Induction brazing device and welding method for multi-degree-of-freedom of irregular-shaped components

Abstract

The present invention discloses an induction brazing device and a welding method for multi-degree-of-freedom of irregular-shaped components. The induction brazing device includes a working platform, a robotic arm, an induction brazing coil, a three-degree-of-freedom working platform, etc. The two ends of the induction brazing coil are respectively connected to the ends of the two induction brazing coil robotic arms. Through the movement of the robotic arms, a current closed loop is formed at any position; the induction brazing coil is composed of multi-degree-of-freedom joints controlled by a pneumatic circuit, which can realize the brazing of workpieces of different shapes; the three-degree-of-freedom working platform controls the movement of the workpiece to realize the array-type induction brazing requirements of different positions of the workpiece; the three-degree-of-freedom working platform and the robotic arm realize intelligent coordinated movement through an adaptive linkage controller, which not only realizes the convenient clamping and disassembly of the workpiece, but also is applicable to the brazing of a large number of workpieces; the temperature monitoring device robotic arm can control the temperature monitoring device to monitor the surface temperature distribution of the workpiece in real time from multiple directions and angles.

Description

Technical Field

[0001] The present invention relates to the technical field of induction brazing, and more particularly to an induction brazing device and a welding method for multi-degree-of-freedom of irregular-shaped components. Background Art

[0002] Induction brazing is a welding method that uses high-frequency, medium-frequency, or industrial-frequency induction current as a heat source. High-frequency heating is suitable for welding thin-walled pipes. The use of coaxial cables and split-and-close induction coils allows welding to be performed on-site away from a power source. It is a very common method for connecting workpieces.

[0003] Currently, induction brazing often uses a circular, closed induction coil to weld pipes. While this method can produce a relatively uniform temperature field, it is inconvenient for placing, clamping, and removing the workpieces to be welded. Furthermore, when welding irregularly shaped components or arrays, this reduces production efficiency and wastes resources. Therefore, this method can only weld a limited number of components. For complex components, the uneven brazing temperature field can seriously affect the quality of the brazed joint. Patent (CN111922475A) provides a fast-adjustment induction brazing device, which realizes real-time movement or rotation of the welded parts during the induction brazing process, but the coil structure and shape are still fixed, and flexible and high-freedom regulation is not achieved; Patent (CN103506726A) provides an induction coil for induction brazing, which is used to weld a sleeve with a stepped structure, but the induction coil of the device is a fixed circular shape and cannot achieve induction brazing of irregular structural parts; Patent (CN111151835A) provides an induction brazing system supplemented by a collaborative controller and an intelligent positioning system, which realizes intelligent induction brazing of products, but the induction brazing coil of the device is a fixed device and does not realize multi-degree-of-freedom intelligent control and regulation; Patent (CN114871526A) provides an automatically opening and closing induction brazing device, which controls the high-precision matching of the end faces of the two metal rods through a screw, and realizes induction brazing with high positional accuracy, but the coil in the device is a fixed device and only realizes induction brazing of circular components.

[0004] Therefore, how to design an induction brazing system with a simple structure, uniform temperature field distribution, easy clamping and removal of workpieces, and suitable for brazing connections of different forms of workpieces is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention proposes an induction brazing device and welding method for irregular-shaped components with multiple degrees of freedom, and its specific technical solutions are as follows:

[0006] An induction brazing device for multi-degree-of-freedom of irregular-shaped components, comprising:

[0007] A working platform, comprising an upper frame and a working platform power distribution cabinet installed below the upper frame;

[0008] A robotic arm, comprising an induction brazing coil robotic arm and a temperature monitoring device robotic arm, wherein two sets of the induction brazing coil robotic arms are provided, and are respectively installed on opposite sides of the upper frame; the temperature monitoring device robotic arm is installed on the top of the upper frame;

[0009] An induction brazing coil is composed of two half coils, each of which is connected to the end of an induction brazing coil robotic arm. Under the control of the induction brazing coil robotic arm, the two half coils can form a closed loop at any position in space. The induction brazing coil is a multi-degree-of-freedom induction brazing coil composed of multi-degree-of-freedom joints controlled by a pneumatic circuit. The coordinated motion of the motors at each induction brazing coil joint controls the coil to form current loops of different shapes, making it suitable for induction brazing of workpieces of different shapes.

[0010] A three-degree-of-freedom working platform is installed on the upper surface of the working platform power distribution cabinet, with the workpiece to be welded installed on its uppermost end to achieve three-dimensional freedom movement of the workpiece and its own rotational movement;

[0011] A linkage controller, which is installed inside the power distribution cabinet of the work platform and is an adaptive linkage controller controlled by a PLC module, and is used to achieve intelligent coordinated linkage control of the robotic arm, the three-degree-of-freedom work platform, and the induction brazing coil joint;

[0012] A temperature monitoring device is connected to the end of the temperature monitoring device mechanical arm to realize multi-directional global monitoring of the temperature distribution of the workpiece surface during the brazing process and provide feedback to the linkage controller.

[0013] Through the above technical scheme, the present invention provides an induction brazing device for irregular-shaped components with multiple degrees of freedom, including a working platform, a robotic arm, an induction brazing coil, a three-degree-of-freedom working platform, a linkage controller, and a temperature monitoring device, wherein the two ends of the induction brazing coil are respectively connected to the ends of the two induction brazing coil robotic arms, and the induction brazing coil robotic arms control the movement of the two ends of the induction brazing coil in space to form a current closed loop at any position; the induction brazing coil is composed of multi-degree-of-freedom joints controlled by a pneumatic circuit, which can realize brazing of workpieces of different shapes; the three-degree-of-freedom working platform controls the three-dimensional freedom movement and the rotational movement of the workpiece to realize array-type induction brazing requirements for different positions of the workpiece; the three-degree-of-freedom working platform and the robotic arm realize intelligent coordinated movement through an adaptive linkage controller, which not only realizes convenient clamping and disassembly of the workpiece, but also is applicable to the brazing of a large number of workpieces; the temperature monitoring device robotic arm can also control the camera in the temperature monitoring device to monitor the surface temperature distribution of the workpiece in real time from multiple directions and angles, thereby realizing timely temperature correction and ensuring the quality of induction brazing of the workpiece.

[0014] The invention has a simple structure, a reasonable design and a good induction brazing effect, can meet the needs of large-scale and array-type induction brazing of irregular-shaped components, and improves work efficiency.

[0015] Preferably, the induction brazing coil robotic arm and the temperature monitoring device robotic arm have the same structure, both of which are five-degree-of-freedom robotic arms, correspondingly including a robotic arm base, a shoulder joint and base matching axis, a shoulder joint rotation unit, a robotic arm upper arm, an elbow joint rotation unit, a robotic arm lower arm, a robotic arm wrist rotation unit and a fixing device, and the robotic arm base is fixed to the corresponding position of the upper frame; the robotic arm has a total of 5 degrees of freedom, and different forms of movement of different robotic arm joints are controlled by the robotic arm motor, of which three robotic arm joints realize rotational movement through a revolving pair; the end of the robotic arm wrist rotation unit has the fixing device, and the corresponding fixing device on the temperature monitoring device robotic arm is a camera clamping device, and the corresponding fixing device on the induction brazing coil robotic arm is an induction brazing coil clamping device; the robotic arm wrist rotation unit of the induction brazing coil robotic arm can also realize telescopic movement, and the induction brazing coil forms a closed loop at any position in space through the coordination of different movements.

[0016] Preferably, the induction brazing coil is made of conductive material; the ends of the two induction brazing half coils corresponding to their respective induction brazing coil robotic arms are respectively connected to the positive and negative poles of the power supply, and the other ends of the two induction brazing half coils are suspended in the air to form a match, forming a current closed loop when the coil is closed.

[0017] Preferably, the two induction brazing half coils at the end of the induction brazing coil robot arm do not contact each other.

[0018] Preferably, the induction brazing coil is composed of multiple joints, and is controlled to form different shapes by the independent joint motors at different joints; one end of the joint has a protruding annular groove, a rack is present in the annular groove, and the other end has a cylindrical protrusion, and the middle of the cylindrical protrusion has a ruler cylindrical external gear that meshes with the rack, and the joint motor is installed in the inner shaft of the gear at the joint, and the meshing transmission of the gear and the rack is driven by the movement of the motor.

[0019] Preferably, the thickness of different joints of the induction brazing coil can be freely designed and replaced according to the shape of the workpiece, but can all be transformed into loops of different shapes through joint movement and meet the requirement of no short circuit.

[0020] Preferably, the induction brazing coil is cooled and temperature controlled by spraying a coolant.

[0021] Preferably, the three-degree-of-freedom work platform includes a workpiece clamping fixed end, a Z-direction lifting system, an X-direction ball screw, and a Y-direction ball screw, wherein the workpiece clamping fixed end is used to fix workpieces of different forms, and different fixed ports are designed according to the properties of the workpiece to realize clamping and unloading of the workpiece; the Z-direction lifting system includes a Z-direction pneumatic circuit system and a circuit-controlled rotation unit to control the lifting and lowering of the workpiece and the rotation of the workpiece around itself; the X-direction ball screw and the Y-direction ball screw are used to realize the movement of the workpiece in the XY directions.

[0022] The present invention also provides a method for induction brazing of irregular-shaped components using the above-mentioned induction brazing device, comprising the following steps:

[0023] S1: Use alcohol to clean the workpiece before brazing, including degreasing and rust removal;

[0024] S2: Apply the prepared brazing filler metal to the target brazing position of the workpiece to be welded, so as to facilitate the subsequent induction brazing step;

[0025] S3: Control the movement of the induction brazing coil joint motor according to the shape of the workpiece area to be welded, and form a closed coil that matches the target brazing area by surrounding the induction brazing coil;

[0026] S4: Clamp the workpiece to be welded with the solder applied to the workpiece clamping position of the three-degree-of-freedom work platform;

[0027] S5: Turn on the linkage controller to control the coordinated movement of the induction brazing coil manipulator and the three-degree-of-freedom work platform, so that the induction brazing coil forming a closed loop surrounds the target brazing area of ​​the workpiece, thereby forming a surrounding covering of the target brazing area;

[0028] S6: After being ready, the linkage controller automatically turns on the control power supply of the induction current to achieve induction brazing of the target area of ​​the workpiece;

[0029] S7: The temperature distribution on the workpiece surface is monitored by the temperature monitoring device, and the temperature is fed back to the control circuit in real time to control the on and off of the current circuit in a timely manner;

[0030] S8: After brazing is completed, the induction brazing coil robot arm is controlled to move to disconnect the induction brazing coil, and the linkage controller controls the mobile three-degree-of-freedom work platform to change the target brazing position or replace the welded workpiece with the next workpiece to be welded;

[0031] S9: Repeat the above steps S4-S8 to achieve induction brazing of irregular-shaped components.

[0032] Furthermore, in step S5, a gap needs to be left between the workpiece to be welded and the inner ring of the induction brazing coil.

[0033] The present invention provides an induction brazing device and a welding method for irregular-shaped components with multiple degrees of freedom, which have the following beneficial effects:

[0034] 1. Simple structure and reasonable design.

[0035] 2. The multi-degree-of-freedom robotic arm and the multi-degree-of-freedom joint induction brazing coil can form current loops of different shapes to ensure that the brazing of irregular-shaped, array-type, thin-walled parts and large-scale workpieces can be met, solving the current problems of single brazing type, uneven brazing temperature field distribution, and low brazing efficiency.

[0036] 3. Improve work efficiency. The linkage controller controls the coordinated movement of the work platform and the robotic arm to ensure that the coil completely covers the workpiece area to be welded, and facilitates the clamping and removal of the workpiece, solving the current problems of difficult clamping before welding, difficult removal after welding, and inability to replace the workpiece in time.

[0037] 4. The temperature monitoring device monitors the surface temperature distribution of the workpiece in real time and sends a feedback signal to the linkage controller to sense whether the surface temperature of the workpiece is evenly distributed, timely evaluate the brazing effect, and realize the on and off of the coil, which plays a role in protecting the workpiece, improving work efficiency and saving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 The accompanying drawing is a schematic structural diagram of a multi-degree-of-freedom induction brazing device provided by the present invention;

[0040] Figure 2 The accompanying drawing is a schematic structural diagram of an induction brazing coil robot arm and a multi-joint induction brazing coil provided by the present invention;

[0041] Figure 3 The accompanying drawing is a schematic structural diagram of the induction brazing coil provided by the present invention after being closed;

[0042] Figure 4 The accompanying drawings are detailed views of the joint connections of the multi-joint induction brazing coil provided by the present invention;

[0043] Figure 5 、 Figure 6 The accompanying drawings are overall and cross-sectional views of the joint connections of the multi-joint induction brazing coil provided by the present invention;

[0044] Figure 7 、 Figure 8 The accompanying drawings are simplified and cross-sectional views of the joint connections of the multi-joint induction brazing coil provided by the present invention;

[0045] Figure 9 The accompanying drawing is a cross-sectional view of the multi-joint induction brazing coil provided by the present invention.

[0046] Figure 10 The accompanying drawing is a schematic diagram of the internal current path of the multi-joint induction brazing coil provided by the present invention;

[0047] Figure 11 The accompanying drawing is a schematic structural diagram of a three-degree-of-freedom working platform provided by the present invention;

[0048] Figure 12 The accompanying drawings are schematic structural diagrams of a temperature monitoring device and a temperature monitoring device mechanical arm provided by the present invention;

[0049] Figure 13 The accompanying drawing is a schematic diagram of the induction brazing process for the strengthening layer of an aero-engine turbine blade provided by the present invention;

[0050] In the figure: 1-upper frame, 2-working platform power distribution cabinet, 3-induction brazing coil robot arm, 4-temperature monitoring device robot arm, 5-induction brazing coil, 6-induction brazing half coil, 7-three-degree-of-freedom working platform, 8-temperature monitoring device, 9-robot arm base, 10-shoulder joint and base matching axis, 11-shoulder joint rotation unit, 12-robot arm upper arm, 13-elbow joint rotation unit, 14-robot arm lower arm, 15-robot arm wrist rotation unit, 16-joint, 17-joint motor, 18-annular groove, 19-rack, 20-cylindrical protrusion, 21-ruler cylindrical external gear, 22-workpiece clamping fixed end, 23-Z-direction lifting system, 24-X-direction ball screw, 25-Y-direction ball screw, 26-turbine fan blade. DETAILED DESCRIPTION

[0051] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0052] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0054] Example:

[0055] See attached Figure 1 To the attached Figure 13 The embodiment of the present invention discloses an induction brazing device for multi-degree-of-freedom of irregular-shaped components, including: a working platform, a robotic arm, an induction brazing coil 5, a three-degree-of-freedom working platform 7, a linkage controller, and a temperature monitoring device 8.

[0056] The work platform includes an upper frame 1 and a work platform power distribution cabinet 2 installed below the upper frame 1. The upper frame 1 is provided with a fixing portion, which can fix the corresponding robotic arms on both sides and the top of the upper frame 1 to control the induction brazing coil 5 and the temperature monitoring device 8 (i.e., the temperature detection camera).

[0057] The robotic arm specifically includes an induction brazing coil robotic arm 3 and a temperature monitoring device robotic arm 4. There are two sets of induction brazing coil robotic arms 3, which are respectively installed on opposite sides of the upper frame 1; the temperature monitoring device robotic arm 4 is installed on the top of the upper frame 1.

[0058] The induction brazing coil 5 is composed of two induction brazing half coils 6, each of which is connected to the end of an induction brazing coil robot arm 3. The two induction brazing half coils 6 can form a closed loop at any position in space under the control of the induction brazing coil robot arm 3; the induction brazing coil 5 is a multi-degree-of-freedom induction brazing coil, which is composed of multi-degree-of-freedom joints controlled by a pneumatic circuit. The coordinated movement of the joint motor 17 at each induction brazing coil joint controls the coil to form current loops of different shapes, which is suitable for induction brazing of workpieces of different shapes.

[0059] The three-degree-of-freedom work platform 7 is installed on the upper surface of the work platform distribution cabinet 2. The workpiece to be welded is installed at the top of the three-degree-of-freedom work platform 7 to realize the three-dimensional freedom movement of the workpiece and its own rotational movement, which is convenient for clamping, removing and replacing the workpiece. It moves in coordination with the robotic arm through the linkage controller to improve work efficiency.

[0060] The linkage controller, installed within the work platform's power distribution cabinet 2, is an adaptive linkage controller controlled by a PLC module. It enables intelligent, coordinated control of the robotic arm, the three-degree-of-freedom work platform 7, and the induction brazing coil joint, thereby achieving coordinated movement. In addition to the linkage controller, the work platform's power distribution cabinet 2 also houses a temperature monitoring system, power supply terminals, and other essential components of the engineering equipment.

[0061] The temperature monitoring device 8 is connected to the end of the temperature monitoring device robotic arm 4 to realize multi-directional global monitoring of the temperature distribution on the workpiece surface during the brazing process, and to provide timely feedback to the linkage controller to control the brazing time and improve the brazing efficiency.

[0062] In the present invention, the induction brazing coil robot arm 3 and the temperature monitoring device robot arm 4 control the induction brazing coil 5 and the temperature monitoring device 8 respectively, and there are conductive cables and control motors inside the robot arms.

[0063] In order to further optimize the above technical solution, the induction brazing coil robot arm 3 and the temperature monitoring device robot arm 4 have the same structure, both of which are five-degree-of-freedom robot arms, corresponding to the robot arm base 9, the shoulder joint and base matching axis 10, the shoulder joint rotation unit 11, the robot arm upper arm 12, the elbow joint rotation unit 13, the robot arm lower arm 14, the robot arm wrist rotation unit 15 and the fixing device. The robot arm base 9 is fixed to the fixed part of the corresponding position of the upper frame 1 by fastening bolts; the robot arm has a total of 5 degrees of freedom, and the different forms of movement of different robot arm joints are controlled by the robot arm motor. The rotation unit is composed of a rotating pair, which is used to connect two adjacent parts so that it can achieve one degree of freedom movement, among which three robot arm joints realize rotational movement through the rotating pair; the end of the robot arm wrist rotation unit 15 has a fixing device, which can be used to install and replace the temperature monitoring camera and the induction brazing coil 5.

[0064] The corresponding fixing device on the temperature monitoring device robot arm 4 is a camera clamping device, and the corresponding fixing device on the induction brazing coil robot arm 3 is an induction brazing coil clamping device; the robot arm wrist rotation unit 15 of the induction brazing coil robot arm 3 can also realize telescopic movement, and through the coordination of different movements, the induction brazing coil 5 can form a closed loop at any position in space.

[0065] In order to further optimize the above technical solution, the induction brazing coil 5 is made of conductive material (generally copper material), which realizes the circulation of the circuit itself; the two induction brazing half coils 6 correspond to the ends of their respective induction brazing coil manipulators 3 and are respectively connected to the positive and negative leads of the power supply, and the other ends of the two induction brazing half coils 6 are suspended in the air to form a match. When the coils are closed, a current closed loop is formed. The current path is shown in the attached figure. Figure 10 In other words, the induction brazing coil arm 3 is connected to one end of the half coil, and the other ends of the coils touch each other, forming a closed circuit of current. Note that the two induction brazing half coils 6 at the end of the induction brazing coil arm 3 do not touch each other to avoid short circuit of current.

[0066] In order to further optimize the above technical solution, the induction brazing coil 5 is a multi-degree-of-freedom joint structure controlled by a motor. Each joint 16 is formed by a casting method. There are independent motors at the connection of each joint 16 of the induction coil. These motors cooperate with each other to move to realize the control of the induction brazing coil 5 structure. Different joints 16 can be controlled to be in different positions according to the shape of the workpiece, thereby forming coils of different shapes. However, no matter what shape is formed, it does not affect the formation of a loop of current inside the induction coil, so as to realize induction brazing of irregular shaped components.

[0067] More specifically, there is a joint motor 17 at the joint 16 of the different induction brazing coils 5 as shown in the attached figure. Figure 4Different joint motors 17 work under a unified controller and form loops of different shapes through their own separate motion control coil joints to adapt to induction brazing of irregular shaped components.

[0068] Each joint structure of the induction brazing coil 5 is similar, and has a protruding annular groove 18 at one end, a rack 19 in the annular groove 18, and a cylindrical protrusion 20 at the other end. The cylindrical protrusion 20 has a ruler cylindrical external gear 21 in the middle that meshes with the rack 19, which can ensure that the different joints 16 are connected end to end. The relationship between the induction brazing coils connected end to end and meshing with each other is shown in the attached figure. Figure 5 、 6 , 7, 8. A joint motor 17 is installed in the inner shaft of the gear at the joint 16, and the motor movement drives the meshing transmission of the gear and rack 19, thereby realizing the transformation of the joint posture of the induction brazing coil.

[0069] In order to further optimize the above technical solution, the thickness of the different joints 16 of the induction brazing coil 5 (such as Figure 9 The thickness dimension at d indicated in the figure can be freely designed and replaced according to the shape of the workpiece, but can all be transformed into circuits of different shapes through the movement of the joint 16, and meet the requirement of no short circuit of the circuit, so as to meet the brazing of thin-walled samples in a narrow space.

[0070] Moreover, after replacing the induction brazing coil 5 with a smaller and thinner size, the accuracy of the robot arm needs to be improved accordingly, so as to still ensure that the circuit formed by the coil is conductive and not short-circuited, and induction brazing of workpieces with a minimum size of centimeters can be achieved.

[0071] In order to further optimize the above technical solution, the induction brazing coil 5 can be cooled and temperature controlled by spraying coolant, so as to stabilize the coil temperature within a safe range and prevent the coil temperature from being too high.

[0072] In order to further optimize the above technical solution, the three-degree-of-freedom work platform 7 includes a workpiece clamping fixed end 22, a Z-direction lifting system 23, an X-direction ball screw 24, and a Y-direction ball screw 25, wherein the workpiece clamping fixed end 22 is used to fix workpieces of different forms, and different fixed ports are designed according to the nature of the workpiece to realize clamping and unloading of the workpiece; the Z-direction lifting system 23 includes a Z-direction pneumatic circuit system and a circuit-controlled rotation unit to control the lifting and lowering of the workpiece and the rotation of the workpiece around itself. The specific workpiece to be welded in the embodiment of the present invention is a turbine fan blade 26. The rotation unit in the Z-direction lifting system 23 can control the turbine fan blade 26 to rotate around its own axis to realize induction brazing of different blades; the X-direction ball screw 24 and the Y-direction ball screw 25 are used to realize the movement of the workpiece in the XY direction.

[0073] The three-degree-of-freedom work platform 7 can realize array brazing of different positions of a single workpiece through the coordinated movement of different motion system units, and can also realize more convenient workpiece clamping and removal when brazing large quantities of workpieces, thereby improving the efficiency of induction brazing.

[0074] The adaptive linkage controller intelligently and collaboratively controls the movement of the three-degree-of-freedom work platform 7 and the induction brazing coil joint and its robotic arm, so that the induction brazing coil 5 can accurately wrap around the workpiece to be welded, thereby improving the efficiency of induction brazing.

[0075] The camera of the temperature monitoring device 8 is also controlled by the temperature monitoring device robot 4, which is connected to the top of the work platform and can be moved to any position by the robot to achieve all-round and multi-angle monitoring of the temperature distribution on the workpiece surface during the brazing process.

[0076] More specifically, the temperature monitoring device 8 forms a feedback loop with the adaptive linkage controller, that is, when it is detected that the surface temperature of the workpiece reaches the brazing effect or the surface temperature distribution of the workpiece brazing position is uneven, timely feedback is given to the linkage controller to control the on and off of the induction brazing coil 5 to prevent damage to the workpiece.

[0077] The embodiment of the present invention further discloses a method for induction brazing of irregular-shaped components using the above-mentioned induction brazing device, comprising the following steps:

[0078] S1: Use alcohol to clean the workpiece before brazing, including degreasing and rust removal;

[0079] S2: Apply the prepared brazing filler metal to the target brazing position of the workpiece to be welded, so as to facilitate the subsequent induction brazing step;

[0080] S3: Control the movement of the induction brazing coil joint motor according to the shape of the workpiece area to be welded, so that the induction brazing coil 5 surrounds the target brazing area to form a closed coil that matches it;

[0081] S4: Clamping the workpiece to be welded, which has been coated with solder, to the workpiece clamping position of the three-degree-of-freedom work platform 7;

[0082] S5: Turn on the linkage controller to control the coordinated movement of the induction brazing coil manipulator 3 and the three-degree-of-freedom work platform 7, so that the induction brazing coil 5 forming a closed loop surrounds the target brazing area of ​​the workpiece, thereby forming a surrounding covering of the target brazing area;

[0083] S6: After being ready, the linkage controller automatically turns on the control power supply of the induction current to achieve induction brazing of the target area of ​​the workpiece;

[0084] S7: The temperature distribution on the workpiece surface is monitored by the temperature monitoring device 8, and the temperature is fed back to the control circuit in real time to timely control the on and off of the current circuit;

[0085] S8: After brazing is completed, the induction brazing coil manipulator 3 is controlled to move to disconnect the induction brazing coil 5, and the linkage controller controls the mobile three-degree-of-freedom work platform 7 to change the target brazing position or replace the welded workpiece with the next workpiece to be welded;

[0086] S9: Repeat the above steps S4-S8 to achieve induction brazing of irregular-shaped components.

[0087] Furthermore, in step S2 of the above method, when the pipe fitting and the flange are workpieces to be welded, the joint is in the form of a socket joint.

[0088] Furthermore, in step S3 of the above method, the induction brazing coil 5 is compressed by the control of the joint motor 17 and the induction brazing coil robot 3 to form a closed loop for the current.

[0089] Furthermore, in step S5 of the above method, a gap needs to be left between the workpiece to be welded and the inner turn of the induction brazing coil 5 .

[0090] Furthermore, in step S6 of the above method, the current and heating time of the induction brazing coil 5 are adjusted according to the thickness and material properties of the workpiece to be welded, so as to ensure the quality and tightness of the welding of the workpiece to be welded.

[0091] Furthermore, in step S7 of the above method, the temperature monitoring device 8 analyzes the surface temperature distribution of the workpiece. If the temperature at a certain position of the workpiece is too high, the induction brazing coil 5 should be disconnected in time to avoid damage to the workpiece.

[0092] See attached Figure 13 The specific embodiment of the present invention is further described based on the specific workpiece to be welded, the turbine fan blade 26:

[0093] During operation, the surface of the workpiece to be welded, the aircraft engine turbofan blade 26, is first treated, including degreasing and rust removal, and then the turbofan blade 26 is fixed to the workpiece clamping fixed end 22 on the top of the three-degree-of-freedom work platform 7; the equipment is turned on, and at this time the linkage controller controls the movement of the three-degree-of-freedom work platform 7 and the induction brazing coil 5, and the joints of the induction brazing coil deform the coil into a corresponding shape according to the shape of the part to be welded of the turbofan blade 26; the induction brazing coil manipulator 3 controls the two induction brazing half coils 6 to contact, and it is noted that in order to prevent short circuit, only the ends of the induction brazing half coils 6 can be made to contact to form a closed loop path of the circuit; the linkage controller controls the induction brazing coil 5 to completely cover the part to be welded of the turbofan blade 26 Surroundings; the temperature monitoring device robotic arm 4 controls the camera of the temperature monitoring device 8 to aim at the front of the to-be-welded portion of the turbine fan blade 26, so as to realize comprehensive and blind-angle-free monitoring of the temperature distribution on the surface of the turbine fan blade 26 during the brazing process; after the brazing work is completed, the internal current of the induction brazing coil 5 is disconnected, and the three-degree-of-freedom working platform 7 rotates the workpiece clamping fixed end 22 at the top to rotate the area to be welded into the next blade, and the induction brazing coil 5 once again forms a current closed loop path in the same position and the brazing is continued; after all the brazing is completed, the power supply is disconnected, and the three-degree-of-freedom working platform 7 controls the turbine fan blade 26 to move out of the working platform, and the internal current of the induction brazing coil 5 is turned off to complete the induction brazing work of the turbine fan blade 26.

[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0095] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An induction brazing device for irregular shaped components with multiple degrees of freedom, characterized in that: include: A working platform, comprising an upper frame and a working platform power distribution cabinet installed below the upper frame; A robotic arm, comprising an induction brazing coil robotic arm and a temperature monitoring device robotic arm, wherein two sets of the induction brazing coil robotic arms are provided, and are respectively installed on opposite sides of the upper frame; the temperature monitoring device robotic arm is installed on the top of the upper frame; An induction brazing coil, comprising two induction brazing half coils, each of which is connected to the end of an induction brazing coil robotic arm. Under the control of the induction brazing coil robotic arm, the two half coils can form a closed loop at any position in space. The induction brazing coil is a multi-degree-of-freedom induction brazing coil, comprising a multi-degree-of-freedom joint controlled by a pneumatic circuit. The coordinated motion of the joint motors at each induction brazing coil joint controls the coil to form current loops of varying shapes, making it suitable for induction brazing of workpieces of varying shapes. A three-degree-of-freedom working platform is installed on the upper surface of the working platform power distribution cabinet, with the workpiece to be welded installed on its uppermost end to achieve three-dimensional freedom movement of the workpiece and its own rotational movement; A linkage controller, which is installed inside the power distribution cabinet of the work platform and is an adaptive linkage controller controlled by a PLC module, and is used to achieve intelligent coordinated linkage control of the robotic arm, the three-degree-of-freedom work platform, and the induction brazing coil joint; A temperature monitoring device is connected to the end of the temperature monitoring device mechanical arm to realize multi-directional global monitoring of the temperature distribution of the workpiece surface during the brazing process and provide feedback to the linkage controller.

2. The induction brazing device for irregular-shaped components with multiple degrees of freedom according to claim 1, characterized in that: The induction brazing coil robotic arm has the same structure as the temperature monitoring device robotic arm, both of which are five-degree-of-freedom robotic arms, correspondingly including a robotic arm base, a shoulder joint and base matching axis, a shoulder joint rotation unit, a robotic arm upper arm, an elbow joint rotation unit, a robotic arm lower arm, a robotic arm wrist rotation unit and a fixing device, and the robotic arm base is fixed to the corresponding position of the upper frame; the robotic arm has a total of 5 degrees of freedom, and different forms of movement of different robotic arm joints are controlled by the robotic arm motor, of which three robotic arm joints realize rotational movement through a revolute pair; the end of the robotic arm wrist rotation unit has the fixing device, and the corresponding fixing device on the temperature monitoring device robotic arm is a camera clamping device, and the corresponding fixing device on the induction brazing coil robotic arm is an induction brazing coil clamping device; the robotic arm wrist rotation unit of the induction brazing coil robotic arm can also realize telescopic movement, and the induction brazing coil forms a closed loop at any position in space through the coordination of different movements.

3. The induction brazing device for irregular-shaped components with multiple degrees of freedom according to claim 1 or 2, characterized in that: The induction brazing coil is made of conductive material; the ends of the two induction brazing half coils corresponding to their respective induction brazing coil robotic arms are respectively connected to the positive and negative poles of the power supply, and the other ends of the two induction brazing half coils are suspended in the air to form a match, forming a current closed loop when the coils are closed.

4. The multi-degree-of-freedom induction brazing device for irregular-shaped components according to claim 3, characterized in that: The two induction brazing half coils at the end of the induction brazing coil robot arm do not contact each other.

5. The induction brazing device for irregular-shaped components with multiple degrees of freedom according to claim 1, characterized in that: The induction brazing coil is composed of multiple joints, and is controlled by the independent joint motors at different joints to form different shapes; one end of the joint has a protruding annular groove, and a rack is present in the annular groove; the other end has a cylindrical protrusion, and the middle of the cylindrical protrusion has a ruler cylindrical external gear that meshes with the rack; the joint motor is installed in the inner shaft of the gear at the joint, and the meshing transmission of the gear and the rack is driven by the movement of the motor.

6. The induction brazing device for multi-degree-of-freedom of irregular-shaped components according to claim 1 or 5, characterized in that: The thicknesses of different joints of the induction brazing coil can be freely designed and replaced according to the shape of the workpiece, but all of them can be transformed into loops of different shapes through joint movement and meet the requirement of no short circuit.

7. The induction brazing device for irregular-shaped components with multiple degrees of freedom according to claim 1, characterized in that: The induction brazing coil is cooled and temperature controlled by spraying coolant.

8. The multi-degree-of-freedom induction brazing device for irregular-shaped components according to claim 1, characterized in that: The three-degree-of-freedom work platform includes a workpiece clamping fixed end, a Z-direction lifting system, an X-direction ball screw, and a Y-direction ball screw. The workpiece clamping fixed end is used to fix workpieces of different forms, and different fixing ports are designed according to the properties of the workpiece to realize clamping and unloading of the workpiece; the Z-direction lifting system includes a Z-direction pneumatic circuit system and a circuit-controlled rotation unit to control the lifting and rotation of the workpiece and the rotation of the workpiece around itself; the X-direction ball screw and the Y-direction ball screw are used to realize the movement of the workpiece in the XY directions.

9. A method for induction brazing of irregular-shaped components using the induction brazing device according to any one of claims 1 to 8, characterized in that: The steps include: S1: Use alcohol to clean the workpiece before brazing, including degreasing and rust removal; S2: Apply the prepared brazing filler metal to the target brazing position of the workpiece to be welded, so as to facilitate the subsequent induction brazing step; S3: Control the movement of the induction brazing coil joint motor according to the shape of the workpiece area to be welded, and form a closed coil that matches the target brazing area by surrounding the induction brazing coil; S4: Clamp the workpiece to be welded with the solder applied to the workpiece clamping position of the three-degree-of-freedom work platform; S5: Turn on the linkage controller to control the coordinated movement of the induction brazing coil manipulator and the three-degree-of-freedom work platform, so that the induction brazing coil forming a closed loop surrounds the target brazing area of ​​the workpiece, thereby forming a surrounding covering of the target brazing area; S6: After being ready, the linkage controller automatically turns on the control power supply of the induction current to achieve induction brazing of the target area of ​​the workpiece; S7: The temperature distribution on the workpiece surface is monitored by the temperature monitoring device, and the temperature is fed back to the control circuit in real time to control the on and off of the current circuit in a timely manner; S8: After brazing is completed, the induction brazing coil robot arm is controlled to move to disconnect the induction brazing coil, and the linkage controller controls the mobile three-degree-of-freedom work platform to change the target brazing position or replace the welded workpiece with the next workpiece to be welded; S9: Repeat the above steps S4-S8 to achieve induction brazing of irregular-shaped components.

10. A welding method for induction brazing of irregular-shaped components according to claim 9, characterized in that: In step S5, a gap must be left between the workpiece to be welded and the inner ring of the induction brazing coil.

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