Welding equipment for producing deep-sea flat actuator made of TC4 material

Abstract

The invention discloses welding equipment for production of a deep-sea flat actuator made of a TC4 material, and relates to the technical field of welding equipment. Through the transverse clamping mechanism, panel parts on the two sides of the flat actuator frame can be synchronously clamped and fixed at the same time, and when the panels are clamped, part of power can be transmitted to the longitudinal clamping mechanism through the linkage assembly; therefore, the longitudinal clamping mechanism is driven to synchronously clamp and fix the short U assembly part of the flat actuator frame, the effect of synchronously clamping the short U assemblies and the panel at multiple positions is achieved, each component does not need to be separately clamped and fixed in the process, the time for separately clamping and fixing is saved, and the working efficiency is improved. Meanwhile, the labor intensity of workers is reduced, and the welding efficiency of the deep-sea flat actuator can be remarkably improved; due to the design of the linkage assembly, the longitudinal clamping mechanism and the transverse clamping mechanism can be linked, and the cost for arranging a plurality of driving devices is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to welding equipment for producing deep-sea flat actuators made of TC4 material. Background Art

[0002] The flat actuator test piece is used to reproduce the real stress environment through experimental simulation, providing a process design basis for the evaluation and exploitation of "combustible ice". The flat actuator test piece is not only a core component of the DEST simulator project, but also a consumable with a huge demand. The material used in the device is titanium alloy TC4, which has high strength, light weight and strong corrosion resistance. It is mainly used in aerospace and deep sea fields.

[0003] TC4 flat actuator is a large-tonnage small flat flexible loading device, which is assembled and welded by long U components, short U components, panels, oil inlet and outlet pipes and grid components. It is mainly formed by combining vacuum electron beam, laser welding and manual argon arc welding. Among them, the assembly and welding process of the short U component and the panel is carried out first. After welding, the basic frame can be formed to provide a basic carrier for the welding of other components. Then the long U component, grille component, oil inlet and outlet are welded to the short U component and the basic frame that has been welded to the panel in turn. Before the assembly and welding of the short U component and the panel, welding tooling is required to clamp and lock the panel and the short U component to avoid position displacement of the panel and the short U component in subsequent welding operations.

[0004] The fan-shaped panel welding equipment disclosed in the patent application with reference publication (announcement) number CN209239309U can realize the automated production of fan-shaped panel welding through the cooperation of the loading unit, the platform feeding unit, the conveyor roller feeding unit, the panel welding unit and the unloading unit, which can greatly improve the production efficiency, meet the factory's mass production requirements, and has a broad market space.

[0005] A comprehensive analysis of the above patents reveals the following defects: At present, most of the clamping tools for short U components and panels use multiple clamps to clamp and assemble the short U components and panels separately. However, due to the non-standard arc shape of the short U component, this clamping method cannot perform multi-point clamping according to the shapes of the various components of the TC4 flat actuator, so it is difficult to provide sufficient clamping stability during the clamping process, which makes it easy for the position of the weldment to shift during the welding process, thereby affecting the welding accuracy; at the same time, the existing welding tooling cannot achieve synchronous clamping and welding operations for the short U components and panels, which means that each short U component and each panel needs to be welded separately, which not only reduces the overall welding efficiency, but also increases the welding cost.

[0006] Therefore, the present invention proposes a welding device for producing deep-sea flat actuators made of TC4 material to solve the above problems. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a welding device for the production of deep-sea flat actuators made of TC4 material, which solves the problem that most of the current clamping tools for short U components and panels use multiple clamps to clamp and assemble the short U components and panels separately. Since the short U components are non-standard curved shapes, this clamping method cannot perform multi-point clamping according to the shapes of the various components of the TC4 flat actuator, and it is difficult to provide sufficient clamping stability during the clamping process, which makes it easy for the position of the weldment to shift during the welding process, thereby affecting the welding accuracy. The existing welding tools are also unable to achieve synchronous clamping and welding operations for the short U components and panels, which means that each short U component and each panel need to be welded separately, which not only reduces the overall welding efficiency but also increases the welding cost.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: A welding device for producing deep-sea flat actuators made of TC4 material, comprising: A welding platform is used to provide an operating platform for welding the deep-sea flat actuator. A flat actuator frame to be welded is arranged above the welding platform. The deep-sea flat actuator is formed by further assembling and welding on the basis of the welding frame of the flat actuator frame. A longitudinal clamping mechanism is arranged at the center of the top of the welding table, and is used to perform contour splicing of the various parts in the flat actuator frame and complete the clamping and locking of the top and bottom of the flat actuator frame; The transverse clamping mechanism is arranged on the top of the welding table, and is used to simultaneously clamp and fix the left and right side walls of the flat actuator frame, and simultaneously forms a linkage with the longitudinal clamping mechanism, and provides a driving force for the clamping operation of the longitudinal clamping mechanism while clamping the flat actuator frame on the left and right sides; A welding actuator, comprising a linear module fixedly arranged on one side of the top of the welding table, and a welding manipulator for welding the flat actuator frame is arranged on the output end of the linear module; The controller is arranged on one side of the top of the welding table and is used to control the operation of all electrical equipment.

[0009] Furthermore, the lateral clamping mechanism comprises a side wall clamping assembly 1 and a side wall clamping assembly 2, and power is transmitted between the side wall clamping assembly 1 and the side wall clamping assembly 2 via a transmission shaft; The side wall clamping assembly 1 includes a slide rail 1 and two slide rails 2 symmetrically arranged on both sides of the slide rail 1, a servo motor is fixedly arranged inside the slide rail 1, a screw is fixedly arranged on the output shaft of the servo motor, a slide seat is provided on the outer wall of the screw rod and on the internal thread sleeve of the slide rail 1, the bottom two sides of the slide seat are respectively slidably sleeved on the outer walls of the two slide rails 2, a clamping arm is fixedly arranged on the top of the slide seat, a clamping plate is fixedly arranged on the top of the clamping arm, and a linkage assembly for driving the longitudinal clamping mechanism to complete the clamping action is provided on one side of the top of the slide seat.

[0010] Furthermore, the linkage assembly includes an L-shaped bracket fixedly arranged on the top of the slide seat, and a roller 1 is rotatably arranged on one end of the L-shaped bracket close to the clamping plate.

[0011] Furthermore, the longitudinal clamping mechanism comprises a vertical support plate fixedly arranged on the top of the welding table by bolts and a protective cover detachably arranged on the outer wall of the vertical support plate, a template assembly is arranged on the side wall of the vertical support plate close to the welding manipulator, which is used for profiling support for the splicing of various components in the flat actuator frame, a protective cover is fixedly arranged on the side wall of the vertical support plate and above the template assembly, a profiling clamping assembly 1 for profiling the top of the flat actuator frame is arranged inside the protective cover, a profiling clamping assembly 2 for profiling the bottom of the flat actuator frame is arranged on the side wall of the vertical support plate and below the template assembly, and a power transmission assembly for transmitting power for the profiling clamping assembly 1 and the profiling clamping assembly 2 to perform clamping action is also arranged inside the vertical support plate; The template assembly comprises a profiling plate which is detachably arranged on the side wall of the vertical support plate by means of bolts, and a plurality of electromagnets are evenly and fixedly arranged on both sides of the outer wall of the profiling plate.

[0012] Furthermore, the power transmission assembly includes two guide rods respectively fixedly arranged above and below the side walls of the vertical support plate, a side plate is slidably sleeved together on the outer walls of the two guide rods, a spring 2 is slidably sleeved on the outer wall of the guide rod and located between the side plate and the vertical support plate, a wedge block 2 is fixedly arranged at the middle position of the side wall of the side plate away from the vertical support plate, and an upper push rod assembly and a lower push rod assembly are respectively fixedly arranged above and below the side wall of the side plate close to the vertical support plate; The upper push rod assembly and the lower push rod assembly have the same structure. The upper push rod assembly includes a driving rod and an inclined surface provided on the side wall of the driving rod, and a plurality of rollers 2 are rotatably arranged on the inclined surface.

[0013] Furthermore, the structures of the contour clamping assembly 1 and the contour clamping assembly 2 are the same, the contour clamping assembly 1 includes a carrier frame detachably arranged on the inner wall of the protective cover by bolts, a box body is slidably arranged inside the carrier frame, a wedge block 1 is fixedly arranged on the top of the box body, the top of the wedge block 1 slides through the carrier frame and extends to the inside of the protective cover, a cover plate is detachably arranged on the bottom of the box body by bolts, a plurality of contour units are evenly arranged inside the box body, the plurality of contour units are connected by a connecting plate, a screw rod is rotatably arranged on the outer wall of the connecting plate, the screw rod thread passes through the box body and an adjustment knob is fixedly arranged.

[0014] Furthermore, the profiling unit includes a rectangular frame fixedly connected to the connecting plate, a plurality of clamping columns are evenly arranged inside the rectangular frame, a plurality of teeth are evenly fixedly arranged on the side walls of the clamping columns, and the bottom end of the clamping column slides through the box body and is fixedly provided with a rubber protective terminal, a spring is slidably sleeved on the outer wall of the clamping column and located between the rubber protective terminal and the cover plate, and a plurality of tooth plates corresponding to the positions of the clamping columns are evenly fixedly arranged on the inner wall of the rectangular frame, and when the teeth and the tooth plates at the corresponding positions are engaged with each other, the position of the clamping column is locked.

[0015] Furthermore, the flat actuator frame includes two panels vertically distributed up and down, and short U components are welded to both side walls of the two panels. The deep-sea flat actuator is assembled and welded by a flat actuator frame, a grid component and two long U components.

[0016] The present invention also discloses a welding method for a deep-sea flat actuator made of TC4 material, which is used for welding equipment for producing deep-sea flat actuators made of TC4 material. The method comprises the following steps: Step 1: First, the irregular-shaped parts in the flat actuator frame are profiled. After the profiling is completed, the clamping shape of the longitudinal clamping mechanism is adapted to the outer contour of the irregular-shaped parts in the flat actuator frame. Then, the various parts in the flat actuator frame to be welded are placed in the corresponding positions in the longitudinal clamping mechanism in sequence, and the assembly work of the flat actuator frame before welding is preliminarily completed; Step 2: Start the transverse clamping mechanism to clamp and fix the left and right side walls of the flat actuator frame. At the same time, the power provided by the transverse clamping mechanism drives the longitudinal clamping mechanism to complete the clamping and fixing of the top and bottom of the flat actuator frame. At this point, the clamping and fixing of multiple positions of the flat actuator frame are completed synchronously. Step 3: Start the welding robot to weld the joints in the flat actuator frame one by one. After the welding is completed, release the clamping of the flat actuator frame and pull the flat actuator frame out of the longitudinal clamping mechanism.

[0017] The present invention provides a welding device for producing deep-sea flat actuators made of TC4 material. Compared with the prior art, it has the following beneficial effects: 1. A welding device for producing deep-sea flat actuators made of TC4 material, which can simultaneously clamp and fix the panel parts on both sides of the flat actuator frame through a transverse clamping mechanism, and while clamping the panel, it can use a linkage component to transmit part of the power to the longitudinal clamping mechanism, so as to achieve the effect of driving the longitudinal clamping mechanism to synchronously clamp and fix the short U component part of the flat actuator frame, thereby achieving the effect of synchronously clamping the short U components and panels at multiple positions, and then achieving the overall clamping and fixing of the flat actuator frame. In this process, there is no need to clamp and fix each component separately, thereby saving the time of separate clamping, and also reducing the labor intensity of the staff, and the welding efficiency of the deep-sea flat actuator can be significantly improved; secondly, the design of the linkage component enables the longitudinal clamping mechanism and the transverse clamping mechanism to be linked, and only one servo motor is needed to achieve multi-directional clamping of the flat actuator frame, saving the cost of setting up multiple driving devices.

[0018] 2. A welding device for producing deep-sea flat actuators made of TC4 material, which, by setting a longitudinal clamping mechanism, can simulate the outer wall shape of a short U component with an irregular shape through a profiling clamping component one and a profiling clamping component two, so that the profiling clamping component one and the profiling clamping component two can have a clamping profile that matches the outer wall shape of the short U component, so that the profiling clamping component one and the profiling clamping component two can completely fit the outer wall shape of the short U component during clamping, thereby achieving a stable clamping effect; secondly, by setting multiple clamping columns at multiple positions, each clamping column can freely change its length extending out of the box body according to the outer wall shape of the short U component, so that each clamping column can be close to the outer wall of the short U component, forming multiple independent clamping points, thereby achieving a multi-point clamping effect.

[0019] 3. A welding device for producing deep-sea flat actuators made of TC4 material. By setting a template component, the various parts of the flat actuator frame can be pre-assembled according to the contour shape of the profiling plate before clamping, and each part of the flat actuator frame can be pre-placed in the position to be clamped, and the profiling clamping component 1 and the profiling clamping component 2 can be used to pre-fix the scattered panel part and the short U component part, laying the foundation for subsequent stable clamping; secondly, the square plate has the same shape as the inner cavity of the flat actuator frame. When the profiling clamping component 1, the profiling clamping component 2 and the clamping plate clamp the panel part and the short U component part, the profiling plate can play a supporting role inside to avoid deformation caused by excessive external clamping force, thereby ensuring the welding quality of the flat actuator frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of the flat actuator of the present invention in the first welding state; Figure 2 This is a schematic structural diagram of the second welding state of the flat actuator of the present invention; Figure 3 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 4 This is a schematic diagram of the structure of the present invention with the welding station removed in the first state; Figure 5 This is a schematic diagram of the structure of the second state of the present invention without the welding platform; Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure of part A; Figure 7 It is a schematic diagram of the structure of the transverse clamping mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the longitudinal clamping mechanism of the present invention in an exploded state; Fig. 9 For the present invention Figure 8 A schematic diagram of the enlarged structure of part B in FIG. Fig.10 This is a schematic diagram of the cross-sectional structure of the protective cover of the present invention; Fig.11 For the present invention Fig.10 A schematic diagram of the enlarged structure of part C in FIG. Fig.12 It is a schematic structural diagram of the longitudinal clamping mechanism and linkage assembly of the present invention in an assembled state; Fig.13 For the present invention Fig.12 The D part in the figure is an enlarged structural diagram; Fig.14 It is a structural schematic diagram of the vertical support plate and the contour clamping assembly 1 and the contour clamping assembly 2 in the present invention in an assembled state; Fig.15 For the present invention Fig.14 The enlarged structural diagram of part E in FIG. Fig.16 It is a schematic diagram of the structure of a profile clamping assembly in an exploded state of the present invention; Fig.17 It is a cross-sectional structural schematic diagram of a contour clamping assembly of the present invention; Fig.18 It is a schematic structural diagram of the assembly state of the connecting plate and the profiling unit of the present invention; Fig.19 It is a schematic diagram of the structure of the profiling unit of the present invention; Fig. 20 This is a schematic diagram of the structure of the flat actuator frame in an exploded state of the present invention; Fig.21It is a schematic diagram of the structure of the deep-sea flat actuator of the present invention in an exploded state.

[0021] In the figure: 1, welding table; 2, flat actuator frame; 21, panel; 22, short U assembly; 3, horizontal clamping mechanism; 31, transmission shaft; 32, slide rail 1; 33, slide rail 2; 34, servo motor; 35, screw rod; 36, slide seat; 37, clamping arm; 38, clamping plate; 39, linkage assembly; 391, L-shaped bracket; 392, roller 1; 4, longitudinal clamping mechanism; 41, vertical support plate; 42, template assembly; 421, profiling plate; 422, electromagnet; 43, protective cover; 44, profiling clamping assembly 1; 441, carrier; 442, box; 443, wedge block 1; 4 44. Cover plate; 445. Contour unit; 4451. Rectangular frame; 4452. Clamping column; 4453. Teeth; 4454. Rubber protection terminal; 4455. Spring one; 4456. Tooth plate; 446. Connecting plate; 447. Screw; 45. Contour clamping assembly two; 46. Side plate; 47. Wedge block two; 48. Upper push rod assembly; 481. Drive rod; 482. Roller two; 49. Lower push rod assembly; 410. Guide rod; 411. Spring two; 5. Linear module; 6. Welding manipulator; 7. Controller; a. Deep-sea flat actuator; a1. Long U assembly; a2. Grille assembly. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figures 1 to 21 The present invention provides three technical solutions: a welding device for producing deep-sea flat actuators made of TC4 material, specifically including the following embodiments: Embodiment 1: A welding device for producing a deep-sea flat actuator made of TC4 material, comprising: A welding platform 1 is used to provide an operating platform for welding the deep-sea flat actuator. A flat actuator frame 2 to be welded is arranged above the welding platform 1. The deep-sea flat actuator a is formed by further assembling and welding on the basis of the welding frame of the flat actuator frame 2. A longitudinal clamping mechanism 4 is arranged at the center of the top of the welding table 1 and is used to perform contour splicing of the various parts in the flat actuator frame 2 and to complete the clamping and locking of the top and bottom of the flat actuator frame 2; The transverse clamping mechanism 3 is arranged on the top of the welding table 1, and is used to simultaneously clamp and fix the left and right side walls of the flat actuator frame 2, and simultaneously form a linkage with the longitudinal clamping mechanism 4, and provide a driving force for the clamping operation of the longitudinal clamping mechanism 4 while clamping the flat actuator frame 2 on the left and right sides; The welding actuator comprises a linear module 5 fixedly arranged on one side of the top of the welding table 1, and a welding manipulator 6 for welding the flat actuator frame 2 is arranged on the output end of the linear module 5; The controller 7 is arranged on one side of the top of the welding table 1 and is used to control the operation of all electrical equipment. The welding manipulator 6, the linear module 5, the servo motor 34, the electromagnet 422 and the controller 7 are respectively communicated and connected to each other to respectively complete the control of the electrical components; the flat actuator frame 2 includes two panels 21 vertically distributed up and down, and the two side walls of the two panels 21 are welded with short U components 22. The deep-sea flat actuator a is assembled and welded by the flat actuator frame 2, the grid component a2 and the two long U components a1.

[0024] Embodiment 2: The main difference between this embodiment and the first technical solution is: a welding equipment for the production of deep-sea flat actuators made of TC4 material, the lateral clamping mechanism 3 includes a side wall clamping component 1 and a side wall clamping component 2, and power is transmitted between the side wall clamping component 1 and the side wall clamping component 2 through a transmission shaft 31; the side wall clamping component 1 includes a slide rail 1 32 and two slide rails 2 33 symmetrically arranged on both sides of the slide rail 1 32, a servo motor 34 is fixedly arranged inside the slide rail 1 32, a screw rod 35 is fixedly arranged on the output shaft of the servo motor 34, a slide seat 36 is provided on the outer wall of the screw rod 35 and on the internal thread sleeve of the slide rail 1 32, the bottom sides of the slide seat 36 are respectively slidably sleeved on the outer walls of the two slide rails 2 33, a clamping arm 37 is fixedly arranged on the top of the slide seat 36, a clamping plate 38 is fixedly arranged on the top of the clamping arm 37, and a linkage component 39 for driving the longitudinal clamping mechanism 4 to complete the clamping action is provided on one side of the top of the slide seat 36. The screw rod 35 in the side wall clamping assembly 1 and the side wall clamping assembly 2 is connected by a transmission shaft 31. Except for the servo motor 34 structure, the other structures between the side wall clamping assembly 1 and the side wall clamping assembly 2 are exactly the same; the slide rail 1 32 and the two slide rails 2 33 are fixedly arranged on the top of the welding table 1, and the longitudinal clamping mechanism 4 is arranged at a position between the side wall clamping assembly 1 and the side wall clamping assembly 2; the clamping plate 38 is detachably provided with a rubber protective pad on the side wall near the template assembly 42, and the rubber protective pad has a certain elasticity and can It can produce a certain size of elastic deformation after being compressed, and the thickness of the rubber protective pad is installed according to the actual use requirements; when the flat actuator frame 2 within a certain thickness range is welded, the setting distance of the two clamping plates 38 relative to the profiling plate 421 can meet the requirements that the profiling clamping assembly 1 44 and the profiling clamping assembly 2 45 can stably clamp the short U assembly 22 after profiling while the clamping plate 38 clamps the panel 21, and the rubber protective pad is used to adjust the facing distance of the clamping plate 38 relative to the profiling plate 421. The linkage assembly 39 includes an L-shaped bracket 391 fixedly arranged on the top of the slide 36, and a roller 1 392 is rotatably arranged at one end of the L-shaped bracket 391 close to the clamping plate 38.

[0025] Embodiment 3: The main difference between this embodiment and the second technical solution is that: a welding device for producing deep-sea flat actuators made of TC4 material, the longitudinal clamping mechanism 4 includes a vertical support plate 41 fixedly arranged on the top of the welding table 1 by bolts and a protective cover detachably arranged on the outer wall of the vertical support plate 41, a template assembly 42 is arranged on the side wall of the vertical support plate 41 close to the welding manipulator 6, which is used to provide contour support for the splicing of various components in the flat actuator frame 2, and a protective cover 43 is fixedly arranged on the side wall of the vertical support plate 41 and located above the template assembly 42, and the interior of the protective cover 43 is provided with a protective cover for A contour clamping assembly 44 for contour clamping the top of the flat actuator frame 2 is provided, and a contour clamping assembly 45 for contour clamping the bottom of the flat actuator frame 2 is provided on the side wall of the vertical support plate 41 and below the template assembly 42. A power transmission assembly for transmitting power to the contour clamping assembly 44 and the contour clamping assembly 45 for performing the clamping action is also provided inside the vertical support plate 41; the template assembly 42 includes a contour plate 421 detachably provided on the side wall of the vertical support plate 41 by bolts, and a plurality of electromagnets 422 are evenly fixedly provided on both sides of the outer wall of the contour plate 421. A wire for transmitting electric energy to the electromagnet 422 is arranged inside the profiling plate 421. The wire passes through the profiling plate 421, the vertical support plate 41 and the protective cover and is connected to an external power supply. The wire installation route does not interfere with the assembly and welding operations of the flat actuator frame 2; the top and bottom outer contours of the profiling plate 421 are adapted to the inner wall shape of the short U component 22, and the length of the short U component 22 is just adapted to the width of the profiling plate 421. Secondly, the side wall shape and area of ​​the profiling plate 421 are adapted to the panel 21, that is, the two panels 21 and the two short U components 22 can just completely cover the top, bottom and front and rear side walls of the profiling plate 421. The power transmission assembly includes two guide rods 410 respectively fixedly arranged above and below the side walls of the vertical support plate 41, and a side plate 46 is slidably sleeved on the outer walls of the two guide rods 410. A second spring 411 is slidably sleeved on the outer wall of the guide rod 410 and located between the side plate 46 and the vertical support plate 41. A second wedge block 47 is fixedly arranged at the middle position of the side wall of the side plate 46 away from the vertical support plate 41, and an upper push rod assembly 48 and a lower push rod assembly 46 are respectively fixedly arranged above and below the side wall of the side plate 46 close to the vertical support plate 41. 9; one end of the upper push rod assembly 48 and the lower push rod assembly 49 away from the side plate 46 slides through the vertical support plate 41 and extends to the outside; the wedge block 47 is in the shape of an "isosceles triangle", and the wedge block 47 takes the side plate 46 as the axis of symmetry, and slope surfaces are provided on both sides of its outer wall. The two rollers 392 in the two linkage assemblies 39 slide through the protective cover and slide along the slope surfaces on both sides of the outer wall of the wedge block 47; a limit plate is fixedly provided at one end of the guide rod 410 away from the vertical support plate 41, which is used to prevent the side plate 46 from detaching from the outer wall of the guide rod 410.The upper push rod assembly 48 and the lower push rod assembly 49 have the same structure. The upper push rod assembly 48 includes a driving rod 481 and an inclined surface provided on the side wall of the driving rod 481, and a plurality of rollers 482 are rotatably provided on the inclined surface. The structures of the contour clamping assembly 1 44 and the contour clamping assembly 2 45 are the same. The contour clamping assembly 1 44 includes a carrier frame 441 which is detachably arranged on the inner wall of the protective cover 43 by bolts. A box body 442 is slidably arranged inside the carrier frame 441. A wedge block 1 443 is fixedly arranged on the top of the box body 442. The top end of the wedge block 1 443 slides through the carrier frame 441 and extends to the inside of the protective cover. A cover plate 444 is detachably arranged on the bottom of the box body 442 by bolts. A plurality of contour units 445 are evenly arranged inside the box body 442. The plurality of contour units 445 are connected by a connecting plate 446. A screw rod 447 is rotatably arranged on the outer wall of the connecting plate 446. The screw rod 447 threadably penetrates the box body 442 and is fixedly arranged with an adjusting knob. The bottom of the carrier frame 441 in the contour clamping assembly 2 45 is fixedly arranged on the top of the welding table 1 through a support frame; sliders are fixedly arranged on the left and right sides of the front and rear side walls of the box body 442, and a vertical slide groove corresponding to the position of the slider is opened on the inner wall of the carrier frame 441, and a blocking plate is fixedly arranged at the bottom of the vertical slide groove to prevent the slider from slipping out of the vertical slide groove, that is, the box body 442 and the carrier frame 441 are always an integral structure; when the wedge block 1 443 is not subjected to external force, the box body 442 is subjected to its own gravity, and the slider is located at the bottom of the vertical slide groove, and the lower position point of the inclined surface of the wedge block 1 443 in the contour clamping assembly 2 45 is against the outer wall of the roller 2 482 at the corresponding position; the contour unit 445 includes and a hinge A rectangular frame 4451 is fixedly connected to the connecting plate 446, and a plurality of clamping columns 4452 are evenly arranged inside the rectangular frame 4451. A plurality of teeth 4453 are evenly and fixedly arranged on the side walls of the clamping columns 4452, and the bottom ends of the clamping columns 4452 slide through the box body 442 and are fixedly provided with a rubber protective terminal 4454. A spring 4455 is slidably sleeved on the outer wall of the clamping column 4452 and located between the rubber protective terminal 4454 and the cover plate 444, and a plurality of tooth plates 4456 corresponding to the positions of the clamping columns 4452 are evenly and fixedly arranged on the inner wall of the rectangular frame 4451. When the teeth 4453 and the tooth plates 4456 at the corresponding positions are engaged with each other, the position of the clamping column 4452 is locked.

[0026] The present invention also provides a welding method for a deep-sea flat actuator made of TC4 material, which is used for welding equipment for producing deep-sea flat actuators made of TC4 material. The method comprises the following steps: Step 1: First, the irregular-shaped parts in the flat actuator frame 2 are profiled. After the profiling is completed, the clamping shape of the longitudinal clamping mechanism 4 is adapted to the outer contour of the irregular-shaped parts in the flat actuator frame 2. Then, the various parts in the flat actuator frame 2 to be welded are placed in the corresponding positions in the longitudinal clamping mechanism 4 in turn, and the assembly work of the flat actuator frame 2 before welding is preliminarily completed; the specific process is: first, with the help of the knob fixed at one end of the screw rod 447, it is rotated counterclockwise. Since the screw rod 447 and the box body 442 are connected by threads and connected to the connecting plate 446 is rotatably connected, so when the screw rod 447 rotates counterclockwise, the connecting plate 446 is moved away from the center of the box body 442, and the tooth plates 4456 at multiple positions are changed from the meshing state with the teeth 4453 at the corresponding positions to the separation state, so that the clamping columns 4452 at multiple positions can move freely up and down. Similarly, the operation method of the contour clamping component 45 is the same as the above method. Since the structures of the contour clamping component 1 44 and the contour clamping component 2 45 are the same, the contouring process of the contour clamping component 2 45 relative to the other short U component 22 will not be repeated here; Then, a pair of panels 21 and a pair of short U components 22 constituting the flat actuator frame 2 are placed aside for standby use, and one of the short U components 22 is taken, and one end of the arc-shaped surface that is concave inward is slid along one end of the top of the profiling plate 421 to the other end, and the multiple profiling units 445 in the profiling clamping assembly 44 are lifted up until one end of the short U component 22 abuts against the side wall of the vertical support plate 41, that is, the short U component 22 is completely sleeved on the top of the profiling plate 421; Then take another short U component 22, slide the inwardly concave end of its arc surface along the bottom end of the profiling plate 421 to the other end, until one end of the short U component 22 abuts against the side wall of the vertical support plate 41, and the multiple profiling units 445 in the profiling clamping component 45 lift the short U component 22; Next, the power of the electromagnet 422 is turned on by the controller 7. The electromagnet 422 has magnetism after being energized. One of the panels 21 is taken and attached to one of the side walls of the profiling plate 421. The bottom and the bottom of the panel 21 are respectively against the side walls of the two short U components 22. Similarly, another panel 21 is attached to the other side wall of the profiling plate 421. The electromagnet 422 firmly adsorbs the panel 21 through magnetic force. Finally, the positions of the panel 21 and the short U component 22 are corrected so that the ends of the panel 21 and the short U component 22 are on the same horizontal plane. Next, the servo motor 34 is started to rotate clockwise at a fixed low speed for a preset number of circles, and the screw rod 35 drives the slide 36 to gradually approach the longitudinal clamping mechanism 4. At the same time, the rollers 392 on both sides synchronously move toward each other along the inclined surfaces on both sides of the outer wall of the wedge block 47, and at the same time push the side plate 46 to approach the vertical support plate 41. The rollers 482 in the upper push rod assembly 48 and the lower push rod assembly 49 located above and below the side wall of the side plate 46 slide along the slope surface of the wedge block 443 in the profiling clamping assembly 1 44 and the profiling clamping assembly 2 45 respectively. When the rollers 482 climb from a lower point to a higher point along the slope surface of the wedge block 443, the box body 442 is gradually moved toward the profiling plate 421. The bottom ends of the rubber protective terminals 4454 at multiple positions are in contact with the arc surface of the short U component 22 at the corresponding position, and as the box body 442 continues to move downward, the rubber protective terminals 4454 are pushed by the arc-shaped outer wall of the short U component 22 at the corresponding position and gradually move toward the inside of the box body 442, until the rubber protective terminals 4454 at all positions are against the arc-shaped outer wall of the short U component 22 at the corresponding position, and the spring 4455 at each position is compressed. At this time, the servo motor 34 rotates a preset number of circles and stops rotating. At the same time, the two clamping plates 38 are against the outer wall of the panel 21, and the rubber protective pads arranged on the side walls of the clamping plates 38 are elastically deformed; Then, the screw rods 447 in the profiling clamping assembly 1 44 and the profiling clamping assembly 2 45 are rotated in the opposite direction respectively. During the rotation of the screw rod 447, the connecting plate 446 is pushed to move toward the inside of the box body 442 until the screw rod 447 is blocked and cannot rotate. At this time, the tooth plates 4456 at multiple positions and the teeth 4453 at the corresponding positions are meshed and connected with each other, and the position of the clamping column 4452 is locked. The multiple clamping columns 4452 in the profiling clamping assembly 1 44 and the profiling clamping assembly 2 45 are all formed into a shape that is compatible with the arc contour of the outer wall of the short U component 22; then the servo motor 34 is started again to rotate in the opposite direction for a preset number of turns according to the preset program, and the screw rod 35 simultaneously drives the slide seats 36 on both sides to move away from each other by a fixed distance, and the clamping plates 38 on both sides simultaneously release the panel 21. Clamping, at the same time, the rollers 392 on both sides slide from a higher position to a lower position along the slope surfaces on both sides of the wedge block 47, and the elastic force of the spring 411 gradually pushes the side plate 46 to move away from the vertical support plate 41, and the rollers 482 in the upper push rod assembly 48 and the lower push rod assembly 49 slide from a higher position to a lower position along the slope surfaces of the wedge block 443 in the profiling clamping assembly 1 44 and the profiling clamping assembly 2 45, respectively. The profiling clamping assembly 1 44 and the profiling clamping assembly 2 45 unload the clamping force of the short U assembly 22 at the same time, and the panel 21 and the short U assembly 22 can be pulled out at this time. At this point, the profiling process of the flat actuator frame 2 is completed, and the flat actuator frames 2 welded in the same batch can use the profiling shape for clamping; Step 2, start the transverse clamping mechanism 3 to clamp and fix the left and right side walls of the flat actuator frame 2. At the same time, the power provided by the transverse clamping mechanism 3 drives the longitudinal clamping mechanism 4 to complete the clamping and fixing of the top and bottom of the flat actuator frame 2. At this point, the clamping and fixing of the flat actuator frame 2 at multiple positions are completed synchronously; the specific process is: according to the profiling steps of the flat actuator frame 2, that is, the operation steps in step 2, the panel 21, the short U component 22 and the template component 42 in the flat actuator frame 2 are assembled and fixed, and then the servo motor 34 is started again to rotate clockwise for a preset number of circles two according to the preset program. The preset number of circles two is slightly larger than the preset number of circles one, and the side wall clamping component one and the side wall clamping component 42 are assembled and fixed. The screw rod 35 in component two transmits power through the transmission shaft 31, and the clamping plates 38 on both sides approach the template component 42 at the same time, and clamp the panels 21 on both sides at the same time, and the contour clamping component 1 44 and the contour clamping component 2 45 synchronously clamp the short U components 22 at the top and bottom of the contour plate 421 at the same time. The clamping process is the same as the contour clamping step in step two. The only difference is that the preset number of turns two is slightly larger than the preset number of turns one. The clamping force of the clamping plate 38 and the contour unit 445 on the flat actuator frame 2 is greater than that in the contouring process, and the deformation of the rubber protective terminal 4454 and the rubber protective pad on the outer wall of the clamping plate 38 is greater. Therefore, the welding clamping process is not described in detail here.

[0027] Step three, start the welding robot 6 to weld the joints in the flat actuator frame 2 one by one. After welding is completed, release the clamping of the flat actuator frame 2 and pull the flat actuator frame 2 out of the longitudinal clamping mechanism 4; the specific process is: the welding robot 6 welds the joints of the panel 21 and the short U component 22 in sequence, and the linear module 5 pushes the welding robot 6 to change the welding position until the welding of all joint positions is completed. Since the operating principles of the linear module 5 and the welding robot 6 are existing known technologies, their detailed operating processes are not repeated here, and it should be noted here that the degrees of freedom of the welding robot 6 can meet the welding operations of welds in all positions.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding device for producing deep-sea flat actuators made of TC4 material, characterized in that: include: A welding platform is used to provide an operating platform for welding the deep-sea flat actuator. A flat actuator frame to be welded is arranged above the welding platform. The deep-sea flat actuator is formed by further assembling and welding on the basis of the welding frame of the flat actuator frame. A longitudinal clamping mechanism is arranged at the center of the top of the welding table, and is used to perform contour splicing of the various parts in the flat actuator frame and complete the clamping and locking of the top and bottom of the flat actuator frame; The transverse clamping mechanism is arranged on the top of the welding table, and is used to simultaneously clamp and fix the left and right side walls of the flat actuator frame, and simultaneously forms a linkage with the longitudinal clamping mechanism, and provides a driving force for the clamping operation of the longitudinal clamping mechanism while clamping the flat actuator frame on the left and right sides; The welding actuator comprises a linear module fixedly arranged on one side of the top of the welding table, and a welding manipulator for welding the flat actuator frame is arranged on the output end of the linear module; The controller is arranged on one side of the top of the welding table and is used to control the operation of all electrical equipment.

2. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 1, characterized in that: The lateral clamping mechanism comprises a side wall clamping assembly 1 and a side wall clamping assembly 2, and power is transmitted between the side wall clamping assembly 1 and the side wall clamping assembly 2 via a transmission shaft; The side wall clamping assembly 1 includes a slide rail 1 and two slide rails 2 symmetrically arranged on both sides of the slide rail 1, a servo motor is fixedly arranged inside the slide rail 1, a screw is fixedly arranged on the output shaft of the servo motor, a slide seat is provided on the outer wall of the screw rod and on the internal thread sleeve of the slide rail 1, the bottom two sides of the slide seat are respectively slidably sleeved on the outer walls of the two slide rails 2, a clamping arm is fixedly arranged on the top of the slide seat, a clamping plate is fixedly arranged on the top of the clamping arm, and a linkage assembly for driving the longitudinal clamping mechanism to complete the clamping action is provided on one side of the top of the slide seat.

3. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 2, characterized in that: The linkage assembly comprises an L-shaped bracket fixedly arranged on the top of the slide seat, and a roller 1 is rotatably arranged at one end of the L-shaped bracket close to the clamping plate.

4. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 1, characterized in that: The longitudinal clamping mechanism comprises a vertical support plate fixedly arranged on the top of the welding table by bolts and a protective cover detachably arranged on the outer wall of the vertical support plate, a template assembly is arranged on the side wall of the vertical support plate close to the welding manipulator, which is used for profiling support for the splicing of various components in the flat actuator frame, a protective cover is fixedly arranged on the side wall of the vertical support plate and above the template assembly, a profiling clamping assembly 1 for profiling the top of the flat actuator frame is arranged inside the protective cover, a profiling clamping assembly 2 for profiling the bottom of the flat actuator frame is arranged on the side wall of the vertical support plate and below the template assembly, and a power transmission assembly for transmitting power for the profiling clamping assembly 1 and the profiling clamping assembly 2 to perform clamping action is also arranged inside the vertical support plate; The template assembly comprises a profiling plate which is detachably arranged on the side wall of the vertical support plate by means of bolts, and a plurality of electromagnets are evenly and fixedly arranged on both sides of the outer wall of the profiling plate.

5. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 4, characterized in that: The power transmission assembly includes two guide rods respectively fixedly arranged above and below the side walls of the vertical support plate, a side plate is slidably sleeved on the outer walls of the two guide rods, a spring is slidably sleeved on the outer wall of the guide rod and between the side plate and the vertical support plate, a wedge block is fixedly arranged at the middle position of the side wall of the side plate away from the vertical support plate, and an upper push rod assembly and a lower push rod assembly are respectively fixedly arranged above and below the side wall of the side plate close to the vertical support plate; The upper push rod assembly and the lower push rod assembly have the same structure. The upper push rod assembly includes a driving rod and an inclined surface provided on the side wall of the driving rod, and a plurality of rollers 2 are rotatably arranged on the inclined surface.

6. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 4, characterized in that: The structures of the contour clamping assembly 1 and the contour clamping assembly 2 are the same. The contour clamping assembly 1 includes a carrier frame detachably arranged on the inner wall of the protective cover by bolts, a box body is slidably arranged inside the carrier frame, a wedge block 1 is fixedly arranged on the top of the box body, the top of the wedge block 1 slides through the carrier frame and extends to the inside of the protective cover, a cover plate is detachably arranged on the bottom of the box body by bolts, a plurality of contour units are evenly arranged inside the box body, and the plurality of contour units are connected by a connecting plate, a screw rod is rotatably arranged on the outer wall of the connecting plate, the screw thread penetrates the box body and an adjustment knob is fixedly arranged.

7. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 6, characterized in that: The profiling unit includes a rectangular frame fixedly connected to the connecting plate, a plurality of clamping columns are evenly arranged inside the rectangular frame, a plurality of teeth are evenly fixedly arranged on the side walls of the clamping columns, and the bottom end of the clamping column slides through the box body and is fixedly provided with a rubber protective terminal, a spring is slidably sleeved on the outer wall of the clamping column and located between the rubber protective terminal and the cover plate, and a plurality of tooth plates corresponding to the positions of the clamping columns are evenly fixedly arranged on the inner wall of the rectangular frame, and when the teeth and the tooth plates at the corresponding positions are engaged with each other, the position of the clamping column is locked.

8. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 1, characterized in that: The flat actuator frame includes two panels vertically distributed up and down, and short U components are welded to both side walls of the two panels. The deep-sea flat actuator is assembled and welded by the flat actuator frame, the grid component and two long U components.

9. A welding method for a deep-sea flat actuator made of TC4 material, characterized in that: A welding device for producing a deep-sea flat actuator made of TC4 material as claimed in any one of claims 1 to 8, the method comprising the following steps: Step 1: First, the irregular-shaped parts in the flat actuator frame are profiled. After the profiling is completed, the clamping shape of the longitudinal clamping mechanism is adapted to the outer contour of the irregular-shaped parts in the flat actuator frame. Then, the various parts in the flat actuator frame to be welded are placed in the corresponding positions in the longitudinal clamping mechanism in sequence, and the assembly work of the flat actuator frame before welding is preliminarily completed; Step 2: Start the transverse clamping mechanism to clamp and fix the left and right side walls of the flat actuator frame. At the same time, the power provided by the transverse clamping mechanism drives the longitudinal clamping mechanism to complete the clamping and fixing of the top and bottom of the flat actuator frame. At this point, the clamping and fixing of multiple positions of the flat actuator frame are completed synchronously. Step 3: Start the welding robot to weld the joints in the flat actuator frame one by one. After the welding is completed, release the clamping of the flat actuator frame and pull the flat actuator frame out of the longitudinal clamping mechanism.

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