An automated skin welding control system and method

Abstract

The present application relates to a kind of skin automatic welding control system and control method, belong to skin automatic welding technical field, solve the problem that skin pressing mode cannot realize automatic control in prior art.Control system includes host computer, main control system and the mechanical hand, clamp and welding device electrically connected with the main control system;Clamp includes equipment bottom plate, product bottom plate and elastic compaction device, product bottom plate and elastic compaction device are respectively set on equipment bottom plate;Product bottom plate is used to place framework and skin, and elastic compaction device is used to carry out elastic pressure to the place to be combined of framework and skin, and elastic compaction device is electrically connected with the main control system;Elastic compaction device includes pressing plate and the elastic compaction component connected with it;Pressing plate is used to fix elastic compaction component;Elastic compaction component is used to apply pressing force to the place to be combined.It realizes the automatic control of elastic compaction device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of skin automatic welding, in particular to a skin automatic welding control system and a control method. BACKGROUND

[0002] The wing rudder is one of the important components of the aircraft, and the preparation process of the wing rudder is usually to prepare the framework and the skin respectively, and then to combine the skin and the framework by laser welding. When the skin and the framework are laser welded, the skin and the framework must be tightly attached to achieve the ideal welding effect, so the skin and the framework need to be pressed tightly.

[0003] In the automatic welding process control, the pressing force of the skin needs to be provided by the automatic welding tooling. At present, the skin automatic welding tooling clamp and pressing method is to press the pressing plate locally by manual operation of the bolt, which cannot completely realize automatic control, and the operation is complicated, the production efficiency is low, the pressing area is small, the pressing force cannot be measured and cannot be accurately adjusted, the attachment degree is poor, and there are phenomena such as skin and framework bruising or skin empty welding. SUMMARY

[0004] In view of the above analysis, the embodiments of the present application aim to provide a skin automatic welding control system and a control method to solve at least one of the following problems of the existing clamp: (1) the skin pressing mode of the existing clamp cannot realize automatic control, the operation is complicated, and the production efficiency is low; (2) the pressing area is small; (3) the skin and the framework have poor attachment degree; (4) the skin is easily bruised.

[0005] In one aspect, the embodiments of the present application provide a skin automatic welding control system, the control system comprising an upper computer, a main control system, and a manipulator, a clamp and a welding device electrically connected with the main control system;

[0006] The clamp comprises a device bottom plate, a product bottom plate and an elastic compaction device, the product bottom plate and the elastic compaction device are respectively arranged on the device bottom plate; the product bottom plate is used for placing the framework and the skin, and the elastic compaction device is used for elastically pressing the to-be-combined part of the framework and the skin, and the elastic compaction device is electrically connected with the main control system;

[0007] The elastic compaction device comprises a pressing plate and an elastic compaction assembly connected with the pressing plate;

[0008] The pressing plate is used for fixing the elastic compaction assembly;

[0009] The elastic compaction assembly is used for applying a pressing force to the to-be-combined part;

[0010] The elastic compacting assembly comprises an elastic compacting part and an elastic pressure adjusting part, the elastic compacting part is arranged at the joint to be bonded, and the elastic pressure adjusting part has an elastic telescopic part which provides adjustable compacting force to the elastic compacting part by contacting the upper surface of the elastic compacting part.

[0011] Preferably, the elastic compacting device further comprises a pressing plate control device connected with the pressing plate, the pressing plate control device is fixed on the equipment base plate, and the pressing plate control device is electrically connected with the main control system.

[0012] Preferably, the pressing plate control device comprises a support, a cylinder and a movable rod, the movable rod is movably arranged on the support, and the cylinder and the pressing plate are respectively connected with the movable rod, so that the movable rod can drive the pressing plate to move when the push rod of the cylinder pushes the movable rod, and the cylinder is electrically connected with the main control system.

[0013] Preferably, the clamp further comprises a plurality of framework compacting devices, and the framework compacting devices are electrically connected with the main control system.

[0014] Preferably, the clamp comprises a plurality of elastic compacting devices, and a plurality of elastic compacting assemblies are arranged on the pressing plate of each elastic compacting device.

[0015] Preferably, the upper surface of the product base plate is conformal with the lower surface of the framework, and the upper surface of the product base plate is inclined so that the upper surface of the framework is in a horizontal state.

[0016] Preferably, one end of the elastic compacting part is fixedly connected with the pressing plate through a fixing block, one end of the elastic compacting part is rotationally fixedly connected with the fixing block, the other end is used for compacting the joint to be bonded and can realize up-down swinging, and the fixing block is fixedly connected with the pressing plate.

[0017] Preferably, the elastic pressure adjusting part comprises a positioning sleeve, a jackscrew and a disc spring set, and the elastic compacting part comprises a swing arm and a pressing arm.

[0018] The positioning sleeve is arranged on the upper surface of the swing arm, the positioning sleeve comprises a cavity extending from top to bottom inside the positioning sleeve, the upper end of the positioning sleeve is provided with a threaded hole, the lower end is open, a guide rod is arranged in the cavity, the guide rod comprises a top surface and a vertical rod extending downward along the lower surface of the top surface, and the guide rod can move up and down in the cavity; a disc spring set extending from top to bottom is arranged on the outer periphery of the vertical rod, a jackscrew penetrates through the threaded hole, the lower end of the jackscrew is in abutting contact with the top surface of the guide rod, and the lower end of the disc spring set is in abutting contact with the upper surface of the swing arm.

[0019] The swing arm is arranged above the pressing arm, one end of the swing arm is connected with the fixed block, the other end is connected with the pressing arm in an up-down manner, and the end connected with the pressing arm is a free end capable of swinging up and down with the movement of the swing arm.

[0020] The pressing arm comprises a horizontal segment and an inclined segment inclined downward, the horizontal segment is arranged at an angle with the inclined segment, one end of the horizontal segment is connected with the swing arm in an up-down manner, and the other end of the horizontal segment is connected with one end of the inclined segment.

[0021] The positioning sleeve penetrates the upper surface and the lower surface of the pressing plate, the outer periphery of the positioning sleeve is fixedly connected with the pressing plate, and the upper surface of the fixed block is fixedly connected with the pressing plate.

[0022] Preferably, the end face of the inclined segment away from the horizontal segment is an arc-shaped face, and a thin film pressure sensor is attached to the arc-shaped face.

[0023] In a second aspect, the application further provides a skin automatic welding control method, which adopts the control system, and the method comprises the following steps:

[0024] The host computer issues a product placement instruction to the main control system, and the main control system controls the manipulator to place the skeleton and the skin on the product bottom plate of the clamp in sequence.

[0025] The host computer issues a pressing instruction to the main control system, and the main control system controls the pressing plate of the elastic compacting device to place the elastic compacting component at the to-be-bonded position, and provides elastic pressure to the elastic compacting component through the elastic extension component and transmits the elastic pressure to the to-be-bonded position.

[0026] The host computer issues a welding instruction to the main control system, and the main control system controls the welding device to weld the to-be-bonded position of the skeleton and the skin.

[0027] Compared with the prior art, the application can at least achieve one of the following beneficial effects:

[0028] 1. The control system of the application electrically connects the manipulator, the elastic compacting device on the clamp and the welding device with the host computer and the main control system, issues instructions from the host computer to the main control system, and controls the manipulator, the elastic compacting device on the clamp and the welding device to perform corresponding operations, thereby achieving high automation.

[0029] 2. The elastic compacting device on the clamp can realize elastic pressing force on the to-be-bonded position of the skeleton and the skin, and the elastic pressure adjusting part can adjust the elasticity of the elastic extension component, thereby adjusting the elastic pressing force, which is simple and efficient, not only can make the to-be-bonded position fit tightly, but also can prevent the device from pressing the to-be-bonded position.

[0030] 3、The elastic compaction device of the present application can place the end face of the inclined section away from the horizontal section at the joint of the skin and the framework, provide elastic pressure to the swing arm and the pressing arm through the disc spring group, and then the pressing arm transmits the elastic pressure to the skin, so as to realize the elastic compaction force on the skin, which can not only make the skin and the framework closely adhere, but also prevent the skin from being damaged.

[0031] 4、The end face of the inclined section away from the horizontal section of the present application is also provided with a thin film type pressure sensor, which monitors the elastic compaction force of the elastic compaction assembly on the skin, further ensures that the skin and the framework closely adhere without damaging the skin and avoiding the air welding phenomenon.

[0032] 5、The present application is provided with a hemispherical groove at the position where the swing arm contacts the disc spring group, and a hemispherical pad is arranged in the hemispherical groove, which can ensure that the upper surface of the hemispherical pad is always parallel to the lower end of the disc spring group when the swing arm rotates up and down, and the disc spring group is always vertically compressed, so as to ensure the flexibility of the compaction force provided by the elastic compaction assembly and prevent the skin or product framework from being damaged.

[0033] 6、The elastic compaction device of the present application can be combined with a pressing plate control device, which controls the pressing plate to drive the elastic compaction assembly, and the pressing end of the elastic compaction assembly is pressed on the skin, and the elastic pressure of the disc spring group can be controlled by adjusting the top screw, which is simple and efficient.

[0034] 7、Multiple elastic compaction assemblies can be arranged on a pressing plate, which can simultaneously perform elastic compaction on multiple areas of the skin.

[0035] In the present application, the above technical solutions can be combined with each other to realize more preferred combination schemes. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or be understood by implementing the present application. The purposes and other advantages of the present application can be realized and obtained from the contents specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0037] Figure 1 The present application is a skin automatic welding control system;

[0038] Figure 2 The present application is a clamp for applying elastic pressure to the skin;

[0039] Figure 3Clamp (open state) for another embodiment of the present application;

[0040] Figure 4 Schematic diagram of the clamp applying elastic pressure to the skin (pressure state) for another embodiment of the present application;

[0041] Figure 5 Cross-sectional view of Figure 2 ;

[0042] Figure 6 Partial enlarged view of Figure 5 ;

[0043] Figure 7 Schematic diagram of the structure of the elastic compacting device of the present application;

[0044] Figure 8 Schematic diagram of the structure of the elastic compacting assembly of the present application;

[0045] Figure 9 Schematic diagram of the cross-sectional structure of the elastic compacting assembly of the present application;

[0046] Figure 10A Schematic diagram of the structure of the hemispherical pad of the present application;

[0047] Figure 10B Schematic diagram of the cross-sectional structure of the hemispherical pad of the present application;

[0048] Reference signs:

[0049] 1 - positioning sleeve; 2 - top wire; 3 - fixed block; 301 - U-shaped groove; 302 - fixed hole; 4 - swing arm; 5 - pressing arm; 501 - horizontal section; 502 - inclined section; 6 - guide rod; 601 - top surface; 602 - vertical rod; 7 - disc spring group; 8 - pin shaft; 9 - hemispherical pad; 10 - countersunk screw; 11 - limit screw; 12 - thin film pressure sensor; 13 - pressing plate; 14 - pressing plate control device; 1401 - bracket; 1402 - air cylinder; 1403 - movable rod; 15 - clasp spring; 16 - skin; 17 - framework; 18 - equipment base plate; 19 - product base plate; 20 - framework pressing device; 2001 - base; 2002 - pressing rod. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, which form a part of this application, and which illustrate the principles of the present application by way of example only. The present application should not be limited to the preferred embodiments set forth herein, but should be given the broadest possible interpretation within the lawful limits of the doctrine of equivalents.

[0051] In one aspect, the present application provides an automatic welding control system for a skin, such as Figures 1-4As shown, the control system comprises a host computer, a master control system, a manipulator, a clamp and a welding device electrically connected with the master control system;

[0052] The clamp comprises a device base plate 18, a product base plate 19 and an elastic compacting device, the product base plate 19 and the elastic compacting device are arranged on the device base plate 18 respectively; the product base plate 19 is used for placing the framework 17 and the skin 16, and the elastic compacting device is used for elastically compacting the to-be-bonding part of the framework 17 and the skin 16, and the elastic compacting device is electrically connected with the master control system;

[0053] The elastic compacting device comprises a pressing plate 13 and an elastic compacting assembly connected with the pressing plate 13;

[0054] The pressing plate 13 is used for fixing the elastic compacting assembly;

[0055] The elastic compacting assembly is used for applying compacting force to the to-be-bonding part;

[0056] The elastic compacting assembly comprises an elastic compacting part and an elastic pressure adjusting part, the elastic compacting part is arranged at the to-be-bonding part, and the elastic pressure adjusting part has an elastic telescopic part; the elastic telescopic part provides the elastic compacting part with compacting force with adjustable pressure by being in contact with the upper surface of the elastic compacting part.

[0057] In implementation, the host computer commands the master control system to control the manipulator to place the framework and the skin on the product base plate 19; the master control system controls the pressing plate 13 to arrange the elastic compacting part of the elastic compacting assembly at the to-be-bonding part, provides the elastic compacting part with elastic pressure through the elastic telescopic part, and transmits the elastic pressure to the to-be-bonding part, so as to realize elastic compacting force on the to-be-bonding part, and adjust the elastic compacting force on the to-be-bonding part by adjusting the acting force between the elastic telescopic part and the elastic compacting part of the elastic pressure adjusting part; the master control system controls the welding device to weld the to-be-bonding part of the framework and the skin.

[0058] Compared with the prior art, the control system of the present application electrically connects the manipulator, the elastic compacting device on the clamp and the welding device with the host computer and the master control system, issues instructions from the host computer to the master control system, and the master control system controls the manipulator, the elastic compacting device on the clamp and the welding device to perform corresponding operations, so that the degree of automation is high; the elastic compacting device on the clamp of the present application can realize elastic compacting force on the to-be-bonding part of the framework and the skin, and the elastic telescopic part can adjust the elasticity of the elastic pressure adjusting part, and then adjust the elastic compacting force, so that the operation is simple and efficient, not only can make the to-be-bonding part fit closely, but also can prevent the device from pressing the to-be-bonding part.

[0059] In one embodiment, the elastic compacting device further comprises a pressing plate control device 14 connected with the pressing plate 13, the pressing plate control device 14 is fixed on the equipment base plate 18, and the pressing plate control device 14 is electrically connected with the main control system. The elastic compacting assembly is driven by the pressing plate 13 controlled by the pressing plate control device 14, and the pressing end of the elastic compacting assembly is pressed on the skin 16.

[0060] Specifically, as shown in Figure 5 and 7 The pressing plate control device 14 comprises a support 1401, a cylinder 1402 and a movable rod 1403, the movable rod 1403 is movably arranged on the support 1401, and the cylinder 1402 and the pressing plate 13 are respectively connected with the movable rod 1403, so that when the push rod of the cylinder 1402 pushes the movable rod 1403, the pressing plate 13 can be driven to move, and the cylinder 1402 is electrically connected with the main control system. The main control system controls the operation of the cylinder 1402 to press the elastic compacting assembly on the pressing plate 13 on or away from the surface of the skin.

[0061] Exemplarily, the cylinder 1402 is installed on the support 1401, and the support 1401 is fixed on the equipment base plate 18.

[0062] In order to ensure that the framework does not shift during welding, the clamp further comprises a plurality of framework pressing devices 20, and the framework pressing devices 20 are electrically connected with the main control system. The framework pressing devices 20 are used to press the edges of the framework 17. The plurality of framework pressing devices 20 are dispersedly arranged around the product base plate 19.

[0063] Exemplarily, the framework pressing device 20 comprises a base 2001 and a pressing rod 2002, the base 2001 is fixed on the equipment base plate 18, and the pressing rod 2002 is movably connected with the base 2001.

[0064] Exemplarily, the pressing rod 2002 can be connected with a power mechanism (for example, connected with the cylinder 1402), and the pressing rod 2002 is controlled to press the framework 17 by the power mechanism. The power mechanism is electrically connected with the main control system, and when the framework is placed, the main control system controls the pressing rod 2002 to press on the upper surface of the framework, so as to fix the framework.

[0065] In one embodiment, as shown in Figure 3 and 4 The clamp comprises a plurality of elastic compacting devices, and a plurality of elastic compacting assemblies are arranged on the pressing plate 13 of each elastic compacting device. The elastic compacting can be performed on multiple regions of the skin at the same time. Exemplarily, the plurality of elastic compacting devices are dispersedly arranged around the product base plate 19.

[0066] In order to make the skeleton to be placed on the product base plate 19 stably, the upper surface of the product base plate 19 is shaped with the lower surface of the skeleton 17, and the upper surface of the product base plate 19 is inclined so that the upper surface of the skeleton 17 is in a horizontal state.

[0067] In order to reduce the space occupied by the pressing plate 13, the pressing plate 13 can be a special-shaped flat plate.

[0068] The elastic compacting device can provide reasonable compacting force for skin welding in the case of limited welding space, the position of the skin is stable during the whole welding process, the skin is not deformed after welding, and the automatic welding achieves the expected effect.

[0069] In the application, the elastic pressure applied to the to-be-bonded part is adjustable, and in order to realize the follow-up performance of the elastic compacting part during the pressure adjustment of the elastic pressure adjusting part, one end of the elastic compacting part is fixedly connected with the pressing plate 13 through a fixing block 3. The one end of the elastic compacting part is rotatably fixedly connected with the fixing block 3, and the other end is used for compacting the to-be-bonded part and can realize up-down swinging, and the fixing block 3 is fixedly connected with the pressing plate 13.

[0070] In one embodiment, a semispherical groove is arranged on the upper surface of the elastic compacting part, a semispherical pad 9 matched with the semispherical groove is arranged in the semispherical groove, and an elastic expansion component is in contact with the semispherical pad 9.

[0071] It should be emphasized that the elastic expansion component provides compacting force with adjustable pressure to the elastic compacting part by being in contact with the semispherical pad 9 arranged in the semispherical groove on the upper surface of the elastic compacting part. The semispherical pad 9 matched with the semispherical groove is arranged in the semispherical groove, the semispherical pad 9 can slide in the semispherical groove, and the lower end of the elastic expansion component is in abutting contact with the upper surface of the semispherical pad 9. The semispherical pad 9 is as shown in Figure 10A and 10B .

[0072] The semispherical pad 9 capable of sliding in the semispherical groove is arranged in the semispherical groove, the semispherical pad 9 is in contact with the inner wall of the semispherical groove, has sliding freedom in multiple directions at the same time, can ensure that the upper surface of the semispherical pad 9 is always in parallel compacting with the lower end of the elastic expansion component when the elastic compacting part swings up and down, and the elastic expansion component is always vertically compressed, thereby ensuring the flexibility of the compacting force provided by the elastic compacting assembly and preventing the to-be-bonded component such as the skin or product skeleton from being damaged.

[0073] In order to detect and control the compacting force on the to-be-bonded part at any time, a thin-film pressure sensor 12 is arranged on the contact surface of the elastic compacting part and the to-be-bonded part. The thin-film pressure sensor 12 can detect the compacting force at any time, thereby avoiding damage to the to-be-bonded component.

[0074] In an embodiment, the control system further comprises a data acquisition module connected with the diaphragm pressure sensor 12 and the main control system. The diaphragm pressure sensor 12 generates a resistance-voltage curve through the data acquisition module and feeds back to the main control system, and the main control system generates pressure data after processing and further feeds back to the upper computer. The staff determines whether to adjust the elastic compression force by comparing the actual compression force with the theoretical data.

[0075] In a specific embodiment, as shown in Figure 6 、 8 and 9, the elastic compression part comprises a swing arm 4 and a pressing arm 5, and the elastic pressure adjusting part comprises a positioning sleeve 1, a top screw 2 and a disc spring set 7.

[0076] Specifically, the positioning sleeve 1 is arranged on the upper surface of the swing arm 4, the positioning sleeve 1 comprises a cavity extending from top to bottom inside, the upper end of the positioning sleeve 1 is provided with a threaded hole, and the lower end is open. A guide rod 6 is arranged in the cavity, the guide rod 6 comprises a top surface 601 and a vertical rod 602 extending downward along the lower surface of the top surface 601, and the guide rod 6 can move up and down in the cavity. The outer periphery of the vertical rod 602 is provided with a disc spring set 7 extending from top to bottom, the top screw 2 penetrates the threaded hole, the lower end of the top screw 2 is in abutting contact with the top surface 601 of the guide rod 6, and the lower end of the disc spring set 7 is in abutting contact with the upper surface of the swing arm 4.

[0077] The swing arm 4 is arranged on the upper surface of the pressing arm 5, one end of the swing arm 4 is connected with the fixed block 3, the other end is connected with the pressing arm 5 in up-down position, and the end connected with the pressing arm 5 is a free end which can swing up and down with the movement of the swing arm 4.

[0078] The pressing arm 5 comprises a horizontal section 501 and an inclined section 502 inclined downward, the horizontal section 501 is arranged at an angle with the inclined section 502, one end of the horizontal section 501 is connected with the swing arm 4 in up-down position, and the other end of the horizontal section 501 is connected with one end of the inclined section 502.

[0079] The positioning sleeve 1 penetrates the upper surface and the lower surface of the pressing plate 13, the outer periphery of the positioning sleeve 1 is fixedly connected with the pressing plate 13, and the upper surface of the fixed block 3 is fixedly connected with the pressing plate 13.

[0080] It can be understood that the top screw 2 is threadedly connected with the threaded hole, and the compression elasticity of the disc spring set 7 can be adjusted by rotating the top screw 2.

[0081] In implementation, as shown in Figure 5 and 6As shown, the main control system controls the pressing plate 13, and through the pressing plate 13, the inclined section 502 of the elastic compacting assembly is placed at the joint of the skin 16 and the framework 17 away from the end face of the horizontal section 501, the jackscrew 2 is rotated, and then the top surface 601 of the guide rod 6 is pressed against the disc spring set 7, the disc spring set 7 provides elastic pressure to the swing arm 4 and the pressing arm 5, and the pressing arm 5 further transmits the elastic pressure to the skin 16, so as to realize the elastic pressing force on the skin 16.

[0082] The elastic compacting device of the present application can realize the elastic pressing force on the skin, and the jackscrew 2 can adjust the elasticity of the disc spring set 7, and then adjust the elastic pressing force, which is simple in operation and high in efficiency, can not only make the skin 16 closely adhere to the framework 17, but also prevent the device from bruising the skin 16.

[0083] In an embodiment, the end face of the inclined section 502 away from the horizontal section 501 is an arc-shaped surface, and a thin film pressure sensor 12 is attached to the arc-shaped surface. The thin film pressure sensor 12 monitors the elastic pressing force of the elastic compacting assembly on the skin 16, further ensures that the skin 16 closely adheres to the framework 17, and avoids bruising the skin 16 and the phenomenon of air welding.

[0084] In an embodiment, the positioning sleeve 1 includes an upper section and a lower section, the outer periphery of the upper section is a hexagonal prism, the outer periphery of the lower section is a cylinder, and the diameter of the upper section is greater than that of the lower section, the lower section is fixedly connected with the pressing plate 13, and the lower end of the upper section presses the upper surface of the pressing plate 13.

[0085] In an embodiment, the top surface 601 and the vertical rod 602 are respectively cylindrical, and the diameter of the top surface 601 is greater than that of the vertical rod 602.

[0086] In an embodiment, the fixed block 3 is provided with a U-shaped groove 301, one end of the swing arm 4 is inserted into the U-shaped groove 301, and the pin shaft 8 passes through both sides of the U-shaped groove 301 and one end of the swing arm 4 to fix one end of the swing arm 4 in the U-shaped groove 301.

[0087] For example, one end of the pin shaft 8 is limited by a shaft shoulder, and the other end is limited by a snap spring 15.

[0088] In an embodiment, the lower surface of one end of the swing arm 4 does not contact the bottom surface of the U-shaped groove 301, so that one end of the swing arm 4 can rotate around the pin shaft 8, so that the other end of the swing arm 4 can swing up and down. That is, one end of the swing arm 4 is a fulcrum of the pin shaft 8, and the other end of the swing arm 4 can swing up and down.

[0089] In an embodiment, a limiting screw 11 is arranged between the lower surface of one end of the swing arm 4 and the bottom surface of the U-shaped groove 301.

[0090] Specifically, the limiting screw 11 is installed on the fixed block 3 through threaded connection, and the top end of the limiting screw 11 is in abutting contact with the swing arm 4. The limiting screw 11 is used to provide upward thrust to the swing arm 4, so as to form a pressing force between the swing arm 4 and the disc spring set 7.

[0091] In an embodiment, the upper surface of the fixed block 3 is provided with a fixing hole 302, and the fixed block 3 and the pressing plate 13 are fixedly connected through the fixing hole 302 and a bolt.

[0092] In an embodiment, the position where the swing arm 4 contacts the disc spring set 7 is provided with a semispherical groove, a semispherical pad 9 matched with the semispherical groove is arranged in the semispherical groove, the semispherical pad 9 can slide in the semispherical groove, and the lower end of the disc spring set 7 is in abutting contact with the upper surface of the semispherical pad 9. Figure 10A and 10B as shown.

[0093] The semispherical pad 9 arranged in the semispherical groove can slide in the semispherical groove, is in contact with the inner wall of the semispherical groove, has sliding freedom in multiple directions, can ensure that the upper surface of the semispherical pad 9 is always in parallel pressing contact with the lower end of the disc spring set 7 when the swing arm 4 swings up and down, and can ensure that the disc spring set 7 is always vertically compressed, so as to ensure the flexibility of the pressing force provided by the elastic compacting assembly and prevent the skin or product framework from being crushed.

[0094] In order not to affect the downward sliding of the guide rod 6, the semispherical groove and the semispherical pad 9 are respectively provided with a through hole through which the vertical rod 602 of the guide rod 6 passes.

[0095] Exemplarily, the semispherical groove is located above the interval space between the end of the pressing arm 5 close to the fixed block 3 and the fixed block 3.

[0096] Further, the through hole of the semispherical groove vertically penetrates the swing arm 4.

[0097] In an embodiment, the swing arm 4 and the pressing arm 5 are connected through a countersunk screw 10.

[0098] In the application, the end face of the inclined section 502 away from the horizontal section 501 is used to contact the skin 16, and then press the skin 16, that is, the end face of the inclined section 502 away from the horizontal section 501 is a pressing end.

[0099] In one embodiment, the angle between the inclined segment 502 and the horizontal segment 501 is 120-160 degrees.

[0100] On the other hand, the present invention also provides an automated welding control method for skin, employing the above-mentioned control system, the method comprising:

[0101] The host computer sends a product placement instruction to the main control system, which then controls the robotic arm to place the skeleton 17 and the skin 16 onto the product base plate 19 of the fixture in sequence.

[0102] The host computer sends a pressing command to the main control system. The main control system controls the pressure plate 13 of the elastic compaction device to place the elastic pressing part of the elastic compaction component at the joint to be joined, and provides elastic pressure to the elastic pressing part through the elastic telescopic component and transmits it to the joint to be joined.

[0103] The host computer sends welding instructions to the main control system, which then controls the welding device to weld the joint between the frame 17 and the skin 16.

[0104] Specifically, before placing the skeleton 17 and the skin 16, the multiple elastic compaction devices on the clamp are in the open state, such as... Figure 3 As shown; the host computer sends a product placement command to the main control system, which then controls the robotic arm to place the skeleton 17 and skin 16 onto the product base plate 19. The host computer then sends a skeleton fixing command to the main control system, which controls the clamping rod 2002 of the skeleton clamping device 20 to clamp the upper surface of the skeleton. Then, the host computer sends a clamping command to the main control system, which controls the cylinder 1402 to operate. The push rod of the cylinder 1402 pushes the movable rod 1403, which in turn drives the pressure plate 13, causing it to move and drive the elastic compaction component. This causes the pressure end of the inclined section 502 to press against the area where the skin and skeleton are to be joined. Figure 4The film pressure sensor 12 on the pressing end of the inclined section 502 generates resistance data through the data acquisition module to generate a resistance-voltage curve and feedback to the main control system, and the main control system generates pressure data after processing and further feedback to the upper computer. The staff determines whether to adjust the elastic compression force by comparing the real compression force with the theoretical data. If adjustment is needed, rotate the top screw 2 to drive the top surface 601 of the guide rod 6 to compress the disc spring set 7, and the disc spring set 7 provides elastic pressure to the swing arm 4 and the compression arm 5, and the compression arm 5 further transmits the elastic pressure to the skin 16, so as to realize the appropriate elastic compression force of the skin 16. After adjusting the elastic compression force, the upper computer issues a welding instruction to the main control system, and the main control system controls the welding device to weld the to-be-combined part of the framework 17 and the skin 16. After welding, the upper computer issues a release compression instruction to the main control system, and the main control system controls the cylinder 1402 to make the pressing plate 13 drive the elastic compression assembly to lift upward. The upper computer issues a product taking away instruction to the main control system, and the main control system controls the manipulator to take away the welded product from the clamp.

[0105] Specifically, if the real compression force is within ±2.5% of the ideal data, the compression force is used for subsequent automatic skin compression and welding; if the real compression force is less than 97.5% of the ideal data, the top screw 2 is further tightened until the real compression force is within ±2.5% of the ideal data; if the real compression force is greater than 102.5% of the ideal data, the top screw 2 is loosened until the real compression force is within ±2.5% of the ideal data. After adjusting the elastic compression force of all elastic compression devices according to the above steps, the skin is welded, and the subsequent skin compression does not need to repeat the adjustment of the top screw.

[0106] Next, the skin automatic welding control system and control method of the present application will be further described through embodiments.

[0107] Embodiment 1

[0108] A skin automatic welding control system, the control system comprising an upper computer, a main control system, a data acquisition module, and a manipulator, a clamp and a welding device electrically connected with the main control system, the data acquisition module being connected with the main control system;

[0109] The clamp comprises a device base plate 18, a product base plate 19 and an elastic compacting device, the product base plate 19 and the elastic compacting device are respectively arranged on the device base plate 18; the product base plate 19 is used for placing a framework and a skin, the elastic compacting device is used for elastically pressing a to-be-bonding part of the framework and the skin, and the elastic compacting device is electrically connected with the main control system; an upper surface of the product base plate 19 is conformal with a lower surface of the framework 17, and the upper surface of the product base plate 19 is inclined so that an upper surface of the framework 17 is in a horizontal state; the clamp further comprises a plurality of framework pressing devices 20, the framework pressing devices 20 are used for pressing edges of the framework 17; the framework pressing device 20 comprises a base 2001 and a pressing rod 2002, the base 2001 is fixed on the device base plate 18, and the pressing rod 2002 is movably connected with the base 2001;

[0110] The elastic compaction device comprises a pressing plate and an elastic compaction assembly, which comprises a positioning sleeve 1, a top pin 2, a fixing block 3, a swing arm 4 and a pressing arm 5. The positioning sleeve 1 is arranged on the swing arm 4, and the inside of the positioning sleeve 1 comprises a cavity extending from top to bottom. The upper end of the positioning sleeve 1 is provided with a threaded hole, and the lower end is open. A guide rod 6 is arranged in the cavity. The guide rod 6 comprises a top surface 601 and a vertical rod 602 extending downward along the lower surface of the top surface 601. The guide rod 6 can move up and down in the cavity. A disc spring set 7 extending from top to bottom is arranged on the outer periphery of the vertical rod 602. The top pin 2 penetrates the threaded hole. The lower end of the top pin 2 is in abutting contact with the top surface 601 of the guide rod 6. The lower end of the disc spring set 7 is in abutting contact with the upper surface of the swing arm 4. The swing arm 4 is arranged on the pressing arm 5. One end of the swing arm 4 is connected with the fixing block 3, and the other end is connected with the pressing arm 5 in an up-down manner, and the other end can swing up and down. The pressing arm 5 comprises a horizontal section 501 and an inclined section 502 inclined downward. The horizontal section 501 is arranged at an angle with the inclined section 502. One end of the horizontal section 501 is connected with the swing arm 4 in an up-down manner. The other end of the horizontal section 501 is connected with one end of the inclined section 502. The positioning sleeve 1 penetrates the upper surface and the lower surface of the pressing plate 13. The outer periphery of the positioning sleeve 1 is fixedly connected with the pressing plate 13. The upper surface of the fixing block 3 is fixedly connected with the pressing plate 13. The positioning sleeve 1 comprises an upper section and a lower section. The outer periphery of the upper section is hexagonal. The outer periphery of the lower section is cylindrical. The diameter of the upper section is larger than that of the lower section. The lower section is fixedly connected with the pressing plate 13. The lower end of the upper section presses the upper surface of the pressing plate 13. The top surface 601 and the vertical rod 602 are cylindrical respectively. The diameter of the top surface 601 is larger than that of the vertical rod 602. A U-shaped groove 301 is arranged on the fixing block 3. One end of the swing arm 4 is inserted into the U-shaped groove 301. A pin shaft 8 penetrates the two sides of the U-shaped groove 301 and one end of the swing arm 4, so as to fix one end of the swing arm 4 in the U-shaped groove 301. One end of the pin shaft 8 is limited by a shaft shoulder, and the other end is limited by a snap spring 15. One end of the swing arm 4 is the fulcrum of the pin shaft 8. The other end of the swing arm 4 can swing up and down. A limiting screw 11 is arranged between the lower surface of one end of the swing arm 4 and the bottom surface of the U-shaped groove 301. A fixing hole 302 is arranged on the upper surface of the fixing block 3. The fixing block 3 and the pressing plate 13 are fixedly connected through the fixing hole 302 and a bolt. A hemispherical groove is arranged at the position where the swing arm 4 contacts with the disc spring set 7. A hemispherical pad 9 matching with the hemispherical groove is arranged in the hemispherical groove. The hemispherical pad 9 can slide in the hemispherical groove. The lower end of the disc spring set 7 is in abutting contact with the upper surface of the hemispherical pad 9.The semispherical recess and the semispherical pad 9 are respectively provided with a through hole for the vertical rod 602 of the guide rod 6 to pass through. The pressing arm 5 is spaced apart from the fixed block 3 at one end close to the fixed block 3, and the semispherical recess is located above the spacing space. The through hole of the semispherical recess vertically penetrates the swing arm 4. The swing arm 4 and the pressing arm 5 are connected by a countersunk screw 10. The end face of the inclined section 502 away from the horizontal section 501 is an arc face, and a thin film pressure sensor 12 is attached to the arc face. The thin film pressure sensor 12 is connected with a data acquisition module. The elastic compaction device further comprises a pressing plate control device 14, and the pressing plate 13 is connected with the pressing plate control device 14. The pressing plate control device 14 comprises a bracket 1401, a gas cylinder 1402 and a movable rod 1403. The movable rod 1403 is movably arranged on the bracket 1401, and the gas cylinder 1402 and the pressing plate 13 are respectively connected with the movable rod 1403, so that when the push rod of the gas cylinder 1402 pushes the movable rod 1403, the pressing plate 13 can be driven to move. The gas cylinder 1402 is installed on the bracket 1401, and the bracket 1401 is fixed on the equipment bottom plate 18. The elastic compaction device can comprise 10 pressing plates 13, and 5 elastic compaction assemblies are arranged on each pressing plate 13. The pressing plate 13 can be a special-shaped flat plate.

[0111] Example 2

[0112] The control system of example 1 is used for automatic welding of the skin. Before placing the framework 17 and the skin 16, the plurality of elastic compaction devices on the clamp are in an open state, as shown in Figure 3 The host computer issues a product placement instruction to the main control system, the main control system controls the manipulator to place the framework 17 and the skin 16 on the product bottom plate 19, the host computer issues a framework fixing instruction to the main control system, and the main control system controls the pressing rod 2002 of the framework pressing device 20 to press the upper surface of the framework. Then the host computer issues a pressing instruction to the main control system, the main control system controls the gas cylinder 1402 to operate, the push rod of the gas cylinder 1402 pushes the movable rod 1403, the movable rod 1403 drives the pressing plate 13, the pressing plate 13 moves and drives the elastic compaction assembly, and the pressing end of the inclined section 502 presses the to-be-bonded part of the skin and the framework, as shown in Figure 4The film pressure sensor 12 on the pressing end of the inclined section 502 generates resistance data through the data acquisition module to generate a resistance-voltage curve and feedback to the main control system, and the main control system generates pressure data after processing and further feedback to the upper computer. The staff determines whether to adjust the elastic pressing force by comparing the real pressing force with the theoretical data; if the real pressing force is within ± 2.5% of the ideal data, the pressing force is used for subsequent automatic skin pressing and welding; if the real pressing force is less than 97.5% of the ideal data, the top screw 2 is further tightened until the real pressing force is within ± 2.5% of the ideal data; if the real pressing force is greater than 102.5% of the ideal data, the top screw 2 is loosened until the real pressing force is within ± 2.5% of the ideal data. After adjusting the elastic pressing force of all elastic compacting devices according to the above steps, the skin is welded, and the subsequent skin pressing does not need to be adjusted repeatedly. After adjusting the elastic pressing force, the upper computer issues a welding instruction to the main control system, and the main control system controls the welding device to weld the to-be-combined part of the framework 17 and the skin 16. After welding, the upper computer issues a release pressing instruction to the main control system, and the main control system controls the air cylinder 1402 to make the pressing plate 13 drive the elastic compacting assembly to lift upward. The upper computer issues a product taking away instruction to the main control system, and the main control system controls the manipulator to take away the welded product from the clamp.

[0113] In the welding process of embodiment 2, the skin is not crushed, and there is no empty welding.

[0114] Embodiment 3

[0115] The control method is similar to that of embodiment 2, except that the end face of the inclined section away from the horizontal section is not provided with a film pressure sensor 12.

[0116] In the welding process of embodiment 3, the elastic pressing force of the skin by the detection device cannot be detected, the pressing force of each region on the skin is not uniform, and the skin is slightly crushed or empty welding occurs in some regions.

[0117] Embodiment 4

[0118] The control method is similar to that of embodiment 2, except that the position where the swing arm contacts the disc spring set is not provided with a hemispherical groove, and thus there is no hemispherical pad, and the lower end of the disc spring set directly contacts the upper plane of the swing arm.

[0119] In the welding process of embodiment 4, the lower end of the disc spring set directly contacts the swing arm, and the disc spring set cannot be vertically compressed, and the skin is slightly crushed in some regions.

[0120] Embodiment 5

[0121] The control method of the embodiment is similar to that of the embodiment 2, and more specifically, the structure of the hemispherical pad 9 is as shown in FIGS. 1 and 2. Figure 10A and 10B The hemispherical pad 9 is shaped as a hemispherical segment, the lower end of the disc spring set 7 is in contact with the upper surface of the hemispherical pad 9, providing a support surface for the compression of the disc spring set 7, and a through hole is provided for the vertical rod 602 of the guide rod 6 to pass through, the diameter of the through hole is the same as that of the vertical through hole of the swing arm 4, and the mating surface of the hemispherical pad 9 and the swing arm 4 is spherical. In this way, the elastic force of the disc spring set 7 can be uniformly transmitted to the swing arm 4, thereby ensuring the uniformity of the pressing force applied by each elastic compacting assembly to each part of the skin, and avoiding deformation of the skin due to uneven pressure.

[0122] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium, such as a magnetic disk, an optical disk, a read-only memory or a random access memory.

[0123] The above description is only a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. An automated welding control system for skin, characterized in that, The control system includes a host computer, a main control system, and a robotic arm, a fixture, and a welding device electrically connected to the main control system. The fixture includes an equipment base plate (18), a product base plate (19), and an elastic compaction device. The product base plate (19) and the elastic compaction device are respectively disposed on the equipment base plate (18). The product base plate (19) is used to place the skeleton (17) and the skin (16). The upper surface of the product base plate (19) conforms to the lower surface of the skeleton (17), and the upper surface of the product base plate (19) is inclined so that the upper surface of the skeleton (17) is in a horizontal state. The elastic compaction device is used to apply elastic pressure to the joint of the skeleton (17) and the skin (16). The elastic compaction device is electrically connected to the main control system. The elastic compaction device includes a pressure plate (13) and an elastic compaction assembly connected thereto; The pressure plate (13) is used to fix the elastic compaction component; The elastic compaction component is used to apply a clamping force to the joint to be joined; The elastic compaction assembly includes an elastic clamping part and an elastic pressure adjusting part. The elastic clamping part is placed at the joint to be joined, and the elastic pressure adjusting part has an elastic telescopic component. The elastic telescopic component provides an adjustable clamping force to the elastic clamping part by contacting the upper surface of the elastic clamping part. One end of the elastic pressing part is fixedly connected to the pressure plate (13) via a fixing block (3). The elastic pressing part is rotatably fixedly connected to the fixing block (3), and the other end is used to press the joint to be joined and can swing up and down. The fixing block (3) is fixedly connected to the pressure plate (13). The upper surface of the elastic pressing part is provided with a hemispherical groove, and a hemispherical pad (9) matching the hemispherical groove is provided in the hemispherical groove. The elastic telescopic component is in contact with the hemispherical pad (9). When the elastic pressing part swings up and down, the upper surface of the hemispherical pad (9) is always parallel to the lower end of the elastic telescopic component and pressed. The elastic telescopic component is always compressed vertically. A thin-film pressure sensor (12) is provided on the contact surface between the elastic clamping part and the point to be joined; the control system also includes a data acquisition module, which is connected to the thin-film pressure sensor (12) and the main control system.

2. The control system according to claim 1, characterized in that, The elastic compaction device also includes a pressure plate control device (14) connected to the pressure plate (13). The pressure plate control device (14) is fixed on the equipment base plate (18) and is electrically connected to the main control system.

3. The control system according to claim 2, characterized in that, The pressure plate control device (14) includes a bracket (1401), a cylinder (1402), and a movable rod (1403). The movable rod (1403) is movably mounted on the bracket (1401). The cylinder (1402) and the pressure plate (13) are respectively connected to the movable rod (1403), so that when the push rod of the cylinder (1402) pushes the movable rod (1403), it can drive the pressure plate (13) to move. The cylinder (1402) is electrically connected to the main control system.

4. The control system according to claim 1, characterized in that, The fixture also includes multiple skeleton clamping devices (20), which are electrically connected to the main control system.

5. The control system according to claim 4, characterized in that, The clamp includes multiple elastic compaction devices, and multiple elastic compaction components are provided on the pressure plate (13) of each elastic compaction device.

6. The control system according to claim 1, characterized in that, The elastic pressure adjustment part includes a positioning sleeve (1), a set screw (2), and a disc spring assembly (7); the elastic clamping part includes a swing arm (4) and a pressure arm (5). The positioning sleeve (1) is disposed on the upper part of the swing arm (4). The positioning sleeve (1) includes a cavity extending from top to bottom. The upper end of the positioning sleeve (1) is provided with a threaded hole, and the lower end is open. A guide rod (6) is disposed in the cavity. The guide rod (6) includes a top surface (601) and a vertical rod (602) extending downward along the lower surface of the top surface (601). The guide rod (6) can move up and down in the cavity. A disc spring assembly (7) extending from top to bottom is disposed on the outer periphery of the vertical rod (602). The set screw (2) passes through the threaded hole. The lower end of the set screw (2) abuts against the top surface (601) of the guide rod (6). The lower end of the disc spring assembly (7) abuts against the upper surface of the swing arm (4) through the hemispherical pad (9). The swing arm (4) is located on the top of the pressure arm (5). One end of the swing arm (4) is connected to the fixed block (3), and the other end is connected to the pressure arm (5) in an upper and lower position. The end connected to the pressure arm (5) is a free end, which can swing up and down with the movement of the swing arm (4). The pressure arm (5) includes a horizontal section (501) and a downwardly inclined section (502). The horizontal section (501) and the inclined section (502) are set at an angle. The swing arm (4) is connected to one end of the horizontal section (501) in an upper-lower position, and the other end of the horizontal section (501) is connected to one end of the inclined section (502). The positioning sleeve (1) penetrates the upper and lower surfaces of the pressure plate (13), the outer periphery of the positioning sleeve (1) is fixedly connected to the pressure plate (13), and the upper surface of the fixing block (3) is fixedly connected to the pressure plate (13).

7. The control system according to claim 6, characterized in that, The end face of the inclined segment (502) away from the horizontal segment (501) is an arc-shaped surface, and a thin-film pressure sensor (12) is attached to the arc-shaped surface.

8. An automated welding control method for skin, characterized in that, The method employing the control system according to any one of claims 1-7 comprises: The host computer sends a product placement instruction to the main control system, and the main control system controls the robot to place the skeleton (17) and skin (16) onto the product base plate (19) of the fixture in sequence; The host computer sends a pressing command to the main control system. The main control system controls the pressure plate (13) of the elastic compaction device to place the elastic pressing part of the elastic compaction component at the joint to be joined, and provides elastic pressure to the elastic pressing part through the elastic telescopic component and transmits it to the joint to be joined. The host computer sends welding instructions to the main control system, and the main control system controls the welding device to weld the joint between the skeleton (17) and the skin (16).

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