Automatic material removal device for rotating friction welding spindle

Abstract

The present invention discloses an automatic material stripping device for a rotary friction welding spindle, and relates to the field of rotary friction welding. The following scheme is proposed, which includes: a connecting seat, fixedly connected to the output end of the spindle, the outer surface of the connecting seat is evenly slidably connected to a transmission shaft; a fixed seat, internally rotatably connected to a clamping seat, and the clamping seat is fixed to the end of the transmission shaft; a driving seat, slidably connected to the transmission shaft, and the driving seat controls the force of the clamping seat to clamp the weldment by moving along the axial direction of the transmission shaft; a material stripping shaft, slidably connected to the connecting seat; a transmission member, and the driving seat is linked to the material stripping shaft through the transmission member. A driving seat is slidably provided on the transmission shaft, and the clamping force of the clamping seat is controlled by the axial movement of the driving seat along the transmission shaft. When the driving seat is away from the clamping seat and the clamping force is reduced, the material stripping shaft can be driven by the transmission member to push the weldment, so that the weldment is away from the spindle, providing space for turning processing.

Description

Technical Field

[0001] The invention relates to the field of rotary friction welding, in particular to an automatic material stripping device for a rotary friction welding spindle. Background Art

[0002] Rotary friction welding generates heat during high-speed rotation, and pressurizes two objects to weld them. During welding, since the objects are at high temperature and soft, when they are squeezed, a bulge will appear at the joint of the two objects. Therefore, turning is required after welding to remove the bulge.

[0003] For example, a Chinese patent application with publication number CN117655502A discloses a low-stress rotary clamping device used in a friction welding device, which includes a chuck base, a movable jaw, an ultrasonic exciter device, an electric ring, a gas slip ring, a spindle fixing bolt, an ultrasonic high-energy sound beam driving power supply device, a driving connecting arm, etc. The rotating clamping device is fixed on the spindle, and the weldment is fixed on the clamping device;

[0004] When welding shorter objects, in order to ensure the stability of clamping, most of the length of the object needs to be clamped, and the welding part of the object is relatively short. After welding is completed, the protruding part is easy to be close to the main axis, leaving less space for turning, which is inconvenient for turning processing; secondly, the surface temperature of the object after rotational friction welding is high, and the object needs to be clamped and moved by a fixture, which is not convenient for material withdrawal. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an automatic material stripping device for a rotary friction welding spindle, so as to push the welded part away from the spindle when the clamping is released, thereby providing space for turning processing.

[0006] In order to achieve the above technical purpose, the present invention provides a rotary friction welding spindle automatic material stripping device:

[0007] It includes: a connecting seat, which is fixedly connected to the output end of the main shaft, and the outer surface of the connecting seat is evenly slidably connected to the transmission shaft; a fixed seat, which is internally rotatably connected to a clamping seat, and the clamping seat is fixed to the end of the transmission shaft; a driving seat, which is slidably connected to the transmission shaft, and the driving seat controls the force of the clamping seat to clamp the weldment by moving axially along the transmission shaft; a material withdrawal shaft, which is slidably connected to the connecting seat; a transmission member, the driving seat is linked to the material withdrawal shaft through the transmission member, and when the driving seat is away from the clamping seat, the material withdrawal shaft is driven by the transmission member to push the weldment away from the main shaft; a first acquisition module, which is used to collect the clamping force value of the clamped weldment; a second acquisition module, which is used to collect the welding temperature value of the weldment; a clamping recognition module, which is used to input the clamping force value and the welding temperature value as feature data into a trained clamping recognition model, and output a target force value, and the target force value is used as a clamping force adjustment parameter.

[0008] Preferably, a clamping block is slidably connected inside the clamping seat, a wedge block is fixed to the outer surface of the clamping block, and a wedge groove cooperating with the wedge block is opened on the inner wall of the driving seat. When the driving seat moves axially along the transmission shaft, the wedge block is pushed to translate vertically through the axis of the transmission shaft through the wedge groove.

[0009] Preferably, a guide groove is provided inside the clamping seat, a guide rail is fixed to the outer surface of the clamping block, and the guide rail is slidably connected to the guide groove.

[0010] Preferably, at least three clamping blocks are provided, and the three clamping blocks are used to clamp the weldment.

[0011] Preferably, the transmission member includes: a transmission gear, which is rotatably connected to the connecting seat; a transmission rack, one end of which is fixedly connected to the driving seat and the other end is slidably connected to the connecting seat, and the transmission gear is meshed with the transmission rack, and the outer surface of the material unloading shaft is provided with a rack groove that meshes with the transmission gear.

[0012] Preferably, an empty groove is provided on one side of the adjacent rack groove, a through groove is opened on the outer surface of the connecting seat, and an adjustment shaft is rotatably connected in the through groove, a protrusion is fixed to the end of the adjustment shaft, and convex strips are fixed on both sides of the material withdrawal shaft, and the protrusion is abutted against the lower surface of the convex strip.

[0013] Preferably, a fixed shaft is fixed to the outer surface of the fixed seat, the outer surface of the fixed shaft is slidably connected to a guide wheel seat, the outer surface of the guide wheel seat is rotatably connected to a guide wheel, and the driving seat is slidably connected to the guide wheel, and the guide wheel seat moves along the axis of the fixed shaft to push the driving seat to move along the axis of the transmission shaft.

[0014] Preferably, a connecting pile is fixed on the outer surface of the fixed seat, and a transmission frame is hingedly connected to one end of the connecting pile away from the fixed seat. A first waist circular hole is opened on the outer surface of the guide wheel seat, and the bottom of the transmission frame is slidably connected to the first waist circular hole through an axis.

[0015] Preferably, a fixing ring is fixed to one end of the fixing shaft away from the fixing seat, a first driving member is fixed to the outer surface of the fixing ring, a second oval hole is opened at the top of the transmission frame, and the output end of the first driving member is slidably connected to the second oval hole through the shaft.

[0016] Preferably, the bottom of the fixing seat is slidably connected to a base, a second driving member is fixed to an outer surface of the base, and an output end of the second driving member is fixedly connected to the fixing seat.

[0017] Preferably, g groups of historical clamping condition data are pre-collected, the historical clamping condition data including historical clamping force values ​​and historical welding temperature values, and target force values ​​corresponding to the historical clamping condition data are collected;

[0018] Converting a set of historical clamping condition data and target force values ​​corresponding to the historical clamping condition data into a set of feature vectors;

[0019] The feature vector is used as the input of the machine learning model, and the machine learning model takes the predicted target force value for each set of historical clamping condition data as the output, and takes minimizing the sum of the prediction accuracies of all target force values ​​as the training goal; the machine learning model is trained until the sum of the prediction accuracies reaches convergence, and the training is stopped, and the machine learning model obtained by training is used as the clamping recognition model, and the machine learning model is a naive Bayes model or a support vector machine model.

[0020] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0021] 1: A driving seat is slidably arranged on the transmission shaft, and the clamping force of the clamping seat is controlled by the axial movement of the driving seat along the transmission shaft. When the driving seat is away from the clamping seat and the clamping force is reduced, the stripping shaft can be driven by the transmission member to push the weldment away from the spindle, so as to provide space for turning processing.

[0022] 2: Through automatic control of the clamping force, combined with the collection of temperature values ​​and clamping force values ​​during the welding process of the welded parts, a clamping recognition model that outputs the target clamping force value is trained. During the welding process, the clamping force of the welded parts is adjusted in real time to eliminate the internal stress generated by the thermal expansion of the welded parts and improve the welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the overall structure of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0025] Figure 2 A partial cross-sectional structural schematic diagram of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0026] Figure 3 A schematic diagram of a partial cross-sectional structure of a connecting seat and a driving seat of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0027] Figure 4 A schematic diagram of the overall structure of a guide wheel seat and a fixing ring of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0028] Figure 5 A schematic cross-sectional view of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0029] Figure 6 A schematic diagram of the partial structure of a material stripping shaft and an adjusting shaft of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0030] Figure 7 A schematic structural diagram of a clamping block in a loosened state of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0031] Figure 8 A partial cross-sectional structural schematic diagram of a guide wheel and a driving seat of an automatic material stripping device for a rotary friction welding spindle provided by the present invention;

[0032] Fig. 9 A flow chart of a clamping identification model of an automatic material-removing device for a rotary friction welding spindle provided by the present invention.

[0033] Description of the drawings: 1. Connecting seat; 101. Transmission shaft; 102. Through groove; 103. Adjusting shaft; 1031. Protrusion; 2. Fixed seat; 21. Clamping seat; 211. Clamping block; 2111. Wedge block; 2112. Guide rail; 212. Guide groove; 22. Fixed shaft; 221. Guide wheel seat; 2211. Guide wheel; 2212. First waist circular hole; 23. Connecting pile; 231. Transmission frame; 2311. Second waist circular hole; 3. Driving seat; 31. Wedge groove; 4. Material withdrawal shaft; 41. Rack groove; 42. Empty groove; 43. Protrusion; 5. Transmission member; 51. Transmission gear; 52. Transmission rack; 6. Fixed ring; 7. First driving member; 8. Base; 9. Second driving member. DETAILED DESCRIPTION

[0034] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0035] Example 1

[0036] See also Figure 1 , Figure 2 and Figure 5As shown, an automatic material stripping device for a rotary friction welding spindle comprises a connecting seat 1, a fixed seat 2, a driving seat 3 and a base 8. The connecting seat 1 is used to be fixedly connected to the output end of the spindle. The outer surface of the connecting seat 1 is evenly and slidably connected with a transmission shaft 101. In this embodiment, at least two transmission shafts 101 are provided. The fixed seat 2 is assembled on the base 8. A clamping seat 21 is rotatably connected in the fixed seat 2 through a bearing. The clamping seat 21 is fixed to the end of the transmission shaft 101. The driving seat 3 is slidably connected to the clamping seat 21. The driving seat 3 controls the force of the clamping seat 21 to clamp the weldment by axially moving along the transmission shaft 101. Exemplarily, when applied to a rotary friction welding device, the connecting seat 1 is fixedly connected to the spindle, the base 8 is fixed on the main frame, the connecting seat 1 is driven to rotate by the spindle, and the connecting seat 1 drives the clamping seat 21 and the driving seat 3 to rotate simultaneously through the transmission shaft 101. The weldment is inserted into the clamping seat 21. By bringing the driving seat 3 close to the clamping seat 21, the clamping force on the weldment can be increased.

[0037] For details, see Figure 3 and Figure 7 As shown, a clamping block 211 is slidably connected inside the clamping seat 21, a wedge block 2111 is fixed to the outer surface of the clamping block 211, and a wedge groove 31 cooperating with the wedge block 2111 is opened on the inner wall of the driving seat 3. When the driving seat 3 moves axially along the transmission shaft 101, the wedge block 2111 is pushed to translate perpendicular to the axis of the transmission shaft 101 through the wedge groove 31. For example, Figure 3 As shown, when the driving seat 3 approaches the clamping seat 21, the driving seat 3 pushes the wedge block 2111 through the wedge groove 31, and the wedge block 2111 drives the clamping block 211 to approach the center of the clamping seat 21, that is, the clamping force on the welded part is increased. On the contrary, Figure 7 As shown, when the driving seat 3 is away from the clamping seat 21, the clamping force on the weldment is reduced.

[0038] More specifically, Figure 3 and Figure 7 As shown, a guide groove 212 is provided inside the clamping seat 21, a guide rail 2112 is fixed to the outer surface of the clamping block 211, and the guide rail 2112 is slidably connected to the guide groove 212, ensuring that the clamping block 211 can only move along the guide groove 212 in a direction perpendicular to the axis of the transmission shaft 101 through the guide rail 2112.

[0039] For further information, see Figure 3 As shown, at least three clamping blocks 211 are provided, and the three clamping blocks 211 are used to clamp the weldment to ensure the stability of the clamped weldment.

[0040] See also Figure 2 , Figure 4 and Figure 8As shown, a fixed shaft 22 is fixed to the outer surface of the fixed seat 2, a guide wheel seat 221 is slidably connected to the outer surface of the fixed shaft 22, a guide wheel 2211 is rotatably connected to the outer surface of the guide wheel seat 221, and the driving seat 3 is slidably connected to the guide wheel 2211. In this embodiment, the guide wheel 2211 has skirts on both sides for limiting the driving seat 3, and the contact surface between the skirt and the driving seat 3 is rotatably connected with a ball (not shown), so that the driving seat 3 and the side skirt of the guide wheel seat 221 are changed from a sliding connection to a rolling connection, thereby reducing the rotational friction of the driving seat 3.

[0041] The guide wheel seat 221 moves along the axis of the fixed shaft 22 to push the driving seat 3 to move along the axis of the transmission shaft 101; specifically, a connecting pile 23 is fixed to the outer surface of the fixed seat 2, and a transmission frame 231 is hinged at one end of the connecting pile 23 away from the fixed seat 2, and a first waisted hole 2212 is provided on the outer surface of the guide wheel seat 221, and the bottom of the transmission frame 231 is slidably connected to the first waisted hole 2212 through an axis; a fixing ring 6 is fixed to the end of the fixed shaft 22 away from the fixed seat 2, and the fixing ring 6 is fixed on the fixed seat 2, and a first driving member 7 is fixed on the outer surface of the fixing ring 6, and a second waisted hole 2311 is provided at the top of the transmission frame 231, and the output end of the first driving member 7 is connected to the first waisted hole 2212 through the axis. The two waist circular holes 2311 are slidably connected; the first driving member 7 pushes the transmission frame 231, and the transmission frame 231 drives the guide wheel seat 221 to slide on the fixed shaft 22, so that the guide wheel 2211 drives the driving seat 3 to move along the axis of the transmission shaft 101; the purpose is to replace the traditional bolt-tightening clamping block 211 method to facilitate automatic control. By controlling the operation of the first driving member 7, the clamping and loosening of the weldment can be controlled. When working, the connecting seat 1, the clamping seat 21 and the driving seat 3 constitute the active part, that is, these three parts rotate and can stably clamp the weldment, while the fixed seat 2, the fixing ring 6 and the first driving member 7 constitute the fixed part, that is, these three parts are not affected and remain fixed.

[0042] For more details, see Figure 1 and Figure 5 As shown, a second driving member 9 is fixed to the outer surface of the base 8, and the output end of the second driving member 9 is fixedly connected to the fixed seat 2; in conjunction with the first driving member 7 controlling the clamping force, the second driving member 9 can drive the fixed seat 2 and the internal parts of the fixed seat 2 to move on the base 8. For example, after the rotary friction welding is completed, the clamping force is reduced by controlling the first driving member 7, and then the fixed seat 2 is controlled to translate toward the main axis by the second driving member 9, that is, the welded part does not move, and the fixed seat 2 is adjusted away from the welding part of the welded part to vacate the position and increase the turning space.

[0043] It is worth mentioning that in this embodiment, the first driving member 7 and the second driving member 9 can adopt driving devices with the function of driving object translation, such as electric push rods, air cylinders or oil cylinders. No specific limitation is made here. The specific model to be used can be determined by the staff in this field based on the specific situation.

[0044] Example 2

[0045] Based on the above embodiments, see Figure 3 , Figure 5 and Figure 6 As shown, the difference of this embodiment is that a material-removing shaft 4 is slidably connected at the center of the connecting seat 1, a transmission member 5 is assembled on the driving seat 3, and the driving seat 3 is linked with the material-removing shaft 4 through the transmission member 5. Specifically, the transmission member 5 includes a transmission gear 51 and a transmission rack 52. The transmission gear 51 is rotatably connected to the connecting seat 1, one end of the transmission rack 52 is fixedly connected to the driving seat 3, and the other end of the transmission rack 52 is slidably connected to the connecting seat 1, and the transmission gear 51 is meshed with the transmission rack 52. The outer surface of the material-removing shaft 4 is provided with a rack groove 41 meshing with the transmission gear 51;

[0046] When the driving seat 3 is away from the clamping seat 21, the stripping shaft 4 is driven by the transmission member 5 to push the weldment away from the main shaft. That is, when the driving seat 3 is away from the clamping seat 21, the clamping block 211 releases the clamping of the weldment, and the transmission rack 52 drives the transmission gear 51 to rotate, and the transmission gear 51 pushes the stripping shaft 4 close to the clamping seat 21, thereby pushing the weldment away from the main shaft, thereby achieving the effect of automatic stripping.

[0047] It is worth mentioning that see Figure 3 and Figure 7 As shown, in order to match welding parts of different lengths, the present embodiment is provided with an adjusting mechanism for adjusting the material stripping shaft 4 on the connecting seat 1. Specifically, the adjusting mechanism includes a through slot 102 and an adjusting shaft 103. An empty slot 42 is provided on one side of the adjacent rack slot 41. A through slot 102 is provided on the outer surface of the connecting seat 1. The adjusting shaft 103 is rotatably connected in the through slot 102. A protrusion 1031 is fixed to the end of the adjusting shaft 103. Both sides of the material stripping shaft 4 are fixed with convex strips 43, and the protrusion 1031 abuts against the lower surface of the convex strip 43. By rotating the adjusting shaft 103, the adjusting shaft 103 pushes the convex strip 43 through the convex strip 1031, so that the convex strip 43 drives the material stripping shaft 4 to rotate, so that the empty slot 42 is transferred to the bottom of the transmission gear 51. At this time, the material stripping shaft 4 can slide on the connecting seat 1 without being affected by the transmission member 5.

[0048] For example, when installing the weldment, the linkage between the material return shaft 4 and the transmission member 5 is disconnected, and after the weldment is inserted into the clamping seat 21, the material return shaft 4 can be pushed against the weldment, and then the material return shaft 4 and the transmission member 5 are linked again, and welding work can be performed again. After welding is completed, when the drive seat 3 drives the clamping seat 21 to release the clamping of the weldment, the material return shaft 4 can be driven by the transmission member 5 to push the weldment out.

[0049] It should be noted that the connection between the material removal shaft 4 and the connecting seat 1 and the connection between the adjustment shaft 103 and the through groove 102 are both provided with elastic limiters (not shown), such as springs and card balls. The adjustment shaft 103 and the material removal shaft 4 have a damping feeling when rotating or translating, thereby ensuring working stability.

[0050] Example 3

[0051] See also Figure 4 , Figure 8 and Fig. 9 As shown, based on the above embodiment, the improvement of this embodiment is that a rotary friction welding spindle automatic material stripping device also includes a first acquisition module, a second acquisition module and a clamping identification module, wherein each module is connected through a wired and / or wireless network;

[0052] The first acquisition module is used to collect the clamping force value of the clamped weldment. In this embodiment, the first acquisition module adopts a sensor with a pressure detection function such as a piezoresistive sensor or a piezoelectric sensor, which is not specifically limited here. The first acquisition module can be installed at, for example, the connection between the guide wheel seat 221 and the transmission frame 231 or the connection between the transmission frame 231 and the output end of the first driving member 7. Because the clamping force of the clamping block 211 clamping the weldment is ultimately determined by the telescopic length of the first driving member 7, and the guide wheel seat 221 and the transmission frame 231 are both transmission parts, the first acquisition module can reflect the clamping force of the clamped weldment when installed at the above position, and the specific installation position is not repeated here.

[0053] The second acquisition module is used to acquire the welding temperature value of the welded part. The second acquisition module of this embodiment can adopt a thermal camera or a non-contact sensor that can detect temperature changes. It is not specifically limited here. The second acquisition module of this embodiment can be installed on the base 8, and the detection end faces the welding position of the welded part, so as to obtain the welding temperature value of the welded part;

[0054] The clamping recognition module is used to input the clamping force value and the welding temperature value as feature data into the trained clamping recognition model, and output a target force value. The target force value is used as a clamping force adjustment parameter. Taking the first driving member 7 as an oil cylinder as an example, after the clamping recognition module outputs the target force value, the target force value is used as the main reference value of the oil pressure adjustment parameter in the oil cylinder and converted into the corresponding execution power parameter of the oil pump. The specific control logic and conversion logic are known public technologies and will not be elaborated on here.

[0055] Specifically, the training method of the clamping recognition model includes: under an experimental environment, collecting g groups of historical clamping condition data, the historical clamping condition data including historical clamping force values ​​and historical welding temperature values, and collecting target force values ​​corresponding to the historical clamping condition data. It is worth mentioning that the corresponding target force values ​​are: a technician in this field clamps the weldment with multiple groups of different target force values ​​for the same historical clamping condition data under an experimental environment, and detects the internal stress release effect of the weldment after welding and the effect of the weldment after welding, and selects a group of target force values ​​with the best internal stress release effect and the best effect of the weldment after welding as the target force value corresponding to the historical clamping condition data;

[0056] Converting a set of historical clamping condition data and target force values ​​corresponding to the historical clamping condition data into a set of feature vectors;

[0057] The feature vector is used as the input of the machine learning model, and the machine learning model outputs the predicted target force value for each set of historical clamping condition data, and minimizes the sum of the prediction accuracy of all target force values ​​as the training goal; wherein the calculation formula for the prediction accuracy is: ,in, is the number of the feature vector, For prediction accuracy, For the The predicted label value corresponding to the group feature vector, For the The actual label corresponding to the group feature vector; the machine learning model is trained until the sum of the prediction accuracies reaches convergence and the training is stopped. It should be noted that the convergence standard is determined by technical personnel in this field according to actual conditions, and the trained machine learning model is used as a clamping recognition model. The machine learning model is a naive Bayes model or a support vector machine model.

[0058] The purpose of this embodiment is to release the internal stress generated by the weldment during the welding process by adjusting the clamping force of the weldment in real time before or during welding, thereby improving the welding effect of the weldment.

[0059] The exemplary implementation scheme of the present disclosure is described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the protection scope of the present disclosure, which is determined by the attached claims.

Claims

1. An automatic material removal device for a rotary friction welding spindle, characterized in that: include: A connecting seat (1) is fixedly connected to the output end of the main shaft, and the outer surface of the connecting seat (1) is evenly slidably connected to the transmission shaft (101); A fixed seat (2) having a clamping seat (21) rotatably connected thereto, and the clamping seat (21) is fixed to the end of the transmission shaft (101); The drive seat (3) is slidably connected to the transmission shaft (101), and the drive seat (3) controls the force of the clamping seat (21) to clamp the weldment by moving axially along the transmission shaft (101). The outer surface of the fixed seat (2) is fixed with a fixed shaft (22), and the outer surface of the fixed shaft (22) is slidably connected with a guide wheel seat (221), and the outer surface of the guide wheel seat (221) is rotatably connected with a guide wheel (2211), and the drive seat (3) is slidably connected to the guide wheel (2211), and the guide wheel seat (221) moves along the axis of the fixed shaft (22) to push the drive seat (3) to move along the axis of the transmission shaft (101); The material-removing shaft (4) is slidably connected to the connecting seat (1); A transmission member (5), wherein the drive seat (3) is linked to the material-removing shaft (4) via the transmission member (5), and when the drive seat (3) is away from the clamping seat (21), the material-removing shaft (4) is driven by the transmission member (5) to push the weldment away from the main shaft; The first acquisition module is used to acquire the clamping force value of the clamped weldment; The second acquisition module is used to collect the welding temperature value of the welded part; The clamping recognition module is used to input the clamping force value and the welding temperature value as feature data into the trained clamping recognition model, and output a target force value, which is used as a clamping force adjustment parameter. The training method of the clamping recognition model includes: Pre-collecting g groups of historical clamping condition data, the historical clamping condition data including historical clamping force values ​​and historical welding temperature values, and collecting target force values ​​corresponding to the historical clamping condition data; Converting a set of historical clamping condition data and target force values ​​corresponding to the historical clamping condition data into a set of feature vectors; The feature vector is used as the input of the machine learning model, and the machine learning model takes the predicted target force value for each set of historical clamping condition data as the output, and takes minimizing the sum of the prediction accuracies of all target force values ​​as the training goal; the machine learning model is trained until the sum of the prediction accuracies reaches convergence, and the training is stopped, and the machine learning model obtained by training is used as the clamping recognition model, and the machine learning model is a naive Bayes model or a support vector machine model.

2. The automatic material stripping device for a rotary friction welding spindle according to claim 1, characterized in that: A clamping block (211) is slidably connected inside the clamping seat (21), a wedge block (2111) is fixed to the outer surface of the clamping block (211), and a wedge groove (31) cooperating with the wedge block (2111) is formed on the inner wall of the driving seat (3), and when the driving seat (3) moves axially along the transmission shaft (101), the wedge groove (31) pushes the wedge block (2111) to translate perpendicularly to the axis of the transmission shaft (101).

3. The automatic material stripping device for a rotary friction welding spindle according to claim 2, characterized in that: A guide groove (212) is provided inside the clamping seat (21), a guide rail (2112) is fixed to the outer surface of the clamping block (211), and the guide rail (2112) is slidably connected to the guide groove (212).

4. The automatic material stripping device for a rotary friction welding spindle according to claim 2, characterized in that: At least three clamping blocks (211) are provided, and the three clamping blocks (211) are used to clamp the welded parts.

5. The automatic material stripping device for a rotary friction welding spindle according to claim 1, characterized in that: The transmission member (5) comprises: A transmission gear (51) is rotationally connected to the connecting seat (1); A transmission rack (52) is fixedly connected to the driving seat (3) at one end and slidably connected to the connecting seat (1) at the other end, and the transmission gear (51) is meshed with the transmission rack (52), and the outer surface of the material removal shaft (4) is provided with a rack groove (41) meshed with the transmission gear (51).

6. The automatic material stripping device for a rotary friction welding spindle according to claim 5, characterized in that: An empty groove (42) is provided on one side adjacent to the rack groove (41), a through groove (102) is provided on the outer surface of the connecting seat (1), and an adjusting shaft (103) is rotatably connected in the through groove (102), a convex block (1031) is fixed to the end of the adjusting shaft (103), and convex strips (43) are fixed on both sides of the material removal shaft (4), and the convex block (1031) abuts against the lower surface of the convex strip (43).

7. The automatic material stripping device for a rotary friction welding spindle according to claim 1, characterized in that: A connecting pile (23) is fixed on the outer surface of the fixing seat (2), and a transmission frame (231) is hingedly connected to one end of the connecting pile (23) away from the fixing seat (2). A first waist-shaped hole (2212) is formed on the outer surface of the guide wheel seat (221), and the bottom of the transmission frame (231) is slidably connected to the first waist-shaped hole (2212) via a shaft.

8. The automatic material stripping device for a rotary friction welding spindle according to claim 7, characterized in that: A fixing ring (6) is fixed to one end of the fixing shaft (22) away from the fixing seat (2); a first driving member (7) is fixed to the outer surface of the fixing ring (6); a second oval hole (2311) is formed at the top of the transmission frame (231); and an output end of the first driving member (7) is slidably connected to the second oval hole (2311) via a shaft.

9. The automatic material stripping device for a rotary friction welding spindle according to claim 1, characterized in that: The bottom of the fixed seat (2) is slidably connected to a base (8), a second driving member (9) is fixed to the outer surface of the base (8), and an output end of the second driving member (9) is fixedly connected to the fixed seat (2).

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