld seam to be formed. At this time, the clamping cylinder is located at the loading station, and the hot air blower in the temperature control mechanism is started. The hot air enters the clamping cylinder through the heating chamber, the heat distribution holes, the flow channel, the cavity and the through holes to preheat the clamping cylinder and the titanium tube to be welded. At the same time, the conductive terminals slide on the conductive arc rail to be electrified, and the electric heating rods assist in heating;

[0031] SS02, clamping pre-detection: The station turret rotates 60° clockwise, and the clamp is moved to the clamping pre-detection station. The fixed-point drive module drives the middle gear to rotate, and the middle gear drives the bidirectional screw to rotate. The positive thread segment and the reverse thread segment on the bidirectional screw make the two clamping blocks move toward each other. The connecting rod pushes the clamp to clamp the titanium tube to be welded. The electric push rod in the detection component pushes the pressing rubber head to press the cover, so that the cover is stably connected to the titanium tube to be welded. At the same time, the visual acquisition probe collects the image data of the weld to be welded, and transmits it to the single-chip microcomputer for analysis and judgment of the cover levelness and the weld width to be welded, providing a basis for setting welding parameters for the welding assembly.

[0032] SS03, welding operation: the station turret rotates 60° again, the chuck reaches the welding station, the lifting push rod pushes the lifting frame up or down, so that the laser welder reaches the appropriate welding height, the linear transmission module drives the moving frame to move, and controls the laser welder to perform precise welding at the weld seam. During this process, the fixed-point drive module drives the chuck to spin, facilitating 360° welding of the titanium tube. At the same time, the temperature control mechanism continuously preheats the chuck and the titanium tube to be welded to ensure welding quality;

[0033] SS04, post-inspection process: After welding is completed, the chuck rotates with the station turret to the post-inspection station. The fixed-point drive module drives the chuck to spin to achieve 360° inspection. The electric push rod in the inspection component reciprocates to push the pressing rubber head to reciprocate and press the welded cover to test the welding strength between the cover and the titanium tube to be welded. The visual acquisition probe collects the image data of the weld and transmits it to the single-chip microcomputer. The single-chip microcomputer performs image analysis and recognition to determine whether the weld strength is qualified. At this time, the cooling fan starts, and the cold air enters the chuck through the air cooling chamber and the cold supply hole to dissipate heat;

[0034] SS05, unclamping and unloading: the work station turret continues to rotate, the clamp reaches the unclamping station, and the fixed-point drive module drives the lower gear to rotate in the opposite direction, so that the clamp releases the titanium tube to be welded. Then, the clamp rotates to the unloading station, and the titanium tube that has been welded and passed the inspection is taken out, completing the entire welding process. At the unclamping station and unloading station, the air cooler continues to work to dissipate heat from the clamp.

[0035] The beneficial effects of the present invention are:

[0036] 1. The present invention successfully constructs an efficient and coherent process flow by designing a work station turntable that can rotate 60 degrees periodically, and orderly arranges the loading, clamping pre-inspection, welding, post-inspection, loosening and unloading work stations, and cooperates with the temperature control mechanism to operate in coordination. After welding is completed, the clamp can be quickly rotated to the post-inspection work station, and the air cooler is started to dissipate heat from the titanium tube, realizing seamless connection between the cooling process and the welding process, effectively avoiding the problem of low production efficiency caused by poor process connection in the existing technology, and greatly improving the overall production efficiency.

[0037] 2. The fixed-point transmission module equipped in this equipment can automatically drive the clamping module to clamp at the clamping pre-inspection station and to loosen at the loosening station. It can also make the clamping barrel spin at the welding station and the post-inspection station. The visual acquisition probe in the detection component transmits the collected data to the single-chip microcomputer for analysis, and then automatically sets the welding parameters for the welding component. The entire operation process greatly reduces manual intervention and effectively reduces labor costs. At the same time, it avoids human errors caused by frequent manual operations and significantly improves the stability of product quality.

[0038] 3. The present invention utilizes a transmission system composed of a positive shaft, a counter shaft, multiple gear rings, and linkage gears, transmission gears, etc. The present invention realizes precise power transmission and coordinated work among various components. The servo motor drives the positive shaft to rotate, prompting the upper gear ring and the middle gear ring to rotate synchronously. At the same time, the reverse bevel gear and the driven bevel gear drive the lower gear ring and the middle gear ring to rotate coaxially and in opposite directions, providing stable power for the actions of different workstations. This compact transmission structure effectively reduces power loss, improves the stability of equipment operation and the matching accuracy of working parts in each process, and overcomes the disadvantages of dispersed power transmission and poor coordination of existing equipment.

[0039] 4. This invention integrates multi-station collaborative control with intelligent algorithms to construct a fully closed-loop optimized titanium tube laser welding process system. Fuzzy PID dynamic temperature control is used to achieve ±2°C uniformity control of the titanium tube's axial temperature field. Combined with a visual servo clamping system, the clamping repeatability accuracy is improved to ±0.005mm. A molten pool oscillation feedback mechanism reduces the weld depth-to-width ratio fluctuation range from ±15% to ±5%. Combined with a multimodal quality inspection system, the welding pass rate is increased from 92.6% to 99.3%, and the single-piece processing cycle is shortened to 18 seconds. This significantly overcomes the technical shortcomings of traditional processes, such as discrete processes, frequent manual intervention, and poor quality consistency.

[0040] 5. Innovative introduction of embedded deep learning and thermodynamic collaborative control technology: ① The weld defect classification model based on the lightweight MobileNetV3 network achieves 97.2% recognition accuracy on the embedded platform, and the millisecond-level response speed is 5 times faster than traditional image processing; ② The exponential decay cooling strategy (λ=0.15s-1) enables the cooling rate of the titanium tube to be accurately controlled within 8°C / s, and the strain compensation mechanism extends the service life of the positioning tube by more than 3 times; ③ The dual closed-loop control architecture (temperature-vision-mechanics) realizes dynamic optimization of welding parameters, reducing the deformation of the heat-affected zone by 42%, successfully solving the stringent requirements of medical-grade sealed seed sources on welding accuracy and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the overall structure of a titanium tube laser welding sealing device for sealing a seed source according to the present invention;

[0042] Figure 2For the present invention Figure 1 The partial enlarged structural schematic diagram at position A in the present invention;

[0043] Figure 3 For the present invention Figure 1 The sectional structural schematic diagram of the present invention;

[0044] Figure 4 For the present invention Figure 3 The partial enlarged structural schematic diagram at position B in the present invention;

[0045] Figure 5 For the present invention Figure 3 The partial enlarged structural schematic diagram at position C in the present invention;

[0046] Figure 6 For the present invention Figure 3 The partial enlarged structural schematic diagram at position D in the present invention;

[0047] Figure 7 The structural schematic diagram of the large toothed pulley and the small toothed pulley of the present invention;

[0048] Figure 8 The structural schematic diagram of the positioning cylinder and the conductive terminal of the present invention;

[0049] Figure 9 For the present invention Figure 8 The partial enlarged structural schematic diagram at position E in the present invention;

[0050] Figure 10 The structural schematic diagram of the clamping cylinder and the clamp of the present invention;

[0051] Figure 11 The structural schematic diagram of the temperature control cylinder of the present invention;

[0052] Figure 12 The structural schematic diagram of the laser welder of the present invention;

[0053] Figure 13 The flowchart of the method of the present invention.

[0054] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0055] 1. Workstation turntable; 2. Upper gear ring; 3. Middle gear ring; 4. Lower gear ring; 5. Positioning cylinder; 6. Clamping cylinder; 7. Bracket; 8. Conductive arc track; 9. Conductive terminal; 10. Single-chip microcomputer; 11. Positive shaft; 12. Reverse shaft; 13. Servo motor; 14. Reverse rotation shaft; 15. Differential shaft; 16. Large toothed belt pulley; 17. Small toothed belt pulley; 18. Incomplete gear; 19. Indexing gear; 20. Titanium tube to be welded; 21. Cover; 22. Electric push rod; 23. Pressing rubber head; 24. Visual acquisition probe; 25. Lifting frame; 26. Lifting push rod; 27. Linear drive module; 28. Moving frame; 29. Laser welder; 30. Bidirectional lead screw; 31. Clamping block; 32. Clamp; 33. Connecting rod; 34. Upper gear; 35. Middle gear; 36. Lower gear; 37. Coupling; 38. Transmission shaft; 39. Linkage gear; 40. Transmission gear; 41. Temperature control cylinder; 42. Valve cylinder; 43. Hot air blower; 44. Cold air blower; 45. Heating cavity; 46. Air cooling cavity; 47. Heat distribution hole; 48. Cold air supply hole; 49. Flow channel; 50. Three-way pipe; 51. Through hole; 52. Electric heating rod. Detailed implementation manner

[0056] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0057] The present invention provides the following preferred embodiments

[0058] As Figure 1-12 shown, a titanium tube laser welding and sealing device for a sealed seed source includes a workstation turntable 1 that can rotate periodically by 60°. An upper gear ring 2 and a middle gear ring 3 that rotate synchronously are installed on the workstation turntable 1. A lower gear ring 4 that rotates coaxially and in the opposite direction to the middle gear ring 3 is also installed on the workstation turntable 1;

[0059] It also includes a bracket 7. A single-chip microcomputer 10 is installed on the bracket 7. The workstation turntable 1 is rotatably installed on the bracket 7. A positive shaft 11 is rotatably installed on the inner wall of the workstation turntable 1. A reverse shaft 12 is rotatably installed on the inner wall of the positive shaft 11. The upper gear ring 2 and the middle gear ring 3 are both fixedly installed on the positive shaft 11. The lower gear ring 4 is fixedly installed on the reverse shaft 12. A servo motor 13 is installed on the bracket 7. The output shaft end of the servo motor 13 is connected to a synchronous belt in a transmission manner. The positive shaft 11 is connected to the synchronous belt in a transmission manner. A reverse rotation shaft 14 is rotatably installed on the bracket 7. A reverse rotation bevel gear is installed on the reverse rotation shaft 14. A driven bevel gear is installed on both the positive shaft 11 and the reverse shaft 12. Both driven bevel gears are in transmission connection with the reverse rotation bevel gear. The two driven bevel gears are respectively arranged on both sides of the reverse rotation bevel gear.

[0060] Before use, start the servo motor 13, which drives the positive shaft 11 to rotate through the synchronous belt, and then the upper ring gear 2 and the middle ring gear 3 rotate synchronously. When the positive shaft 11 rotates, it drives the driven bevel gear thereon to rotate, and the driven bevel gear drives the driven bevel gear on the counter-shaft 12 to rotate in the opposite direction through the reverse bevel gear, so that the counter-shaft 12 drives the lower ring gear 4 and the middle ring gear 3 to rotate coaxially and in the opposite direction, providing a power basis for the coordinated operation of subsequent workstations, solving the power transmission problem of synchronous and reverse rotation of multiple ring gears. Compared with the existing technology, this transmission method has a compact structure and stable transmission, can effectively ensure the accuracy of equipment operation, and avoids instability and error accumulation during power transmission.

[0061] A differential shaft 15 is rotatably mounted on the bracket 7, a large toothed pulley 16 is mounted on the differential shaft 15, a small toothed pulley 17 is fixedly mounted on the output shaft end of the servo motor 13, a toothed belt is connected between the large toothed pulley 16 and the small toothed pulley 17, the radius of the large toothed pulley 16 is 9 times the radius of the small toothed pulley 17, an incomplete gear 18 is mounted on the differential shaft 15, an indexing gear 19 is mounted on the work station turret 1, a transmission tooth surface is provided on the incomplete gear 18, the transmission tooth surface is connected to the indexing gear 19, the central angle corresponding to the transmission tooth surface is 60°, and the radius of the incomplete gear 18 is the same as that of the indexing gear 19.

[0062] When in use, the servo motor 13 drives the small toothed pulley 17 to rotate, and the small toothed pulley 17 drives the large toothed pulley 16 to rotate through the toothed belt. Since the radius of the large toothed pulley 16 is 9 times the radius of the small toothed pulley 17, it plays a role in deceleration and torque increase. The large toothed pulley 16 drives the differential shaft 15 to rotate, and the incomplete gear 18 on the differential shaft 15 rotates accordingly. When the transmission tooth surface of the incomplete gear 18 contacts the indexing gear 19, it drives the workstation turret 1 to rotate 60° clockwise to achieve workstation switching, solving the problem of periodic and precise rotation of the workstation turret 1. Compared with the existing technology, this differential transmission structure is simple and low in cost, can accurately control the rotation angle and speed of the workstation turret 1, and improves the production efficiency and processing accuracy of the equipment.

[0063] Six positioning cylinders 5 are installed on the station turntable 1. A clamping cylinder 6 is rotatably installed in each positioning cylinder 5, and a clamping module is installed in the clamping cylinder 6. Along the clockwise direction on the station turntable 1, a loading station, a pre-clamping and pre-detection station, a welding station, a post-detection station, a clamping release station, and an unloading station are sequentially arranged. Detection components are installed on both the pre-clamping and pre-detection station and the post-detection station. A welding component is provided at the welding station. It also includes a fixed-point driving module and a temperature control mechanism. The fixed-point driving module drives the clamping module to perform clamping at the pre-clamping and pre-detection station and clamping release at the clamping release station. The fixed-point driving module drives the clamping cylinder 6 to spin at the welding station and the post-detection station. The temperature control mechanism drives the clamping cylinder 6 to preheat at the loading station, the pre-clamping and pre-detection station, and the welding station, and dissipate heat at the post-detection station, the clamping release station, and the unloading station.

[0064] The clamping cylinder 6 is filled with the titanium tube 20 to be welded in a movable manner. The titanium tube 20 to be welded is filled with a sealed seed source in a movable manner. A cover 21 is provided at the top of the titanium tube 20 to be welded. A weld joint to be welded is provided between the cover 21 and the titanium tube 20 to be welded.

[0065] During the operation of the equipment, the clamping cylinder 6 can stably fix and support the titanium tube 20 to be welded, so that the sealed seed source in the titanium tube 20 to be welded is in a stable state, facilitating subsequent welding operations. The weld joint to be welded between the cover 21 and the titanium tube 20 to be welded provides a clear position for welding, solving the problems of fixing and positioning the sealed seed source during the welding process. Compared with the prior art, this structural design ensures the accuracy of welding, reduces the risk of leakage of the sealed seed source, and improves the quality and safety of the product.

[0066] The detection component includes two electric push rods 22. At the bottom ends of the two electric push rods 22, a pressing rubber head 23 and a visual acquisition probe 24 facing the weld joint to be welded are installed. The data ends of the two visual acquisition probes 24 are connected to the data of the single-chip microcomputer 10.

[0067] At the pre-clamping and pre-detection station, the electric push rod 22 pushes the pressing rubber head 23 to press the cover 21, and makes the cover 21 stably clamped on the titanium tube 20 to be welded. At the same time, the visual acquisition probe 24 at the pre-clamping and pre-detection station performs visual acquisition to judge the levelness of the cover 21 and the width of the weld joint to be welded, thereby facilitating the setting of the welding parameters of the welding component.

[0068] At the post-detection station, the electric push rod 22 works reciprocally, and pushes the pressing rubber head 23 to reciprocally press the welded cover 21. Through the reciprocal pressing, the welding strength between the cover 21 and the titanium tube 20 to be welded is tested.

[0069] At the same time, the visual acquisition probe 24 collects the image data of the weld joint to be welded and transmits it to the single-chip microcomputer 10. The single-chip microcomputer 10 performs image analysis and recognition on the data to judge whether the weld strength is qualified.

[0070] By setting up a double-detection component, the problems of weld quality detection before and after welding are solved. Compared with the prior art, this detection method has strong real-time performance and high precision, can timely detect the defects existing in the weld, prevent unqualified products from entering the next process, and reduce the production cost.

[0071] The welding component includes a lifting frame 25. A set of lifting push rods 26 are installed between the lifting frame 25 and the bracket 7. A linear transmission module 27 is installed inside the lifting frame 25. A moving frame 28 is drivingly installed on the linear transmission module 27. A laser welder 29 is installed on the moving frame 28.

[0072] During use, at the welding station, the lifting push rods 26 push the lifting frame 25 up or down to make the laser welder 29 reach the appropriate welding height. The linear transmission module 27 drives the moving frame 28 to move, so as to control the laser welder 29 to perform precise welding at the weld to be welded, solving the problems of position adjustment and welding path control of the laser welder 29. Compared with the prior art, this welding component can flexibly adjust the welding position and angle, can adapt to titanium tubes 20 to be welded with different specifications, and improves the flexibility and adaptability of welding.

[0073] The clamping module includes a bidirectional lead screw 30 rotatably connected inside the clamping cylinder 6. A positive thread section and a reverse thread section are respectively arranged on the bidirectional lead screw 30. A clamping block 31 is drivingly installed on both the positive thread section and the reverse thread section. Two symmetrically arranged clamping pliers 32 are slidably connected to the inner wall of the clamping cylinder 6. A connecting rod 33 is hinged between each of the two clamping blocks 31 and the clamping pliers 32. An upper gear 34 is installed at the bottom of the clamping cylinder 6. A middle gear 35 and a lower gear 36 are respectively installed at the bottom of the driving lead screw.

[0074] At the pre-detection station for clamping tightly, the fixed-point driving module drives the middle gear 35 to rotate. The middle gear 35 drives the bidirectional lead screw 30 to rotate. The positive thread section and the reverse thread section on the bidirectional lead screw 30 make the two clamping blocks 31 move towards each other, and the clamping pliers 32 are pushed to clamp the titanium tube 20 to be welded through the connecting rod 33. At the unclamping station, the fixed-point driving module drives the lower gear 36 to rotate in the reverse direction to unclamp the clamping pliers 32, solving the problems of stable clamping and unclamping of the titanium tube 20 to be welded. Compared with the prior art, this clamping method has a simple structure and uniform clamping force, can effectively prevent the titanium tube 20 to be welded from displacing during the welding process, and ensures the welding quality.

[0075] The fixed-point driving module includes two couplings 37 and two transmission shafts 38. The two couplings 37 are respectively arranged at the pre-clamping detection station and the unclamping station. Linkage gears 39 are installed on both of the two couplings 37. One linkage gear 39 is in transmission fit with the middle gear ring 3 and the middle gear 35, and the other linkage gear 39 is in linkage fit with the lower gear 36 and the lower gear ring 4. The two transmission shafts 38 are respectively arranged at the welding station and the post-detection station. Transmission gears 40 are installed on both of the two transmission shafts 38. The transmission gears 40 are in transmission fit with the upper gear ring 2 and the upper gear 34.

[0076] At the pre-clamping detection station, the linkage gear 39 adapted to the middle gear ring 3 and the middle gear 35 drives the middle gear 35 to rotate to achieve pre-clamping. At the unclamping station, the linkage gear 39 adapted to the lower gear ring 4 and the lower gear 36 drives the lower gear 36 to rotate to achieve unclamping. At the welding station and the post-detection station, the transmission gears 40 drive the upper gear 34 to rotate respectively, so that the clamping cylinder 6 spins, facilitating 360° welding and 360° detection of the titanium tube, solving the problem of the motion control of the clamping cylinder 6 and the clamping module under different stations. Compared with the prior art, this fixed-point driving method can accurately control the actions of each station, improving the automation degree and working efficiency of the equipment.

[0077] The temperature control mechanism includes a temperature control cylinder 41, a valve cylinder 42 rotatably sleeved on the temperature control cylinder 41, a hot air blower 43 and a cold air blower 44 installed on the bracket 7. An isolated heating cavity 45 and an air-cooling cavity 46 are formed in the temperature control cylinder 41. The heat outlet port of the hot air blower 43 is communicated with the heating cavity 45, and the air outlet port of the cold air blower 44 is communicated with the air-cooling cavity 46. Heat distribution holes 47 communicated with the heating cavity 45 are respectively formed in the temperature control cylinder 41 at positions corresponding to the pre-clamping detection station, the feeding station and the welding station. Cold air supply holes 48 communicated with the air-cooling cavity 46 are respectively formed in the temperature control cylinder 41 at positions corresponding to the post-detection station, the unclamping station and the blanking station. A flow channel 49 with an open bottom end is fixedly formed inside the bidirectional lead screw 30. The bottom end of the flow channel 49 is rotatably communicated with a three-way pipe 50 through a rotary joint. The other two ends of the three-way pipe 50 are respectively communicated with the valve cylinder 42 at positions corresponding to the heating cavity 45 and the air-cooling cavity 46. A cavity communicated with the flow channel 49 is formed inside the clamping cylinder 6. Two groups of symmetrically arranged through holes 51 communicated with the cavity are formed in the clamping cylinder 6. A group of electric heating rods 52 are arranged inside the clamping cylinder 6. Conductive terminals 9 for supplying power to the group of electric heating rods 52 are arranged on the clamping cylinder 6. A conductive arc rail 8 is installed on the bracket 7. The conductive terminals 9 are in fit with the conductive arc rail 8. The central angle corresponding to the conductive arc rail 8 is 120°. The conductive arc rail 8 is located between the feeding station and the welding station.

[0078] At the clamping pre-detection station, the loading station, and the welding station, the hot air blower 43 operates. Hot air enters the clamping cylinder 6 through the heating cavity 45, the heat distribution holes 47, the flow channels 49, the cavity, and the through holes 51 to preheat the clamping cylinder 6 and the titanium tube 20 to be welded. At the same time, the conductive terminal 9 slides and conducts electricity on the conductive arc track 8, enabling the heating rod 52 to assist in heating. At the post-detection station, the clamping release station, and the unloading station after welding is completed, the cold air blower 44 operates. Cold air enters the clamping cylinder 6 through the air cooling cavity 46 and the cold air supply holes 48 for heat dissipation, solving the problem of temperature control during the welding process and avoiding deformation of the titanium tube or a decline in welding quality due to excessive temperature changes. Compared with the prior art, this temperature control mechanism can accurately control the temperature before and after welding, improving the welding quality and the stability of the product;

[0079] The complete working principle of the titanium tube laser welding and sealing equipment for sealed seed sources involved in the present invention is as follows:

[0080] SS01. Loading preparation: Place the titanium tube 20 to be welded in the clamping cylinder 6, position the sealed seed source in the titanium tube 20 to be welded, and install a cover 21 on the top of the titanium tube 20 to be welded to form a weld joint to be welded. At this time, the clamping cylinder 6 is located at the loading station, and the hot air blower 43 in the temperature control mechanism is started. Hot air enters the clamping cylinder 6 through the heating cavity 45, the heat distribution holes 47, the flow channels 49, the cavity, and the through holes 51 to preheat the clamping cylinder 6 and the titanium tube 20 to be welded. At the same time, the conductive terminal 9 slides and conducts electricity on the conductive arc track 8, and the heating rod 52 assists in heating;

[0081] SS02. Clamping pre-detection: The station turntable 1 rotates clockwise by 60°, turning the clamping cylinder 6 to the clamping pre-detection station. The fixed-point drive module drives the middle gear 35 to rotate, the middle gear 35 drives the bidirectional lead screw 30 to rotate, and the positive and negative threaded sections on the bidirectional lead screw 30 cause the two clamping blocks 31 to move towards each other, pushing the clamp 32 to clamp the titanium tube 20 to be welded through the connecting rod 33. The electric push rod 22 in the detection component pushes the pressing rubber head 23 to press the cover 21, making the cover 21 stably clamped on the titanium tube 20 to be welded. At the same time, the visual acquisition probe 24 acquires the image data of the weld joint to be welded and transmits it to the single-chip microcomputer 10 for analysis and judgment of the flatness of the cover 21 and the width of the weld joint to be welded, providing a basis for setting welding parameters for the welding component;

[0082] SS03. Welding operation: The station turntable 1 rotates by 60° again, and the clamping cylinder 6 reaches the welding station. The lifting push rod 26 pushes the lifting frame 25 up or down to make the laser welder 29 reach the appropriate welding height. The linear drive module 27 drives the moving frame 28 to move, controlling the laser welder 29 to perform precise welding at the weld joint to be welded. During this process, the fixed-point drive module drives the clamping cylinder 6 to spin, facilitating 360° welding of the titanium tube. At the same time, the temperature control mechanism continuously preheats the clamping cylinder 6 and the titanium tube 20 to be welded to ensure the welding quality;

[0083] SS04. Post - detection process: After welding is completed, the clamping cylinder 6 rotates with the station turntable 1 to the post - detection station. The fixed - point driving module drives the clamping cylinder 6 to spin, achieving 360° detection. The electric push rod 22 in the detection component reciprocally pushes the pressing rubber head 23 to reciprocally press the welded cover 21 to test the welding strength between the cover 21 and the titanium tube 20 to be welded. The visual acquisition probe 24 acquires the image data of the weld seam and transmits it to the single - chip microcomputer 10. The single - chip microcomputer 10 performs image analysis and recognition to determine whether the weld strength is qualified. At this time, the cold air blower 44 is started, and the cold air enters the clamping cylinder 6 through the air - cooling cavity 46 and the cold - air supply holes 48 for heat dissipation;

[0084] SS05. Loosen the clamp and unload: The station turntable 1 continues to rotate. When the clamping cylinder 6 reaches the clamp - loosening station, the fixed - point driving module drives the lower gear 36 to rotate in the reverse direction, causing the clamp 32 to release the titanium tube 20 to be welded. Then, the clamping cylinder 6 rotates to the unloading station to take out the welded and qualified titanium tube, completing the entire welding process. At the clamp - loosening station and the unloading station, the cold air blower 44 continuously operates to dissipate heat from the clamping cylinder 6.

[0085] The present invention also provides a welding method for the weld seam of a titanium - tube laser welding and sealing device for a sealed seed source, including the following steps:

[0086] Step S01: Adaptive pre - heating and loading

[0087] After placing the titanium tube (20) to be welded in the clamping cylinder (6), the temperature control mechanism starts the thermal - field equilibrium control based on the fuzzy PID algorithm:

[0088] The hot air blower (43) outputs hot air according to a preset gradient temperature - rising curve. At the same time, the electric heating rod (52) is energized through the conductive arc rail (8);

[0089] The distributed temperature sensors inside the clamping cylinder (6) continuously collect 6 groups of axial temperature values. The single - chip microcomputer (10) performs the following operations:

[0090]

[0091] where α = 0.7 (substrate thermal - conductivity correction factor), β = 0.3 (local over - heating suppression factor);

[0092] Dynamically adjust the power of the hot air blower so that the difference ΔT between the actual temperature and the target temperature ≤ ±2°C, forming a stable pre - heating field.

[0093] Step S02: Visual servo clamping and weld - seam modeling

[0094] At the pre - clamping and pre - detection station:

[0095] The dual - visual acquisition probes (24) synchronously acquire the stereoscopic images of the cover (21) at 30 fps and execute the following processing flow:

[0096] Edge extraction is performed using an improved Canny operator to establish the weld contour point cloud:

[0097]

[0098] where G is a Gaussian kernel with σ = 1.2;

[0099] The capping plane equation ax + by + cz + d = 0 is fitted by the RANSAC algorithm, and the flatness error ε ≤ 0.05 mm is calculated;

[0100] When abnormal skew is detected, the clamping force closed-loop regulation is triggered:

[0101] F clamp = k p ·ε + k i ∫εdt

[0102] where kp = 50 N / mm and ki = 5 N / (mm·s) to achieve adaptive compensation of the contact force.

[0103] Step S03: Dynamic optimization of laser welding

[0104] A multi-parameter collaborative control algorithm is implanted during the welding process:

[0105] A welding quality evaluation function is established:

[0106]

[0107] where S is the penetration uniformity index, ΔW is the variance of the weld width, w1 = 0.6, and w2 = 0.4;

[0108] The parameters of the laser welder (29) are adjusted in real time:

[0109] The power P(t) = P0 + ΔP·sin(2π·RPM·t / 60) (RPM is the chuck rotation speed)

[0110] The defocus amount D is dynamically compensated according to the molten pool oscillation frequency, and the sampling frequency is 1 kHz;

[0111] The temperature sensor and visual data are fused through Kalman filtering to predict the thermal deformation amount and compensate the path of the moving frame (28) in advance.

[0112] Step S04: Post-weld inspection based on deep learning

[0113] Intelligent quality determination is performed at the post-inspection station:

[0114] A dual-modal detection system is constructed:

[0115] Mechanical strength detection: The electric push rod (22) applies a gradually changing pressure of 0 - 50 N, records the displacement-load curve, and extracts the stiffness coefficient K;

[0116] Visual inspection: A lightweight MobileNetV3 network is used for weld defect classification, achieving a recognition accuracy of 97.2% on an embedded platform;

[0117] Establish a fusion decision model: Determine the qualified conditions through the fusion decision model, \(\begin{cases}1, & \text{if} K\geq 85N / mm \cap P(\text{defect})<0.05 \\ 0, & \text{otherwise} \end{cases}\). Non-conforming products are automatically marked and an audible and visual alarm is triggered.

[0118] Step S05: Gradient cooling and state reset

[0119] Execute thermal stress elimination control during the blanking stage:

[0120] Adopt an exponential decay cooling strategy:

[0121] T(t)=T0·e -λt +T ambient

[0122] where \(\lambda = 0.15s^{-1}\), ensuring that the cooling rate ≤ 8°C / s;

[0123] Monitor the thermal deformation of the clamping cylinder (6) through a strain gauge. When the residual strain \(\varepsilon\geq 0.01\%\), automatically compensate for the radial clearance of the positioning cylinder (5).

[0124] This method deeply combines the structural characteristics of the equipment, and through algorithm innovation, the welding qualification rate is increased from 92.6% to 99.3%, and the single-piece processing cycle is shortened to 18 seconds, significantly exceeding the existing technology.

[0125] Fuzzy PID temperature control algorithm: Break through the traditional constant temperature preheating mode, and through the dynamic temperature field control adaptive to material characteristics, the heat uniformity of the titanium tube is improved by 42%;

[0126] Visual servo clamping system: Combine flatness detection with the clamping force closed loop to eliminate manual leveling errors, and the clamping repeatability accuracy reaches ±0.005mm;

[0127] Multi-parameter welding optimization: Introduce a molten pool oscillation feedback mechanism to reduce the fluctuation range of the weld depth-width ratio from ±15% to ±5%;

[0128] Embedded deep learning: Deploy a lightweight network on a resource-constrained single-chip microcomputer (10) to achieve millisecond-level online defect detection;

[0129] Strain compensation mechanism: Through thermodynamic modeling during the cooling process, extend the service life of the positioning cylinder (5) by more than 3 times.

[0130] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention.

[0131] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0132] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A titanium tube laser welding and sealing device for a sealed seed source, characterized in that, The invention comprises a work station rotating frame (1) which can rotate periodically by 60 degrees, an upper gear ring (2) and a middle gear ring (3) which rotate synchronously are installed on the work station rotating frame (1), a lower gear ring (4) which rotates coaxially with the middle gear ring (3) and in the opposite direction is also installed on the work station rotating frame (1), six positioning cylinders (5) are installed on the work station rotating frame (1), a clamping cylinder (6) is rotatably installed in each positioning cylinder (5), and a clamping module is installed in the clamping cylinder (6); The station rotating frame (1) is provided with a loading station, a clamping pre-detection station, a welding station, a post-detection station, a clamping station and a unloading station in sequence in a clockwise direction; The clamping pre-detection station and the post-detection station are both equipped with detection components; The welding station is provided with a welding assembly, and also includes a fixed-point transmission module and a temperature control mechanism; The fixed-point driving module drives the clamping module to achieve clamping at the clamping pre-detection station and to achieve loosening at the loosening station; The fixed-point driving module drives the chuck (6) to spin at the welding station and the post-detection station, and the temperature control mechanism drives the chuck (6) to preheat at the loading station, the clamping pre-detection station, and the welding station, and to dissipate heat at the post-detection station, the loosening station, and the unloading station.

2. The titanium tube laser welding and sealing equipment for a sealed seed source according to claim 1, wherein The invention also includes a bracket (7), a single chip microcomputer (10) is installed on the bracket (7), the work station rotating frame (1) is rotatably installed on the bracket (7), a positive shaft (11) is rotatably installed on the inner wall of the work station rotating frame (1), a counter shaft (12) is rotatably installed on the inner wall of the positive shaft (11), the upper gear ring (2) and the middle gear ring (3) are fixedly installed on the positive shaft (11), the lower gear ring (4) is fixedly installed on the counter shaft (12), and the bracket (7) is installed. A servo motor (13) is provided, wherein the output shaft end of the servo motor (13) is connected to a synchronous belt, the positive shaft (11) is connected to the synchronous belt, a counter shaft (14) is rotatably mounted on the bracket (7), a counter shaft (14) is mounted on the counter shaft (14), a driven bevel gear is mounted on each of the positive shaft (11) and the counter shaft (12), both of the two driven bevel gears are connected to the counter bevel gear, and the two driven bevel gears are respectively arranged on both sides of the counter bevel gear.

3. The titanium tube laser welding and sealing equipment for a sealed seed source according to claim 2, characterized in that, A differential shaft (15) is rotatably mounted on the bracket (7), a large toothed pulley (16) is mounted on the differential shaft (15), a small toothed pulley (17) is fixedly mounted on the output shaft end of the servo motor (13), a toothed belt is connected between the large toothed pulley (16) and the small toothed pulley (17), the radius of the large toothed pulley (16) is 6 to 10 times the radius of the small toothed pulley (17), an incomplete gear (18) is mounted on the differential shaft (15), an indexing gear (19) is mounted on the workstation turret (1), a transmission tooth surface is provided on the incomplete gear (18), the transmission tooth surface is in transmission connection with the indexing gear (19), the central angle corresponding to the transmission tooth surface is 60°, and the radius of the incomplete gear (18) and the indexing gear (19) are the same.

4. A titanium tube laser welding and sealing device for a sealed seed source according to claim 1, characterized in that, The clamping cylinder (6) is movably filled with titanium tubes (20) to be welded. The titanium tubes (20) to be welded are movably filled with sealed seed sources. A cover (21) is provided at the top of the titanium tubes (20) to be welded, and a weld joint to be welded is provided between the cover (21) and the titanium tubes (20) to be welded. The detection assembly includes two electric push rods (22). A pressing rubber head (23) and a visual acquisition probe (24) facing the joint to be welded are installed at the bottom ends of the two electric push rods (22). The data ends of the two visual acquisition probes (24) are connected to the single-chip microcomputer (10) in terms of data.

5. A titanium tube laser welding and sealing device for a sealed seed source according to claim 1, characterized in that, The welding assembly includes a lifting frame (25). A set of lifting push rods (26) are installed between the lifting frame (25) and the bracket (7). A linear transmission module (27) is installed inside the lifting frame (25). A moving frame (28) is installed on the linear transmission module (27) in a driving manner. A laser welder (29) is installed on the moving frame (28).

6. A titanium tube laser welding and sealing device for a sealed seed source according to claim 1, characterized in that, The clamping module includes a bidirectional lead screw (30) rotatably connected inside the clamping cylinder (6). A positive thread section and a reverse thread section are respectively arranged on the bidirectional lead screw (30). A clamping block (31) is installed on each of the positive thread section and the reverse thread section in a driving manner. Two symmetrically arranged clamping pliers (32) are slidably connected to the inner wall of the clamping cylinder (6). A connecting rod (33) is hinged between each of the two clamping blocks (31) and the clamping pliers (32). An upper gear (34) is installed at the bottom of the clamping cylinder (6). A middle gear (35) and a lower gear (36) are respectively installed at the bottom of the driving lead screw.

7. A titanium tube laser welding and sealing device for a sealed seed source according to claim 6, characterized in that, The fixed-point driving module includes two couplings (37) and two transmission shafts (38). The two couplings (37) are respectively arranged at the pre-detection station for clamping tightly and the station for loosening the clamp. A linkage gear (39) is installed on each of the two couplings (37). One linkage gear (39) is in driving fit with the middle gear ring (3) and the middle gear (35). The other linkage gear (39) is in linkage fit with the lower gear (36) and the lower gear ring (4). The two transmission shafts (38) are respectively arranged at the welding station and the post-detection station. A transmission gear (40) is installed on each of the two transmission shafts (38). The transmission gear (40) is in driving fit with the upper gear ring (2) and the upper gear (34).

8. A titanium tube laser welding and sealing device for a sealed seed source according to claim 7, characterized in that, The temperature control mechanism includes a temperature control cylinder (41), a valve cylinder (42) rotatably sleeved on the temperature control cylinder (41), a hot air blower (43) and a cold air blower (44) mounted on a bracket (7). An isolated heating cavity (45) and an air cooling cavity (46) are formed in the temperature control cylinder (41). The heat outlet port of the hot air blower (43) is communicated with the heating cavity (45), and the air outlet port of the cold air blower (44) is communicated with the air cooling cavity (46). The temperature control cylinder (41) is provided with a heat distribution hole (47) communicated with the heating cavity (45) at positions corresponding to the tight clamping pre-detection station, the feeding station and the welding station, and an air cooling hole (48) communicated with the air cooling cavity (46) at positions corresponding to the post-detection station, the loose clamping station and the blanking station. A flow channel (49) with an open bottom end is fixedly formed inside the bidirectional lead screw (30). The bottom end of the flow channel (49) is rotatably communicated with a three-way pipe (50) through a rotary joint. The other two ends of the three-way pipe (50) are respectively communicated with the valve cylinder (42) at positions corresponding to the heating cavity (45) and the air cooling cavity (46). A cavity communicated with the flow channel (49) is formed inside the clamping cylinder (6). The clamping cylinder (6) is provided with two groups of symmetrically arranged through holes (51) communicated with the cavity. A group of electric heating rods (52) are arranged inside the clamping cylinder (6). The clamping cylinder (6) is provided with a conductive terminal (9) for supplying power to the group of electric heating rods (52). A conductive arc track (8) is mounted on the bracket (7). The conductive terminal (9) is adapted to the conductive arc track (8). The central angle corresponding to the conductive arc track (8) is 120°, and the conductive arc track (8) is located between the feeding station and the welding station.

9. A welding method for the weld seam of a titanium tube laser welding and sealing device for a sealed seed source. Based on the titanium tube laser welding and sealing device for a sealed seed source described in any one of claims 1-8, it is characterized in that, It includes the following steps: S1. Adaptive preheating and feeding: After loading the titanium tube (20) to be welded into the clamping cylinder (6), start the thermal field equilibrium control based on the fuzzy PID algorithm through the temperature control mechanism, collect the axial temperature distribution data of the clamping cylinder (6) in real time, and dynamically adjust the power of the hot air blower (43) and the output of the electric heating rod (52) to form a stable preheating field; S2. Visual servo clamping and weld seam modeling: At the tight clamping pre-detection station, synchronously collect the three-dimensional images of the cover (21) through the double visual acquisition probes (24), extract the weld seam contour point cloud and calculate the flatness error, and trigger the closed-loop adjustment of the clamping force; S3. Laser welding dynamic optimization: Control the clamping cylinder (6) to spin at the welding station, fuse the temperature sensing data and the visual detection data in real time, and dynamically adjust the power, defocus amount of the laser welder (29) and the path of the moving frame (28); S4. Intelligent post-welding detection: Synchronously perform mechanical strength testing and visual defect identification at the post-detection station, determine the weld quality through the fusion decision model, and automatically mark the unqualified products and trigger the sound and light alarm; S5. Gradient cooling and state reset: Adopt the exponential decay cooling strategy in the blanking stage, monitor the thermal deformation amount of the clamping cylinder (???6???) and compensate for the radial clearance of the positioning cylinder (5).

10. A welding seam method for a titanium tube laser welding and sealing device for a sealed seed source according to claim 9, characterized in that, In the step S1, the target temperature calculation of the fuzzy PID algorithm satisfies: Among them, α = 0.7 (substrate thermal conductivity correction factor), β = 0.3 (local overheating suppression factor); Among them, the difference between the actual temperature and the target temperature is controlled to be ΔT ≤ ±2°C; In the step S2, the calculation of the flatness error ε is realized by fitting the capping plane equation ax + by + cz + d = 0 through the RANSAC algorithm, and ε ≤ 0.05 mm; In the step S3, the welding quality evaluation function is: Among them, S is the penetration uniformity index, ΔW is the variance of the weld width, = 0.6, = 0.4; Among them, the laser power adjustment satisfies: P(t) = P0 + ΔP·sin(2π·RPM·t / 60) (RPM is the rotating speed of the clamping cylinder) RPM is the rotating speed of the clamping cylinder (6), and the defocus amount D is dynamically compensated according to the molten pool oscillation frequency, and the sampling frequency is 1 kHz.

Images