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

Abstract

The present invention discloses a welding device for the production of deep-sea flat actuators made of TC4 material, and the present invention relates to the technical field of welding devices. Through the transverse clamping mechanism, it can simultaneously clamp and fix the two side panel parts of the flat actuator frame, and while clamping the panel, it can use the linkage component to transfer part of the power to the longitudinal clamping mechanism, so as to drive 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. In this process, there is no need to separately clamp and fix each component, thus saving the time of separate clamping and also reducing the labor intensity of the staff. The welding efficiency of the deep-sea flat actuator can be significantly improved; the design of the linkage component enables the longitudinal clamping mechanism and the transverse clamping mechanism to achieve linkage, saving the cost of setting multiple driving devices.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and specifically to a welding equipment for the production of 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 experiments, providing a basis for process design for the evaluation and exploitation of "flammable ice". The flat actuator test piece is not only the core component of the DEST simulator project but also a consumable with a large demand. The material used for this device is titanium alloy TC4, which has high strength, low weight, and strong corrosion resistance, and is mainly applied in the aerospace and deep-sea fields.

[0003] The TC4 flat actuator is a large-tonnage small flat flexible loading device, which is assembled and welded by a long U component, a short U component, a panel, an oil inlet and outlet connection pipe, and a grid component, and is mainly formed by a method combining vacuum electron beam, laser welding, and manual argon arc welding.

[0004] Among them, the assembly and welding process of the short U component and the panel is carried out first. After welding, it can form a basic framework, providing a basic carrier for the welding of other components. Then, the long U component, the grid component, and the oil inlet and outlet are welded to the basic framework formed by the short U component and the panel that have been welded in sequence. Before the assembly and welding of the short U component and the panel, a welding fixture is required to clamp and lock the panel and the short U component to prevent the panel and the short U component from shifting in position during subsequent welding operations.

[0005] Referring to the sector-shaped panel welding equipment disclosed in the patent application with the publication (announcement) number CN209239309U, through the cooperation of each part of the feeding unit, the platform feeding unit, the conveying roller feeding unit, the panel welding unit, and the discharging unit, the automatic production of sector-shaped panel welding can be realized, which can greatly improve the production efficiency, meet the requirements of large-scale production in factories, and has a broad market space.

[0006] Comprehensively analyzing the above patents, the following defects are obtained:

[0007] At present, most of the clamping tools for short U-shaped components and panels adopt the method of separately clamping by multiple fixtures to clamp and assemble the short U-shaped components and panels. However, due to the arc-shaped non-standard shape of the short U-shaped components, this clamping method cannot perform profiling multi-point clamping according to the shapes of the components of the TC4 flat actuator, making it difficult to provide sufficient clamping stability during the clamping process, resulting in the easy displacement of the welded parts during the welding process, thereby affecting the welding accuracy; at the same time, the existing welding tools cannot achieve synchronous clamping and welding operations for the short U-shaped components and panels, which means that each short U-shaped component and each panel need to be welded separately, not only reducing the overall welding efficiency but also increasing the welding cost.

[0008] Therefore, the present invention proposes a welding device for the production of deep-sea flat actuators made of TC4 material to solve the above problems. Summary of the Invention

[0009] Aiming at the deficiencies of 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 clamping tools for short U-shaped components and panels at present adopt the method of separately clamping by multiple fixtures to clamp and assemble the short U-shaped components and panels. Due to the arc-shaped non-standard shape of the short U-shaped components, this clamping method cannot perform profiling multi-point clamping according to the shapes of the components of the TC4 flat actuator, making it difficult to provide sufficient clamping stability during the clamping process, resulting in the easy displacement of the welded parts during the welding process, thereby affecting the welding accuracy; the existing welding tools cannot achieve synchronous clamping and welding operations for the short U-shaped components and panels, which means that each short U-shaped component and each panel need to be welded separately, not only reducing the overall welding efficiency but also increasing the welding cost.

[0010] To achieve the above objectives, the present invention is realized through the following technical solutions: A welding device for the production of deep-sea flat actuators made of TC4 material, comprising:

[0011] A welding table, which is used to provide an operating platform for the welding of deep-sea flat actuators. Above the welding table, there is a flat actuator frame to be welded, and the deep-sea flat actuator is formed by continuing to assemble and weld on the welding frame basis of the flat actuator frame;

[0012] A longitudinal clamping mechanism, which is arranged at the central position on the top of the welding table, is used to perform profiling splicing on each part within the flat actuator frame and complete the clamping and locking of the top and bottom of the flat actuator frame;

[0013] A horizontal 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 at the same time form a linkage with the vertical clamping mechanism to provide driving force for the clamping operation of the vertical clamping mechanism while clamping the flat actuator frame left and right;

[0014] A welding execution mechanism includes 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;

[0015] A controller is arranged on one side of the top of the welding table and is used to control the operation of all electrical equipment.

[0016] Furthermore, the horizontal clamping mechanism includes a side wall clamping component one and a side wall clamping component two, and power is transmitted between the side wall clamping component one and the side wall clamping component two through a transmission shaft;

[0017] The side wall clamping component one includes a slide rail one and two slide rails two symmetrically arranged on both sides of the slide rail one. A servo motor is fixedly arranged inside the slide rail one, a lead screw is fixedly arranged on the output shaft of the servo motor, a sliding seat is threadedly sleeved on the outer wall of the lead screw and inside the slide rail one, the two sides of the bottom of the sliding seat are respectively slidably sleeved on the outer walls of the two slide rails two, a clamping arm is fixedly arranged on the top of the sliding seat, a clamping plate is fixedly arranged at the top end of the clamping arm, and a linkage component for driving the vertical clamping mechanism to complete the clamping action is arranged on one side of the top of the sliding seat.

[0018] Furthermore, the linkage component includes an L-shaped bracket fixedly arranged on the top of the sliding seat, and a roller one is rotatably arranged at one end of the L-shaped bracket close to the clamping plate.

[0019] Furthermore, the vertical clamping mechanism includes a vertical support plate fixedly arranged on the top of the welding table through bolts and a protective cover detachably arranged on the outer wall of the vertical support plate. A template component is arranged on the side wall of the vertical support plate close to the welding manipulator for profiling support for the splicing of each component inside the flat actuator frame. A protective cover is fixedly arranged on the side wall of the vertical support plate above the template component. An imitation clamping component one for imitating and clamping the top of the flat actuator frame is arranged inside the protective cover. An imitation clamping component two for imitating and clamping the bottom of the flat actuator frame is arranged on the side wall of the vertical support plate below the template component. A power transmission component for transmitting power for the imitation clamping component one and the imitation clamping component two to execute the clamping action is also arranged inside the vertical support plate;

[0020] The template component includes a profiling plate detachably arranged on the side wall of the vertical support plate through bolts, and a plurality of electromagnets are uniformly fixedly arranged on both sides of the outer wall of the profiling plate.

[0021] Further, the power transmission assembly includes two guide rods respectively fixedly arranged above and below the side wall of the vertical support plate. A side plate is slidably sleeved on the outer walls of the two guide rods. A second spring is slidably sleeved on the outer wall of the guide rod between the side plate and the vertical support plate. A second wedge block is fixedly arranged at the middle position of the side wall of the side plate away from the vertical support plate. 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.

[0022] 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 formed on the side wall of the driving rod. A plurality of second rollers are rotatably arranged on the inclined surface.

[0023] Further, the first profiling clamping assembly and the second profiling clamping assembly have the same structure. The first profiling clamping assembly includes a bearing frame detachably arranged on the inner wall of the protective cover through bolts. A box body is slidably arranged inside the bearing frame. A first wedge block is fixedly arranged on the top of the box body. The top end of the first wedge block slidably penetrates through the bearing frame and extends into the protective cover. The bottom of the box body is detachably provided with a cover plate through bolts. A plurality of profiling units are evenly arranged inside the box body. The plurality of profiling units are connected by connecting plates. A screw rod is rotatably arranged on the outer wall of the connecting plate. The screw rod threadedly penetrates through the box body and is fixedly provided with an adjusting knob.

[0024] Further, 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 wall of the clamping column. The bottom end of the clamping column slidably penetrates through the box body and is fixedly provided with a rubber protection terminal. A first spring is slidably sleeved on the outer wall of the clamping column between the rubber protection terminal and the cover plate. 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. When the teeth are meshed with the tooth plates at the corresponding positions, the position of the clamping column is locked.

[0025] Further, the flat actuator frame includes two panels vertically distributed up and down. Short U-shaped assemblies are welded together on both side walls of the two panels. The deep-sea flat actuator is assembled and welded by a flat actuator frame, a grid assembly and two long U-shaped assemblies.

[0026] 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 the production of deep-sea flat actuators made of TC4 material. The method includes the following steps:

[0027] 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;

[0028] 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.

[0029] 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.

[0030] 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:

[0031] 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.

[0032] 2. A welding device for producing deep - sea flat actuators made of TC4 material. By setting up a longitudinal clamping mechanism, through the profiling clamping component one and the profiling clamping component two, it can simulate and profile the outer wall shape of the short U - shaped component with an irregular shape. As a result, the profiling clamping component one and the profiling clamping component two can have a clamping profile adapted to the outer wall shape of the short U - shaped component, enabling them to perfectly fit the outer wall shape of the short U - shaped component during clamping, achieving the effect of stable clamping. 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 - shaped component, so that each clamping column can closely adhere to the outer wall of the short U - shaped component, forming multiple independent clamping points and realizing the effect of multi - point clamping.

[0033] 3. A welding device for producing deep - sea flat actuators made of TC4 material. By setting up a template component, it can perform pre - assembly according to the contour shape of the profiling plate before clamping each part of the flat actuator frame, pre - place each part of the flat actuator frame at the position to be clamped, and cooperate with the profiling clamping component one and the profiling clamping component two to pre - fix the scattered panel parts and short U - shaped component parts, laying a foundation for subsequent stable clamping. Secondly, the square plate has the same shape as the inner cavity of the flat actuator frame. While the profiling clamping component one, the profiling clamping component two, and the clamping plate clamp the panel parts and the short U - shaped component parts, the profiling plate can play a supporting role inside, avoiding the situation of deformation caused by excessive external clamping force and ensuring the welding quality of the flat actuator frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the first state of the flat actuator welding of the present invention;

[0035] Figure 2 It is a schematic structural diagram of the second state of the flat actuator welding of the present invention;

[0036] Figure 3 It is a schematic three - dimensional structural diagram of the whole of the present invention;

[0037] Figure 4 It is a schematic structural diagram of the first state of the present invention after removing the welding table;

[0038] Figure 5 It is a schematic structural diagram of the second state of the present invention after removing the welding table;

[0039] Figure 6 For the present invention Figure 5 The enlarged structural diagram of part A in;

[0040] Figure 7 It is a schematic structural diagram of the transverse clamping mechanism of the present invention;

[0041] Figure 8 Schematic diagram of the decomposition state structure of the longitudinal clamping mechanism of the present invention;

[0042] Figure 9 For the present invention Figure 8 Enlarged schematic diagram of part B therein;

[0043] Figure 10 Schematic diagram of the sectional view structure of the protective cover of the present invention;

[0044] Figure 11 For the present invention Figure 10 Enlarged schematic diagram of part C therein;

[0045] Figure 12 Schematic diagram of the assembled state structure of the longitudinal clamping mechanism and the linkage assembly of the present invention;

[0046] Figure 13 For the present invention Figure 12 Enlarged schematic diagram of part D therein;

[0047] Figure 14 Schematic diagram of the assembled state structure of the vertical support plate, the first profiling clamping assembly and the second profiling clamping assembly of the present invention;

[0048] Figure 15 For the present invention Figure 14 Enlarged schematic diagram of part E therein;

[0049] Figure 16 Schematic diagram of the decomposition state structure of the first profiling clamping assembly of the present invention;

[0050] Figure 17 Schematic diagram of the sectional view structure of the first profiling clamping assembly of the present invention;

[0051] Figure 18 Schematic diagram of the assembled state structure of the connecting plate and the profiling unit of the present invention;

[0052] Figure 19 Schematic diagram of the profiling unit structure of the present invention;

[0053] Figure 20 Schematic diagram of the decomposition state structure of the flat actuator frame of the present invention;

[0054] Figure 21 Schematic diagram of the decomposition state structure of the deep-sea flat actuator of the present invention.

[0055] In the figure: 1, welding table; 2, flat actuator frame; 21, panel; 22, short U component; 3, transverse clamping mechanism; 31, transmission shaft; 32, first slide rail; 33, second slide rail; 34, servo motor; 35, lead screw; 36, slide block; 37, clamping arm; 38, clamping plate; 39, linkage component; 391, L-shaped bracket; 392, first roller; 4, longitudinal clamping mechanism; 41, vertical support plate; 42, template component; 421, profiling plate; 422, electromagnet; 43, protective cover; 44, first profiling clamping component; 441, carrier; 442, box body; 443, first wedge block; 444, cover plate; 445, profiling unit; 4451, rectangular frame; 4452, clamping column; 4453, tooth; 4454, rubber protection terminal; 4455, first spring; 4456, toothed plate; 446, connecting plate; 447, screw; 45, second profiling clamping component; 46, side plate; 47, second wedge block; 48, upper push rod component; 481, driving rod; 482, second roller; 49, lower push rod component; 410, guide rod; 411, second spring; 5, linear module; 6, welding manipulator; 7, controller; a, deep-sea flat actuator; a1, long U component; a2, grid component. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] As Figures 1 to 21 , the present invention provides three technical solutions: a welding device for the production of deep-sea flat actuators made of TC4 material, specifically including the following embodiments:

[0058] Embodiment 1: A welding device for the production of deep-sea flat actuators made of TC4 material, including:

[0059] A welding table 1, which is used to provide an operating platform for the welding of deep-sea flat actuators. Above the welding table 1, there is a flat actuator frame 2 to be welded. Based on the welding frame of the flat actuator frame 2, the deep-sea flat actuator a is assembled and welded continuously.

[0060] A longitudinal clamping mechanism 4, which is arranged at the central position on the top of the welding table 1, is used for profiling and splicing each part inside the flat actuator frame 2, and completing the clamping and locking of the top and bottom of the flat actuator frame 2.

[0061] The horizontal 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 at the same time form a linkage with the vertical clamping mechanism 4 to provide driving force for the clamping operation of the vertical clamping mechanism 4 while clamping the flat actuator frame 2 from left to right;

[0062] The welding execution mechanism includes 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;

[0063] 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. Communication connections are respectively established between the welding manipulator 6, the linear module 5, the servo motor 34, the electromagnet 422 and the controller 7 to respectively complete the control of the electrical components; The flat actuator frame 2 includes two panels 21 vertically distributed up and down, and short U-shaped components 22 are jointly welded on both side walls of the two panels 21. The deep-sea flat actuator a is assembled and welded by the flat actuator frame 2, the grid component a2 and two long U-shaped components a1.

[0064] Embodiment 2: The main difference between this embodiment and the first technical solution is as follows: A welding device for producing a deep-sea flat actuator made of TC4 material. The lateral clamping mechanism 3 includes a side wall clamping component one and a side wall clamping component two. Power is transmitted between the side wall clamping component one and the side wall clamping component two through a transmission shaft 31. The side wall clamping component one includes a slide rail one 32 and two slide rails two 33 symmetrically arranged on both sides of the slide rail one 32. A servo motor 34 is fixedly arranged inside the slide rail one 32. A lead screw 35 is fixedly arranged on the output shaft of the servo motor 34. A slide seat 36 is threadedly sleeved on the outer wall of the lead screw 35 and inside the slide rail one 32. The two sides of the bottom of the slide seat 36 are respectively slidably sleeved on the outer walls of the two slide rails two 33. A clamping arm 37 is fixedly arranged on the top of the slide seat 36. A clamping plate 38 is fixedly arranged at the top end of the clamping arm 37. And a linkage component 39 for driving the longitudinal clamping mechanism 4 to complete the clamping action is arranged on one side of the top of the slide seat 36. The lead screws 35 in the side wall clamping component one and the side wall clamping component two are connected through the transmission shaft 31. Except for the servo motor 34 structure, the other structures of the side wall clamping component one and the side wall clamping component two are exactly the same. The slide rail one 32 and the two slide rails two 33 are both fixedly arranged on the top of the welding table 1. The longitudinal clamping mechanism 4 is arranged between the side wall clamping component one and the side wall clamping component two. A rubber protection pad is detachably arranged on the side wall of the clamping plate 38 close to the template component 42. The rubber protection pad has a certain elasticity and can generate a certain amount of elastic deformation after being pressed. And the thickness of the rubber protection pad can be installed according to actual use requirements. When welding a flat actuator frame 2 within a certain thickness range, the setting distance between the two clamping plates 38 relative to the profiling plate 421 can meet the requirement that while the clamping plates 38 clamp the panel 21, the profiling clamping component one 44 and the profiling clamping component two 45 can also stably clamp the short U component 22 after profiling. The rubber protection pad is used to adjust the facing distance between the clamping plate 38 and the profiling plate 421. The linkage component 39 includes an L-shaped bracket 391 fixedly arranged on the top of the slide seat 36. A roller one 392 is rotatably arranged at one end of the L-shaped bracket 391 close to the clamping plate 38.

[0065] Embodiment 3: The main difference between this embodiment and the second technical solution is as follows: A welding device for the production of a deep-sea flat actuator 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 for providing profiling support for the splicing of each component inside the flat actuator frame 2. A protective cover 43 is fixedly arranged on the side wall of the vertical support plate 41 and above the template assembly 42. Inside the protective cover 43, there is a profiling clamping assembly one 44 for profiling clamping the top of the flat actuator frame 2. On the side wall of the vertical support plate 41 and below the template assembly 42, there is a profiling clamping assembly two 45 for profiling clamping the bottom of the flat actuator frame 2. Inside the vertical support plate 41, there is also a power transmission assembly for transmitting power for the profiling clamping assembly one 44 and the profiling clamping assembly two 45 to perform the clamping action; The template assembly 42 includes a profiling plate 421 detachably arranged on the side wall of the vertical support plate 41 by bolts. A plurality of electromagnets 422 are uniformly fixed on both sides of the outer wall of the profiling plate 421. Inside the profiling plate 421, there is a wire for supplying electric energy to the electromagnets 422. This wire penetrates through the profiling plate 421, the vertical support plate 41, and the protective cover and is connected to an external power source. The installation route of the wire does not interfere with the assembly and welding operations of the flat actuator frame 2; The outer contour of the top and bottom of the profiling plate 421 is adapted to the inner wall shape of the short U-shaped component 22, and the length of the short U-shaped 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 both adapted to the panel 21, that is, the two panels 21 and the two short U-shaped components 22 can just completely cover the top, bottom, 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 wall of the vertical support plate 41. 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 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 49 are respectively fixedly arranged above and below the side wall of the side plate 46 close to the vertical support plate 41; The ends of the upper push rod assembly 48 and the lower push rod assembly 49 away from the side plate 46 slide through the vertical support plate 41 and extend to the outside; The second wedge block 47 is in the shape of an "isosceles triangle". The second wedge block 47 is symmetric about the side plate 46, and slope surfaces are arranged on both sides of its outer wall. Two rollers one 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 second wedge block 47; A limiting plate is fixedly arranged at the end of the guide rod 410 away from the vertical support plate 41 for preventing the side plate 46 from detaching from the outer wall of the guide rod 410.The structures of the upper push rod assembly 48 and the lower push rod assembly 49 are the same. The upper push rod assembly 48 includes a driving rod 481 and an inclined surface formed on the side wall of the driving rod 481, and a plurality of second rollers 482 are rotatably arranged on the inclined surface. The structures of the first profiling clamping assembly 44 and the second profiling clamping assembly 45 are the same. The first profiling clamping assembly 44 includes a carrier 441 detachably arranged on the inner wall of the protective cover 43 by bolts. A box body 442 is slidably arranged inside the carrier 441. A first wedge-shaped block 443 is fixedly arranged at the top of the box body 442. The top end of the first wedge-shaped block 443 slidably penetrates through the carrier 441 and extends into the protective cover. The bottom of the box body 442 is detachably provided with a cover plate 444 by bolts. A plurality of profiling units 445 are uniformly arranged inside the box body 442. The plurality of profiling 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 threadedly penetrates through the box body 442 and is fixedly provided with an adjusting knob. The bottom of the carrier 441 in the second profiling clamping assembly 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 vertical sliding grooves corresponding to the positions of the sliders are formed on the inner wall of the carrier 441. A blocking plate is fixedly arranged at the bottom of the vertical sliding groove to prevent the slider from slipping out of the vertical sliding groove, that is, the box body 442 and the carrier 441 are always an integral structure; when the first wedge-shaped block 443 is not affected by an external force, the box body 442 is affected by its own gravity, and the slider is located at the lowest position of the vertical sliding groove. The lower position point of the inclined surface of the first wedge-shaped block 443 in the second profiling clamping assembly 45 abuts against the outer wall of the corresponding second roller 482; the profiling unit 445 includes a rectangular frame 4451 fixedly connected to the connecting plate 446. A plurality of clamping columns 4452 are uniformly arranged inside the rectangular frame 4451. A plurality of teeth 4453 are uniformly fixedly arranged on the side wall of the clamping column 4452. The bottom end of the clamping column 4452 slidably penetrates through the box body 442 and is fixedly provided with a rubber protection terminal 4454. A first spring 4455 is slidably sleeved on the outer wall of the clamping column 4452 between the rubber protection terminal 4454 and the cover plate 444. A plurality of toothed plates 4456 corresponding to the positions of the clamping columns 4452 are uniformly fixedly arranged on the inner wall of the rectangular frame 4451. When the teeth 4453 mesh with the corresponding toothed plates 4456, the position of the clamping column 4452 is locked.

[0066] 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 the production of deep-sea flat actuators made of TC4 material. The method includes the following steps:

[0067] Step 1: First, make a copy of the irregular-shaped components in the flat actuator frame 2. After the copying is completed, the clamping shape of the longitudinal clamping mechanism 4 matches the outer contour of the irregular-shaped components in the flat actuator frame 2. Then, place each component in the flat actuator frame 2 to be welded at the corresponding positions in the longitudinal clamping mechanism 4 in sequence, initially completing the assembly work before welding the flat actuator frame 2. The specific process is as follows: First, rotate the knob fixed at one end of the screw 447 counterclockwise. Since the screw 447 is threadedly connected to the box body 442 and rotatably connected to the connecting plate 446, when the screw 447 rotates counterclockwise, the connecting plate 446 is moved away from the center position of the box body 442. The toothed plates 4456 at multiple positions change from the meshing state with the corresponding teeth 4453 to the separated state, so that the clamping columns 4452 at multiple positions can move up and down freely. Similarly, the operation method of the copy clamping assembly two 45 is the same as the above method. Since the structures of the copy clamping assembly one 44 and the copy clamping assembly two 45 are the same, the process of the copy clamping assembly two 45 copying the other short U component 22 will not be elaborated here.

[0068] Then, place a pair of panels 21 and a pair of short U components 22 that make up the flat actuator frame 2 on one side for standby. Take one of the short U components 22 and slide the end with its arc facing inward along the top end of the copy plate 421 to the other end. A plurality of copy units 445 in the copy clamping assembly one 44 are lifted 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 copy plate 421.

[0069] Then, take the other short U component 22 and slide the end with its arc facing inward along the bottom end of the copy 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 a plurality of copy units 445 in the copy clamping assembly two 45 lift the short U component 22.

[0070] Next, turn on the power supply of the electromagnet 422 by means of the controller 7. After the electromagnet 422 is energized, it has magnetism. Take one of the panels 21 and attach it to one side wall of the copy plate 421. The bottom and bottom of this panel 21 abut against the side walls of the two short U components 22 respectively. Similarly, attach the other panel 21 to the other side wall of the copy plate 421, and the electromagnet 422 firmly adsorbs the panel 21 by magnetic force. Finally, correct the positions of the panel 21 and the short U components 22 so that the ends of the panel 21 and the short U components 22 are on the same horizontal plane.

[0071] 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;

[0072] 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;

[0073] Step 2: Start the lateral 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 lateral 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. Thus, the clamping and fixing at multiple positions of the flat actuator frame 2 are completed synchronously. The specific process is as follows: According to the profiling steps for the flat actuator frame 2, that is, the operation steps in Step 2, assemble and fix the panel 21, short U component 22, and template component 42 in the flat actuator frame 2. Then, start the servo motor 34 again and rotate it clockwise by a preset number of turns two according to a preset program. The preset number of turns two is slightly larger than the preset number of turns one. The lead screws 35 in the side wall clamping component one and the side wall clamping component two transmit power through the transmission shaft 31, and the clamping plates 38 on both sides approach the template component 42 at the same time, clamping the panels 21 on both sides simultaneously. The profiling clamping component one 44 and the profiling clamping component two 45 clamp the short U components 22 at the top and bottom of the profiling plate 421 synchronously. This clamping process is the same as the profiling clamping step in Step 2. The only difference is that the preset number of turns two is slightly larger than the preset number of turns one, and the clamping force of the clamping plates 38 and the profiling unit 445 on the flat actuator frame 2 is greater than that in the profiling process. The deformation of the rubber protection terminals 4454 and the rubber protection pads on the outer walls of the clamping plates 38 is greater. Therefore, the welding clamping process will not be elaborated in detail here.

[0074] Step 3: Start the welding manipulator 6 to weld the splicing seams in the flat actuator frame 2 one by one. After the welding is completed, release the clamping of the flat actuator frame 2 and draw out the flat actuator frame 2 from the longitudinal clamping mechanism 4. The specific process is as follows: The welding manipulator 6 welds the joints between the panel 21 and the short U component 22 in sequence. The linear module 5 pushes the welding manipulator 6 to change the welding position until all the joint positions are welded. Since the operating principles of the linear module 5 and the welding manipulator 6 are known technologies, the detailed operating process will not be elaborated here. And it should be noted here that the degrees of freedom of the welding manipulator 6 can meet the welding operations for all weld positions.

[0075] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0076] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. 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; 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; A controller, which is arranged on one side of the top of the welding table and is used to control the operation of all electrical equipment; 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 detachably arranged on the side wall of the vertical support plate by bolts, and a plurality of electromagnets are evenly fixedly arranged on both sides of the outer wall of the profiling plate; 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.

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 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.

5. The welding equipment for producing deep-sea flat actuators made of TC4 material according to claim 1, 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.

6. 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.

7. 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 6, 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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