Intelligent welding integrated platform and welding method

Abstract

The present invention relates to the technical field of intelligent welding platforms, and in particular to an intelligent welding integrated platform and a welding method, comprising a stretching unit, a welding unit and a control unit, wherein the stretching unit comprises a flatness monitoring component and a stretching component; the flatness monitoring component is used to obtain flatness information; the stretching component is used to receive a stretching control signal and apply a stretching force to a flexible electronic skin; the welding unit comprises a welding monitoring component and a lifting component; the welding monitoring component is used to obtain welding information; the lifting component is used to receive a welding control signal and apply a compressive force to the flexible electronic skin; the control unit comprises a first control component and a second control component; the first control component is electrically connected to the flatness monitoring component and the stretching component, respectively, for receiving flatness information and transmitting a stretching control signal; the second control component is electrically connected to the welding monitoring component and the lifting component, respectively, for receiving welding information and transmitting a welding control signal. The present invention can ensure high welding quality of the flexible electronic skin.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent welding platforms, and in particular to an intelligent integrated welding platform and a welding method. Background Art

[0002] As a new type of smart material, flexible electronic skin is widely used in robotics, medical devices, wearable devices and other fields. However, due to its thin and soft characteristics, it is very easy to deform during manufacturing and processing.

[0003] Take a certain product as an example, which includes a first flexible electronic skin and a second flexible electronic skin, and the two need to be stacked and welded together. In the prior art, the flexible electronic skin is usually fixed by setting a clamp first, and then the two are welded by welding equipment. Due to the thin and soft characteristics of the flexible electronic skin, whether it is when the two are fixed by a clamp or when the two are welded by welding equipment, the flexible electronic skin is prone to uneven stretching or distortion, which eventually leads to defects in the welding parts of the two flexible electronic skins. Defects include weak welding joints, discontinuous welds, or cracks in the welding area. These defects not only affect the quality of the skin, but may also cause the skin to fail in actual applications, reducing the reliability and service life of the product.

[0004] In summary, how to overcome the dynamic deformation of flexible electronic skin during the welding process to ensure the welding quality and consistency of flexible electronic skin has become a problem that needs to be solved urgently. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the difficulty in ensuring the welding quality of flexible electronic skin when welding with existing welding equipment, and to provide an intelligent welding integrated platform and welding method, which ensures high welding quality by setting a stretching unit, a welding unit and a control unit.

[0006] In a first aspect, the present invention provides an intelligent welding integrated platform for welding flexible electronic skin, wherein the flexible electronic skin includes a first flexible electronic skin and a second flexible electronic skin stacked along a first direction, and the intelligent welding integrated platform includes a stretching unit, wherein the stretching unit includes a flatness monitoring component and a stretching component; the flatness monitoring component is used to obtain the flatness information of the stretched flexible electronic skin; the stretching component is used to receive a stretching control signal and apply a stretching force perpendicular to the first direction to the flexible electronic skin; a welding unit, wherein the welding unit includes a welding monitoring component and a lifting component; the welding monitoring component is used to obtain the welding information of the welded flexible electronic skin; the lifting component is used to receive a welding control signal and apply a pressing force parallel to the first direction to the flexible electronic skin; and a control unit, wherein the control unit includes a first control component and a second control component; the first control component is electrically connected to the flatness monitoring component and the stretching component, respectively, and the first control component is used to receive the flatness information and transmit the stretching control signal; the second control component is electrically connected to the welding monitoring component and the lifting component, respectively, and the second control component is used to receive the welding information and transmit the welding control signal.

[0007] In one embodiment of the present invention, the stretching control signal includes a first control signal; the stretching member includes a first stretching component, the first stretching component is arranged on one side of the flexible electronic skin along the second direction, the first stretching component includes a stretching driver, a first slide, a second slide, a first clamp and a tension and compression sensor; the stretching driver, the first slide and the second slide are arranged in sequence along the second direction, the first slide is fixed relative to the stretching driver, a through hole is opened on the first slide, the driving end of the stretching driver passes through the through hole of the first slide and is transmission-connected to the second slide, the stretching driver is electrically connected to the first control member, and the stretching driver The device is used to receive the first control signal and drive the second slide to move along the second direction; the first clamp is arranged on the second slide, and the first clamp clamps the first flexible electronic skin and the second flexible electronic skin respectively, and the two detection ends of the tension and compression sensor are respectively connected to the first slide and the second slide, and the tension and compression sensor is used to obtain the tension information of the flexible electronic skin; and a second stretching component, the second stretching component and the first stretching component are respectively arranged on both sides of the flexible electronic skin along the second direction, and the second stretching component includes a second clamp, and the second clamp clamps the first flexible electronic skin and the second flexible electronic skin respectively.

[0008] In one embodiment of the present invention, the first control component includes a first comparator, which is electrically connected to the flatness monitoring component and is used to compare first expected flatness information with the flatness information; a second comparator, which is electrically connected to the tension and compression sensor and is used to compare expected tension information with the tension information; and a first regulator, which is electrically connected to the first comparator, the second comparator and the stretching driver, respectively, and the first regulator transmits the first control signal based on a PID control algorithm to dynamically adjust the stretching force applied to the flexible electronic skin; wherein, when the flatness information is consistent with the first expected flatness information and the tension information is consistent with the expected tension information, the first regulator transmits a first stop signal; and the stretching driver is used to receive the first stop signal and stop driving the second slide to move.

[0009] In one embodiment of the present invention, the stretching control signal includes a second control signal; the second clamp includes a first clamping member and a second clamping member, the first clamping member is connected to the first flexible electronic skin, and the second clamping member is connected to the second flexible electronic skin; the second stretching component also includes a first three-axis driver and a second three-axis driver arranged in sequence along the second direction; the driving end of the first three-axis driver is connected to the first clamping member, and the first three-axis driver is used to receive the second control signal and drive the first clamping member to move; the driving end of the second three-axis driver is connected to the second clamping member, and the second three-axis driver is used to receive the second control signal and drive the second clamping member to move.

[0010] In one embodiment of the present invention, the first control component also includes a third comparator, which is electrically connected to the flatness monitoring component and is used to compare the second expected flatness information with the flatness information; and a second regulator, which is electrically connected to the second comparator, the third comparator, the first three-axis driver and the second three-axis driver respectively, and the second regulator is used to transmit the second control signal to dynamically adjust the flatness information; wherein, when the flatness information is consistent with the second expected flatness information and the tension information is consistent with the expected tension information, the second regulator transmits a second stop signal; the first three-axis driver is used to receive the second stop signal and stop driving the first clamping member to move, and the second three-axis driver is used to receive the second stop signal and stop driving the second clamping member to move.

[0011] In one embodiment of the present invention, the flatness monitoring component includes a stripe light emitter, which is used to emit stripe light to the flexible electronic skin; an image collector, which is used to obtain a reflection image of the stripe light on the surface of the flexible electronic skin; and an image processor, which is electrically connected to the image collector and the first control component, respectively, and is used to obtain the flatness information based on the reflection image.

[0012] In one embodiment of the present invention, the lifting member includes two groups of lifting components, and the two groups of lifting components are arranged in sequence on both sides of the flexible electronic skin along the second direction, each group of the lifting components includes a clamp and two clamping drivers, and the two clamping drivers are respectively arranged on both sides of the flexible electronic skin along the third direction, and the driving ends of the two clamping drivers are connected to the clamp, and the clamping driver is electrically connected to the second control member, and the clamping driver is used to receive the welding control signal and drive the clamp to move along the first direction.

[0013] In one embodiment of the present invention, the welding unit further includes a welding piece, and the welding piece is used to receive the welding control signal and weld the first flexible electronic skin and the second flexible electronic skin.

[0014] In one embodiment of the present invention, the second control component transmits the welding control signal based on an artificial neural network model combined with a crow and wolf optimization algorithm.

[0015] In the second aspect, the present invention also provides a welding method based on the intelligent welding integrated platform as described in any one of the above items, comprising the following steps: S1, applying a stretching force perpendicular to the first direction to the flexible electronic skin through the stretching unit; S2, welding the flexible electronic skin; wherein, a compression force parallel to the first direction is applied to the flexible electronic skin through the welding unit.

[0016] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0017] The intelligent welding integrated platform described in the present invention, on the one hand, realizes the flat stretching of the flexible electronic skin before welding by combining the flatness monitoring part and the stretching part. During the stretching process, the flatness information of the flexible electronic skin is obtained through the flatness monitoring part to monitor and adjust the stretching force on the flexible electronic skin. Compared with the traditional tension monitoring, its accuracy and frequency are higher. It can ensure that the flexible electronic skin after stretching has high-precision flatness, so as to carry out subsequent welding and prepare for high-quality welding. On the other hand, by combining the welding monitoring part and the lifting part, the compression adjustment of the weld width of the flexible electronic skin and the gap size between the two skins during the welding process is realized. During the welding process, the weld width of the flexible electronic skin and the gap size between the two skins are obtained by the welding monitoring part so that the lifting part can be adjusted in real time. It can ensure the stability of the welding process and the product quality after welding, reduce the occurrence of welding defects, and ensure the reliability and durability of the product. In addition, it also avoids the need to spend extra time and cost to correct or redo the affected products, reducing the production cycle and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 It is a first-view structural schematic diagram of the intelligent welding integrated platform in the preferred embodiment of the present invention.

[0020] Figure 2 It is a second perspective structural schematic diagram of the intelligent welding integrated platform in the preferred embodiment of the present invention.

[0021] Figure 3 It is a third-view structural diagram of the intelligent welding integrated platform in the preferred embodiment of the present invention.

[0022] Figure 4 It is a schematic structural diagram of the first stretching assembly in a preferred embodiment of the present invention.

[0023] Figure 5 It is a schematic structural diagram of the second stretching assembly in a preferred embodiment of the present invention.

[0024] Figure 6 It is a schematic structural diagram of a lifting member in a preferred embodiment of the present invention.

[0025] Explanation of the figure marks in the specification: D1, first direction; D2, second direction; D3, third direction; 11, first flexible electronic skin; 12, second flexible electronic skin; 21, first image collector; 22, second image collector; 23, stretching member; 231, first stretching component; 2311, stretching driver; 2312, first slide; 2313, second slide; 2314, first clamp; 2315, tension and compression sensor; 232, second stretching component; 2321, first clamp; 2322, second clamp; 2323, first three-axis driver; 2324, second three-axis driver; 30, lifting member; 31, lifting component; 311, clamp; 312, clamping driver. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0027] Reference Figures 1 to 3 As shown, the present invention discloses an intelligent welding integrated platform for welding flexible electronic skin. The flexible electronic skin includes a first flexible electronic skin 11 and a second flexible electronic skin 12 stacked along a first direction D1. In this embodiment, the first direction D1 is parallel to the thickness direction of the flexible electronic skin. The intelligent welding integrated platform includes a stretching unit, a welding unit and a control unit.

[0028] Specifically, the stretching unit includes a flatness monitoring component and a stretching component 23. The flatness monitoring component is used to obtain the flatness information of the stretched flexible electronic skin; those skilled in the art can set the flatness monitoring component according to actual needs, as long as the flatness information can be obtained. In this embodiment, the flatness information of the flexible electronic skin is its surface flatness, which is represented by the waviness (PV) accuracy. By setting the flatness monitoring component, the flatness information of the flexible electronic skin during the stretching process can be obtained to realize the monitoring of the stretching force applied to the flexible electronic skin, thereby facilitating the corresponding force adjustment with high accuracy and high frequency.

[0029] The stretching member 23 is used to receive the stretching control signal and apply a stretching force perpendicular to the first direction D1 to the flexible electronic skin. Those skilled in the art can set a specific stretching member 23 according to actual needs to adapt to the stacked first flexible electronic skin 11 and the second flexible electronic skin 12. The control unit includes a first control member, which is electrically connected to the flatness monitoring member and the stretching member 23, respectively, and the first control member is used to receive flatness information and transmit a stretching control signal.

[0030] Before welding, the first flexible electronic skin 11 and the second flexible electronic skin 12 are stretched by the stretching member 23 so that both are stretched stably and evenly. This ensures that the stretched flexible electronic skin has high-precision flatness for subsequent welding and is ready for high-quality welding.

[0031] The welding unit includes a welding monitoring component and a lifting component 30. The welding monitoring component is used to obtain the welding information of the welded flexible electronic skin; those skilled in the art can set the welding monitoring component according to actual needs, as long as the welding information can be obtained. In this embodiment, the welding information at least includes the weld width and the gap size between the two skins. By setting the welding monitoring component, the weld width of the flexible electronic skin and the gap size between the two skins during the welding process can be obtained, which facilitates the adjustment of the corresponding clamping force, thereby adjusting the weld width and the gap size between the skins, with high precision and good effect.

[0032] The lifting member 30 is used to receive the welding control signal and apply a compressive force parallel to the first direction D1 to the flexible electronic skin. Those skilled in the art can set the specific lifting member 30 according to actual needs to adapt to the stacked first flexible electronic skin 11 and the second flexible electronic skin 12. The control unit includes a second control member, which is electrically connected to the welding monitoring member and the lifting member 30, respectively, and is used to receive welding information and transmit welding control signals.

[0033] After the stretching is completed and welding is performed, the welding monitoring component cooperates with the lifting component 30 to press the stacked first flexible electronic skin 11 and the second flexible electronic skin 12, and adjusts the weld width and the gap size between the skins in real time, which effectively reduces the deformation problem of the flexible electronic skin during welding and improves the welding quality.

[0034] The intelligent welding integrated platform described in the present invention, on the one hand, realizes the flat stretching of the flexible electronic skin before welding by combining the flatness monitoring component and the stretching component 23. During the stretching process, the flatness information of the flexible electronic skin is obtained through the flatness monitoring component to monitor and adjust the tensile force exerted on the flexible electronic skin. Compared with the traditional tension monitoring, its accuracy and frequency are higher. It can ensure that the flexible electronic skin after stretching has high-precision flatness, so as to carry out subsequent welding and prepare for high-quality welding. On the other hand, by combining the welding monitoring component and the lifting component 30, the compression adjustment of the weld width of the flexible electronic skin and the gap size between the two skins during the welding process is realized. During the welding process, the weld width of the flexible electronic skin and the gap size between the two skins are obtained through the welding monitoring component so that the lifting component 30 can be adjusted in real time. It can ensure the stability of the welding process and the quality of the product after welding, reduce the occurrence of welding defects, and ensure the reliability and durability of the product. In addition, it also avoids the need to spend extra time and cost to correct or redo the affected products, reducing the production cycle and cost.

[0035] Reference Figure 1 As shown, in the intelligent integrated welding platform described in the present invention, in some embodiments, the flatness monitoring component includes a stripe light emitter, an image collector and an image processor.

[0036] Specifically, the stripe light emitter is used to emit stripe light to the flexible electronic skin. Preferably, the stripe light emitter is configured as a laser interferometer capable of emitting parallel stripe light beams, and the laser interferometer belongs to the prior art, which uses a laser light source and a grating to generate a stripe pattern on the surface of the flexible electronic skin. Preferably, two stripe light emitters are provided to emit stripe light to the first flexible electronic skin 11 and the second flexible electronic skin 12, respectively.

[0037] The image collector is used to obtain the reflection image of the stripe light on the surface of the flexible electronic skin. Preferably, the image collector includes a first image collector 21 and a second image collector 22, the first image collector 21 is used to collect the reflection image of the surface of the first flexible electronic skin 11 along the first direction D1 away from the second flexible electronic skin 12, and the second image collector 22 is used to collect the reflection image of the surface of the second flexible electronic skin 12 along the first direction D1 away from the first flexible electronic skin 11. Preferably, the first image collector 21 and the second image collector 22 are both set as cameras with 10 million pixels, and are fixed by setting a bracket.

[0038] The image processor is electrically connected to the image collector and the first control component respectively to transmit data information. The image processor is used to obtain flatness information based on the reflected image. After the corresponding image collector acquires the image, the image processor processes and analyzes the stripe deformation and calculates the flatness information of the surface of the corresponding flexible electronic skin. Subsequently, the flatness information is input to the first control component so that the first control component adjusts the tensile force perpendicular to the first direction D1 applied to the flexible electronic skin according to the flatness information. Preferably, the waviness accuracy during monitoring is set to 50nm. By setting this structure, it is ensured that the magnitude of the tensile force is within the set range and the flatness of the surface can be ensured to improve the accuracy and consistency of the stretching process.

[0039] Reference Figure 1 and Figure 4 As shown, in the intelligent welding integrated platform of the present invention, in some embodiments, the stretching control signal includes a first control signal. The stretching member 23 includes a first stretching component 231 and a second stretching component 232 to achieve fixing and stretching of the flexible electronic skin.

[0040] Specifically, the first stretching component 231 is arranged on one side of the flexible electronic skin along the second direction D2; the second direction D2 is perpendicular to the first direction D1. The first stretching component 231 includes a stretching driver 2311, a first slide 2312, a second slide 2313, a first clamp 2314 and a tension and compression sensor 2315. The stretching driver 2311, the first slide 2312 and the second slide 2313 are arranged in sequence along the second direction D2. The first slide 2312 is fixed relative to the stretching driver 2311; preferably, when no stretching is performed, the positional relationship between the two can be relatively adjusted to perform different product stretching; when stretching is performed, the two are relatively fixed to use the first slide 2312 as a fixed reference. Those skilled in the art can set a specific way to realize the structure according to actual needs, such as setting a bar hole to cooperate with a nut or bolt to lock or loosen the first slide 2312. A through hole is provided on the first slide 2312, which is not shown in the figure.

[0041] The driving end of the stretching driver 2311 passes through the through hole of the first slide 2312 and is connected to the second slide 2313. The stretching driver 2311 is electrically connected to the first control member, and the stretching driver 2311 is used to receive the first control signal and drive the second slide 2313 to move along the second direction D2. The first clamp 2314 is provided on the second slide 2313, and the first clamp 2314 clamps the first flexible electronic skin 11 and the second flexible electronic skin 12 respectively.

[0042] Those skilled in the art can set a specific stretching driver 2311 according to actual needs. Preferably, it is set as a combination of a servo motor and a ball screw. When in use, the servo motor drives the ball screw to rotate to drive the second slide 2313 to slide relative to the servo motor. Preferably, the adjustable speed range of the servo motor is set at 5mm / s to 20mm / s, and the rotation accuracy is set at 0.01° to 0.1° to ensure smooth stretching, avoid too fast or too slow starting speed and cause uneven force on the product or unnecessary stress, so as to ensure a good stretching effect, avoid damage to the product, and lay a good foundation for subsequent operations. Compared with other transmission methods, such as belt drive or chain drive, ball screw drive has higher precision and stability, and can accurately control the moving speed and position of the second slide 2313, so as to ensure that a uniform tension is applied to the flexible electronic skin. The tension applied to the flexible electronic skin during the stretching process needs to be kept uniform, so as to ensure that the stress distribution of the product during the entire stretching process is uniform, and avoid product damage or poor stretching effect caused by uneven tension. The ball screw drive can accurately control the movement of the second slide 2313 and the first clamp 2314, ensuring that the tension applied during the stretching process is always maintained at a stable and uniform level, so that the entire platform can maintain a stable and reliable working state during the stretching process, ensuring that the position and speed of the second slide 2313 can be accurately controlled. The ball screw drive has the advantages of high transmission efficiency, long life, and high feedback accuracy, and can maintain the stability and reliability of the system during the stretching process. By improving the control accuracy and stability during the stretching process, the ball screw drive helps to improve production efficiency and stretching quality, ensuring that the flexible electronic skin can meet the expected stretching requirements and maintain good product quality.

[0043] The two detection ends of the tension and compression sensor 2315 are respectively connected to the first slide 2312 and the second slide 2313. The tension and compression sensor 2315 is used to obtain the tension information of the flexible electronic skin. Preferably, the tension and compression sensor 2315 is of S type, and its sensitivity satisfies 1.0±2.0MV / V; the tension information includes the tension, pressure or strain of the flexible electronic skin. By setting this structure, on the one hand, the tension test can be realized; on the other hand, the tension and compression sensor 2315 can be brought as close to the measured object as possible, reducing the interference of external factors, so that the tension change of the flexible electronic skin during the stretching process can be accurately sensed, and the monitoring precision and accuracy are improved.

[0044] The second stretching component 232 and the first stretching component 231 are respectively arranged on both sides of the flexible electronic skin along the second direction D2, and the second stretching component 232 includes a second clamp, and the second clamp clamps the first flexible electronic skin 11 and the second flexible electronic skin 12 respectively. During the stretching process, the first clamp 2314 and the second clamp cooperate with each other to achieve the clamping and fixation of the flexible electronic skin to ensure that the skin can maintain a stable position and posture during the overall stretching process, and avoid affecting the accuracy and consistency of the stretching due to movement or shaking. In addition, fixing the skin can also reduce the difficulty of operation for operators and improve work efficiency. Those skilled in the art can set the second stretching component 232 according to actual needs, for example, fix the second clamp, or drive the corresponding second clamp to move by setting a three-axis drive.

[0045] Furthermore, in some embodiments of the intelligent welding integrated platform described in the present invention, the first control component includes a first comparator, a second comparator and a first regulator.

[0046] The first comparator is electrically connected to the flatness monitoring component, and the first comparator is used to compare the first expected flatness information with the flatness information. The first expected flatness information is a preset known quantity, and a person skilled in the art can set it according to actual needs. For example, the first expected flatness information is set to a surface waviness value of less than 20 μm. The flatness information is obtained through the flatness monitoring component.

[0047] The second comparator is electrically connected to the tension and compression sensor 2315, and the second comparator is used to compare the expected tension information and the tension information. The expected tension information is also a preset known quantity, and those skilled in the art can set it according to actual needs. For example, the expected tension information is set to a tension greater than or equal to 50N. Preferably, the second comparator is connected to the tension and compression sensor 2315 through a data collector. The collected analog signal is converted into a digital signal by the data collector and transmitted to the second comparator to ensure the stability and reliability of the collected data transmission. The transmission of digital signals is not easily interfered with. This conversion and transmission process can ensure that the tension information data collected by the tension and compression sensor 2315 is accurately transmitted to the second comparator, providing a reliable data basis for subsequent data processing and analysis. By setting the tension and compression sensor 2315 to monitor the tension changes of the flexible electronic skin in the stretching process in real time, and timely transmitting the collected data to the second comparator, real-time control and adjustment of the stretching process can be achieved. This real-time feedback mechanism enables the first control member to be able to understand the change of tension in a timely manner, so that timely adjustments and controls can be made according to actual conditions. This can ensure that the flexible electronic skin always remains within the predetermined tensile force range during the stretching process, avoiding product damage or poor stretching effect due to excessive or insufficient tensile force, improving the product's stretching quality and stability, and reducing waste and losses in the production process.

[0048] The first regulator is electrically connected to the first comparator, the second comparator and the stretching driver 2311 respectively. The first regulator transmits a first control signal based on a PID (Proportion, Integral, Differential) control algorithm to dynamically adjust the stretching force on the flexible electronic skin, ensure that the tension is sufficient, and achieve the best stretching effect on the skin. The PID control algorithm includes a proportional term, an integral term and a differential term, which are responsible for dynamically adjusting the first stretching component 231 according to the current state and the historical state, respectively, to achieve precise control and stable regulation of the stretching process. Specifically, the proportional term adjusts the output according to the gap between the current tension information and the expected tension information; when the value of the tension deviates from the expected tension value, the proportional term will generate a correction amount proportional to the deviation, so that the first stretching component 231 is adjusted in the direction of the expected tension value to achieve precise control of the tension. The integral term is responsible for accumulating historical deviations and eliminating steady-state errors by adjusting the response speed of the first stretching component 231. The integral term can adjust the output of the first stretching component 231 by accumulating the deviations over a period of time in the past, so as to eliminate the continuous deviation caused by the inherent characteristics of the first stretching component 231 or external interference, and ensure that the first stretching component 231 is stable near the expected tension value. The differential term predicts the future error change trend according to the error change rate, so as to further improve the dynamic response characteristics of the first stretching component 231. The differential term can reduce the overshoot and oscillation of the first stretching component 231 by adjusting the error change rate, and improve the response speed and stability of the first stretching component 231.

[0049] By setting this structure, the first control member can continuously compare the difference between the actual value of flatness and tension and the expected value. If it is detected that the flatness or tension deviates from the expected value, the PID control algorithm will be used to make real-time corrections according to the adjustment results of the three items of proportion, integration and differentiation. For example, when the tension increases and causes the flatness of the product to decrease, the first control member will reduce the speed of the servo motor and reduce the tension; on the contrary, when the flatness increases but the tension is insufficient, the speed of the servo motor will be increased and the tension will be increased. It helps to improve the stretching quality of the skin and ensure that the skin meets the design requirements. This dynamic adjustment can effectively cope with external environmental changes and internal fluctuations, and ensure the stability and controllability of the stretching process. Preferably, the first control member is electrically connected to the display to display the processed data on the operation interface of the display so that the operator can monitor and analyze. Preferably, by displaying the real-time collected tension data on the interface in the form of charts, curves, etc., the operator can clearly understand the change trend of the tension and the working status of the platform, timely discover and solve possible problems, and ensure the smooth progress of the stretching process.

[0050] Among them, when the flatness information is consistent with the first expected flatness information and the tension information is consistent with the expected tension information, the first regulator transmits a first stop signal; the stretching driver 2311 is used to receive the first stop signal and stop driving the second slide 2313 to move. For example, when the flatness information is 18μm and the expected tension information is 51N, the flatness information is consistent with the first expected flatness information and the tension information is consistent with the expected tension information, and the first regulator transmits a first stop signal to stop stretching. By setting this structure, it can be ensured that the skin stops immediately after reaching the required stretching degree, avoiding excessive stretching to cause product damage or performance degradation. The accuracy and reliability of the stretching process are improved, the flexible electronic skin is effectively protected from damage caused by excessive stress, the service life of the product is extended, and the reliability and stability of the product are ensured. In addition, resources and costs can be saved, the scrap rate can be minimized, and the production efficiency and the operation stability of the production line can be improved.

[0051] Further, see Figure 1 and Figure 5 As shown, the intelligent welding integrated platform described in the present invention, in some embodiments, the stretching control signal includes a second control signal. The second clamp includes a first clamping member 2321 and a second clamping member 2322, the first clamping member 2321 is connected to the first flexible electronic skin 11, and the second clamping member 2322 is connected to the second flexible electronic skin 12. The second stretching component 232 also includes a first three-axis driver 2323 and a second three-axis driver 2324 that are sequentially spaced along the second direction D2. The driving end of the first three-axis driver 2323 is connected to the first clamping member 2321, and the first three-axis driver 2323 is used to receive the second control signal and drive the first clamping member 2321 to move; the driving end of the second three-axis driver 2324 is connected to the second clamping member 2322, and the second three-axis driver 2324 is used to receive the second control signal and drive the second clamping member 2322 to move. The driving ends of the first three-axis driver 2323 and the second three-axis driver 2324 can move along the first direction D1, the second direction D2 and the third direction D3, wherein the third direction D3 is perpendicular to the first direction D1 and the second direction D2. Preferably, the accuracy of the two three-axis drivers is set to 0.02 mm.

[0052] By setting up this structure, compared with the combination of a servo motor and a lead screw, the three-axis drive has higher precision, stability and more degrees of freedom, and can adapt to the complex and changeable curling forms of the flexible electronic skin. The moving speed and position of the three-axis drive can be accurately controlled to ensure stable and uniform stretching of the flexible electronic skin. Ensure that the stress distribution of the product during the entire stretching process is uniform, avoiding product damage or poor stretching effect caused by uneven stretching. The platform can maintain a stable and reliable working state during the stretching process, ensuring that the platform can accurately control the position and speed of the second stretching component 232.

[0053] Furthermore, in some embodiments of the intelligent welding integrated platform described in the present invention, the first control component also includes a third comparator and a second regulator.

[0054] The third comparator is electrically connected to the flatness monitoring component, and the third comparator is used to compare the second expected flatness information with the flatness information. The second expected flatness information is a preset known quantity, and its range is smaller than that of the first expected flatness information; those skilled in the art can set it according to actual needs, for example, the second expected flatness information is set to a surface waviness value less than 10μm. The flatness information is obtained through the flatness monitoring component.

[0055] The second regulator is electrically connected to the second comparator, the third comparator, the first three-axis driver 2323 and the second three-axis driver 2324 respectively, and the second regulator is used to transmit a second control signal to dynamically adjust the flatness information. Preferably, the second regulator uses a convolutional neural network (CNN) and a long short-term memory network (LSTM) through a deep learning model to process the flatness information transmitted by the image processor to plan the best movement route of the three-axis driver and evaluate the flatness of the current surface, so as to further carefully stretch the flexible electronic skin, ensure high-quality flatness, and improve production efficiency.

[0056] Specifically, after the first control component receives the flatness information from the image processor, it will be dynamically adjusted according to the pre-set control algorithm. A deep learning model is constructed using a convolutional neural network (CNN) and a long short-term memory network (LSTM) to achieve precise control and stable adjustment of the second stretching component 232. The flatness information of the flexible electronic skin is input into the convolutional neural network (CNN) in time series to extract feature information, and is implemented through multiple convolutional layers, pooling layers and fully connected layers. The feature information containing the time series extracted by the convolutional neural network (CNN) is input into the long short-term memory network (LSTM) to generate the corresponding stretching process control parameters, that is, the second control signal, and the three-axis drive moves according to the second control signal.

[0057] Preferably, the model should be trained and evaluated before use, and a certain amount of image data and corresponding control parameters should be collected to train and evaluate the deep learning model. During use, the stretching of the product in the process is monitored in real time, and the gap between the actual and predicted effects is measured. When the difference is greater than the threshold, the current new flatness information and the corresponding control parameters are added as data for training the deep learning model, and retraining is performed to improve the response speed and stability of the system. Use digital twin technology to create a virtual model of the stretching process, and adjust the movement predicted by the deep learning model in the simulation to test it first. After it is correct, the predicted movement is implemented in the real object. During the implementation process, the new flatness information is used as the basis for judgment. When the difference between the movement effect and the expected effect is greater than the threshold, the first control member stops in time, and the deep learning model is re-learned according to the current flatness information, so as to give the control parameters again.

[0058] Among them, when the flatness information is consistent with the second expected flatness information and the tension information is consistent with the expected tension information, the second regulator transmits a second stop signal; the first three-axis driver 2323 is used to receive the second stop signal and stop driving the first clamping member 2321 to move, and the second three-axis driver 2324 is used to receive the second stop signal and stop driving the second clamping member 2322 to move. For example, when the flatness information is 9μm and the second expected tension information is 51N, the flatness information is consistent with the second expected flatness information and the tension information is consistent with the expected tension information, and the second regulator transmits a second stop signal to stop stretching. By setting this structure, it can be ensured that the skin stops immediately after reaching the required stretching degree, avoiding product damage or performance degradation caused by excessive stretching. The accuracy and reliability of the stretching process are improved, the flexible electronic skin is effectively protected from damage caused by excessive stress, the service life of the product is extended, and the reliability and stability of the product are ensured. In addition, resources and costs can be saved, the scrap rate can be minimized, and the production efficiency and the operation stability of the production line can be improved.

[0059] Before actual welding, first, the first flexible electronic skin 11 and the second flexible electronic skin 12 are fixed by corresponding clamps. Secondly, the tension and compression sensor 2315, the stretching driver 2311, the three-axis driver and other components are calibrated. After the calibration is completed, the stripe light is emitted to the flexible electronic skin through the stripe light emitter, the image collector obtains the reflection image of the corresponding skin, and is processed by the image processor, and the first regulator emits a first control signal. After receiving the first control signal, the stretching driver 2311 drives the second slide 2313 to move to stretch the flexible electronic skin. During the stretching process, the image collector, the tension and compression sensor 2315, the first control component and other components cooperate to detect and adjust the flatness and tension of the skin in real time. When the flatness information is consistent with the first expected flatness information and the tension information is consistent with the expected tension information, the first regulator emits a first stop signal, and the stretching driver 2311 stops stretching.

[0060] Subsequently, the second regulator transmits a second control signal to cause the two three-axis drivers to drive the corresponding clamping parts to move, thereby achieving further fine stretching of the two flexible electronic skins. During the stretching process, the image collector, the first control part and other components cooperate to detect and adjust the flatness and tension of the skin. When the flatness information matches the second expected flatness information and the tension information matches the expected tension information, the second regulator transmits a second stop signal and the three-axis driver stops stretching. Through step-by-step stretching, it can be ensured that the flexible electronic skin before and after stretching has high-precision flatness, which lays a good foundation for welding.

[0061] Reference Figure 1 and Figure 6As shown, the intelligent welding integrated platform described in the present invention, in some embodiments, the welding control signal includes a third control signal. The lifting member 30 includes two groups of lifting components 31, and the two groups of lifting components 31 are sequentially arranged on both sides of the flexible electronic skin along the second direction D2. Each group of lifting components 31 includes a clamp 311 and two clamping drivers 312, and the two clamping drivers 312 are respectively arranged on both sides of the flexible electronic skin along the third direction D3. Those skilled in the art can set a specific clamping driver 312 according to actual needs; preferably, it is set as a combination of a bracket, a screw rod and a motor. The driving ends of the two clamping drivers 312 are connected to the clamp 311. The clamping driver 312 is electrically connected to the second control member, and the clamping driver 312 is used to receive the third control signal and drive the clamp 311 to move along the first direction D1, so that the clamp 311 is relatively close to or relatively far away from the flexible electronic skin, thereby adjusting the clamping force applied to the flexible electronic skin, and realizing the adjustment of the width of the flexible electronic skin weld and the gap size between the two skins. Those skilled in the art can set a specific welding monitoring component according to actual needs to obtain the weld width of the flexible electronic skin and the gap size between the two skins; preferably, the image collector of the flatness monitoring component is used as a welding monitoring component to obtain the weld width and the gap size between the two skins, so as to take into account both cost and space utilization. Subsequently, the corresponding image is processed by the image processor to obtain the weld width and the gap size, and the second control component transmits a third control signal.

[0062] In the intelligent welding integrated platform described in the present invention, in some embodiments, the welding control signal includes a fourth control signal. The welding unit also includes a welding part, which is used to receive the fourth control signal and weld the first flexible electronic skin 11 and the second flexible electronic skin 12. Among them, the welding information also includes the welding power, welding speed, and temperature at the weld of the welding part. Those skilled in the art can set a specific method for obtaining the above welding information according to actual needs. For example, an infrared thermal imager is set to obtain the temperature information at the weld; the infrared thermal imager is not shown in the figure. After obtaining the above welding information, the second control part transmits a fourth control signal to adjust the corresponding welding power, welding speed, and temperature at the weld to ensure the quality of the weld.

[0063] Among them, the second control component transmits a welding control signal based on an artificial neural network model combined with the crow and wolf optimization algorithm. The crow and wolf optimization algorithm (CWO) is combined with an artificial neural network (ANN) to construct a deep learning model to achieve precise control and stable adjustment of the lifting component 30. The crow and wolf optimization algorithm (CWO) is an optimization algorithm improved by the gray wolf optimization algorithm (GWO) for welding conditions, which can improve the accuracy of the artificial neural network model; in some embodiments, the gray wolf optimization algorithm (GWO) can also be used to combine with the artificial neural network (ANN) to construct a deep learning model to achieve an approximate effect, thereby transmitting a welding control signal. The welding power and welding speed of the weld, the temperature at the weld, and the gap size between the skin are input into the model to obtain a predicted weld width, and the nonlinear relationship between the welding power, welding speed, temperature, gap size and weld width is obtained, and then the current welding power, welding speed, gap size and temperature are adjusted according to the target weld width. It includes the following steps:

[0064] Initialize the parameters of the crows and wolves optimization algorithm; here the parameters include the number of iterations, the population size, and the optimization variable dimension.

[0065] The current welding information is measured, the welding information including welding power, welding speed, weld width, temperature and gap size, and the first welding information is obtained.

[0066] The positions of crows and wolves are initialized, and the data set of the first welding information is put into the model for training to obtain an artificial neural network model combining crows and wolves algorithms with the best prediction accuracy.

[0067] Initialize welding power, welding speed, temperature and gap size, define ideal weld width, adjust the initialized parameters according to the ideal weld width through the artificial neural network model combined with the crow and wolf algorithm, and obtain the actual weld width. Compare the ideal weld width and the actual weld width. When the error meets the threshold, it means that the operation is successful and the actual welding information is obtained; when the error exceeds the threshold, retrain the model according to the current initialized parameters to obtain a new artificial neural network model combined with the crow and wolf algorithm with the best prediction accuracy, so as to improve the response speed and stability of the system; repeat this until the error meets the threshold, at which time the second control component transmits a welding control signal according to the actual welding information.

[0068] For example, during the regulation process, the laser power may be too high or the welding speed may be too slow, causing the product to be ablated. To avoid this, a welding temperature threshold is set for the welding temperature. When the welding temperature measured by the infrared thermal imager reaches the welding temperature threshold, the welding power is reduced, the welding speed is increased, and the laser energy deposition per unit area is reduced. At this time, the gap size can be adjusted to continue to increase the weld width.

[0069] When the weld is narrow, the weld width can be increased by increasing the welding power, reducing the welding speed or reducing the gap size. When the weld is too wide, the weld width can be reduced by reducing the laser power, increasing the welding speed or increasing the gap size. It can ensure the welding quality and stability during the welding process, realize visual detection of the weld width and automatically adjust the corresponding welding parameters to reduce the risk of welding defects.

[0070] The present invention discloses a welding method based on the intelligent welding integrated platform described in any one of the above embodiments. The welding method comprises the following steps: S1, applying a stretching force perpendicular to a first direction D1 to the flexible electronic skin through a stretching unit; S2, welding the flexible electronic skin; wherein a pressing force parallel to the first direction D1 is applied to the flexible electronic skin through the welding unit.

[0071] Working principle:

[0072] Before actual welding, first, the first flexible electronic skin 11 and the second flexible electronic skin 12 are fixed by corresponding clamps. Secondly, the tension and compression sensor 2315, the tensile driver 2311, the three-axis driver and other components are calibrated, and the image collector and the infrared thermal imager are aimed at the corresponding parts of the skin. The deep learning model is trained and evaluated before use.

[0073] Subsequently, a stripe light emitter emits stripe light to the flexible electronic skin, the image collector obtains the reflection image of the corresponding skin, and the image processor processes it, and the first regulator emits a first control signal. After receiving the first control signal, the stretching driver 2311 drives the second slide 2313 to move to stretch the flexible electronic skin. During the stretching process, the image collector, the tension and compression sensor 2315, the first control member and other components cooperate to detect and adjust the flatness and tension of the skin in real time. When the flatness information is consistent with the first expected flatness information and the tension information is consistent with the expected tension information, the first regulator emits a first stop signal, and the stretching driver 2311 stops stretching.

[0074] Next, the second regulator transmits a second control signal to make the two three-axis drivers drive the corresponding clamping parts to move, thereby achieving further fine stretching of the two flexible electronic skins. During the stretching process, the image collector, the first control part and other components cooperate to detect and adjust the flatness and tension of the skin. When the flatness information matches the second expected flatness information and the tension information matches the expected tension information, the second regulator transmits a second stop signal and the three-axis driver stops stretching.

[0075] After the stretching is completed, welding is performed. The welding information is measured by an image collector, an infrared thermal imager, etc., and input into a deep learning model constructed by combining the Crow and Wolf optimization algorithm with an artificial neural network, so that the second control component transmits a welding control signal, and the lifting component 30, the welding component, etc. receive the signal and adjust the parameters such as welding power, welding speed, and temperature at the weld to achieve welding and reduce the risk of welding defects.

[0076] Welding stops when welding is completed or irreparable defects such as burning or breakage are detected.

[0077] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. An intelligent welding integrated platform for welding flexible electronic skin, wherein the flexible electronic skin comprises a first flexible electronic skin and a second flexible electronic skin stacked along a first direction, characterized in that: The intelligent welding integrated platform includes: A stretching unit, the stretching unit comprising a flatness monitoring component and a stretching component; the flatness monitoring component is used to obtain flatness information of the stretched flexible electronic skin; the stretching component is used to receive a stretching control signal and apply a stretching force perpendicular to the first direction to the flexible electronic skin; A welding unit, the welding unit comprising a welding monitoring component and a lifting component; the welding monitoring component is used to obtain welding information of the flexible electronic skin being welded; the lifting component is used to receive a welding control signal and apply a pressing force parallel to the first direction to the flexible electronic skin; and A control unit, the control unit comprising a first control member and a second control member; the first control member is electrically connected to the flatness monitoring member and the stretching member, respectively, and the first control member is used to receive the flatness information and transmit the stretching control signal; the second control member is electrically connected to the welding monitoring member and the lifting member, respectively, and the second control member is used to receive the welding information and transmit the welding control signal; Wherein, the flatness monitoring component includes a stripe light emitter, an image collector and an image processor; the stripe light emitter is used to emit stripe light to the flexible electronic skin; the image collector is used to obtain a reflection image of the stripe light on the surface of the flexible electronic skin; the image processor is electrically connected to the image collector and the first control component respectively, and the image processor is used to obtain the flatness information according to the reflection image; Wherein, the stretching control signal includes a first control signal and a second control signal; Wherein, the stretching member includes a first stretching component and a second stretching component, the first stretching component is arranged on one side of the flexible electronic skin along the second direction, the first stretching component includes a stretching driver, a first slide, a second slide, a first clamp and a tension and compression sensor; the stretching driver, the first slide and the second slide are arranged in sequence along the second direction, the first slide is fixed relative to the stretching driver, a through hole is opened on the first slide, the driving end of the stretching driver passes through the through hole of the first slide and is connected to the second slide in a transmission manner, the stretching driver is electrically connected to the first control component, and the stretching driver is used to receive the first control signal and drive the second slide to move along the second direction; the first clamp is arranged on the second slide, the first clamp clamps the first flexible electronic skin and the second flexible electronic skin respectively, the two detection ends of the tension and compression sensor are connected to the first slide and the second slide respectively, and the tension and compression sensor is used to obtain the tension information of the flexible electronic skin; the second stretching component and the first stretching component are respectively arranged on both sides of the flexible electronic skin along the second direction, the second stretching component includes a second clamp, a first three-axis driver and a second three-axis driver, and the second clamp clamps the first flexible electronic skin and the second flexible electronic skin respectively; Among them, the second clamp includes a first clamping member and a second clamping member, the first clamping member is connected to the first flexible electronic skin, and the second clamping member is connected to the second flexible electronic skin; the first three-axis driver and the second three-axis driver are arranged in sequence along the second direction; the driving end of the first three-axis driver is connected to the first clamping member, and the first three-axis driver is used to receive the second control signal and drive the first clamping member to move; the driving end of the second three-axis driver is connected to the second clamping member, and the second three-axis driver is used to receive the second control signal and drive the second clamping member to move.

2. The intelligent welding integrated platform according to claim 1, characterized in that: The first control element comprises: A first comparator, the first comparator is electrically connected to the flatness monitoring element, and the first comparator is used to compare first expected flatness information with the flatness information; a second comparator, the second comparator being electrically connected to the tension and compression sensor, and the second comparator being used to compare expected tension information with the tension information; and A first regulator, wherein the first regulator is electrically connected to the first comparator, the second comparator and the stretching driver respectively, and the first regulator transmits the first control signal based on a PID control algorithm to dynamically adjust the stretching force applied to the flexible electronic skin; When the flatness information matches the first expected flatness information and the tension information matches the expected tension information, the first regulator transmits a first stop signal; and the stretching driver is used to receive the first stop signal and stop driving the second slide to move.

3. The intelligent welding integrated platform according to claim 2, characterized in that: The first control element further comprises: a third comparator, the third comparator being electrically connected to the flatness monitoring element, and the third comparator being used to compare the second expected flatness information with the flatness information; and a second regulator, the second regulator being electrically connected to the second comparator, the third comparator, the first three-axis driver and the second three-axis driver respectively, and the second regulator being used for transmitting the second control signal to dynamically adjust the flatness information; Among them, when the flatness information is consistent with the second expected flatness information, and the tension information is consistent with the expected tension information, the second regulator transmits a second stop signal; the first three-axis driver is used to receive the second stop signal and stop driving the first clamping member to move, and the second three-axis driver is used to receive the second stop signal and stop driving the second clamping member to move.

4. The intelligent welding integrated platform according to claim 1, characterized in that: The lifting member includes two groups of lifting components, and the two groups of lifting components are arranged in sequence on both sides of the flexible electronic skin along the second direction. Each group of lifting components includes a clamp and two clamping drivers, and the two clamping drivers are respectively arranged on both sides of the flexible electronic skin along the third direction. The driving ends of the two clamping drivers are connected to the clamp, and the clamping driver is electrically connected to the second control member. The clamping driver is used to receive the welding control signal and drive the clamp to move along the first direction.

5. The intelligent welding integrated platform according to claim 1, characterized in that: The welding unit further includes a welding piece, which is used to receive the welding control signal and weld the first flexible electronic skin and the second flexible electronic skin.

6. The intelligent welding integrated platform according to claim 1, 4 or 5, characterized in that: The second control component transmits the welding control signal based on an artificial neural network model combined with a crow and wolf optimization algorithm.

7. A welding method based on the intelligent welding integrated platform according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Applying a stretching force perpendicular to the first direction to the flexible electronic skin through the stretching unit; S2. Welding the flexible electronic skin; wherein a compressive force parallel to the first direction is applied to the flexible electronic skin by the welding unit.

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