Intelligent thin-wall guide pipe flexible welding equipment

Abstract

The invention discloses intelligent thin-wall guide pipe flexible welding equipment. Comprising an intelligent recognition system used for recognizing parameter information of a to-be-welded thin-wall guide pipe, a flexible clamping system used for clamping the to-be-welded thin-wall guide pipe, an electrical control system used for controlling the flexible clamping system, a visual system used for positioning the to-be-welded thin-wall guide pipe and a welding system used for welding, the visual system is connected with the intelligent identification system, the intelligent identification system is connected with the electrical control system, and the electrical control system is connected with the flexible clamping system. Clamping parameters are automatically generated according to the size and the shape of the thin-wall guide pipe, the device is matched with a flexible clamping system, an electrical control system and a visual system, the thin-wall guide pipe to be welded is moved to a welding position from a guide pipe placing platform, and the labor intensity of workers is effectively reduced; and meanwhile, a large amount of dependence on customized tools can be reduced for aircraft manufacturing enterprises, and the production and manufacturing cost and later maintenance and management energy of the customized tools are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of aviation mechanical processing, and in particular to an intelligent thin-walled conduit flexible welding device. Background Art

[0002] As a traditional processing technology, welding has a wide range of applications, including in the field of aircraft. Modern aircraft integrate performance, safety, economy and comfort, and contain a set of complex thin-walled pipes inside. Through scientific design and reasonable processing technology, the thin-walled pipes can enable the aircraft to achieve the expected goals.

[0003] Thin-walled pipes are like blood vessels of aircraft. The safety and reliability of thin-walled pipes greatly affect the overall performance of the aircraft. When manufacturing thin-walled pipes, welding processes are often used. The welding process is mainly divided into two steps: one is to use welding tools to clamp and fix the thin-walled pipes, and the other is to manually intervene to weld the thin-walled pipes. However, the typical characteristics of aircraft parts are multiple varieties, small batches, and fast update and iteration speed. Enterprises mainly use customized tooling in welding production, that is, each type of thin-walled pipe is customized with a welding tool. The use of this one-to-one welding tool is simple and reliable, but the tooling needs to be replaced frequently. At the same time, the cost of manufacturing the welding tooling will also increase. As the number of welding tools accumulates, the difficulty of later management, maintenance and production transformation will also increase.

[0004] At the same time, existing welding flexible tooling generally uses quick-change plugs. Although a set of tooling can fix a variety of thin-walled catheters in this application scenario, the quick-change plugs need to be replaced frequently, and the wide variety of parts easily leads to hundreds or thousands of combinations of quick-change plugs. The replacement process is cumbersome and the work efficiency is low, which makes it difficult to improve the welding production process of thin-walled catheters. Summary of the invention

[0005] The technical problem solved by the present invention is to provide an intelligent thin-walled conduit flexible welding device to solve the problems in the above-mentioned background technology.

[0006] The technical problem solved by the present invention is achieved by adopting the following technical solutions: An intelligent thin-walled conduit flexible welding device includes an intelligent recognition system for identifying parameter information of a thin-walled conduit to be welded, a flexible clamping system for clamping the thin-walled conduit to be welded, an electrical control system for controlling the flexible clamping system, a visual system for positioning the thin-walled conduit to be welded, and a welding system for welding, wherein the visual system is connected to the intelligent recognition system, the intelligent recognition system is connected to the electrical control system, and the electrical control system is connected to the flexible clamping system; the specific structures of each part are as follows: The intelligent recognition system is equipped with an intelligent recognition model, which is used to identify the parameter information of the thin-walled pipe to be welded and generate the corresponding optimal clamping position and clamping angle of the thin-walled pipe. It can also obtain the optimal thin-walled pipe moving route and control the moving instructions of the six-axis robot in the flexible clamping system after comprehensive processing of all the received information. The flexible clamping system includes a welding plate, an electric clamping head, four six-axis robotic arms, a servo motor, a catheter placement platform, a mechanical interface and a welding tail frame, wherein the six-axis robotic arms connected to the servo motor are symmetrically installed on both sides of the welding plate, and the first axis of each six-axis robotic arm is a rotating axis, which can rotate around the center of the first axis axis position, the second axis is a bending axis, and the bending angle is affected by the mechanical structure and controller programming, etc. The third axis is a bending axis, and the movement mode is the same as the second axis, the fourth axis is a rotating axis, and the movement mode is the same as the first axis, the fifth axis is a bending axis, and the movement mode is the same as the second axis, and the sixth axis is a rotating axis, and the movement mode is the same as the first axis. At the same time, an electric clamping head is installed at the end of the sixth axis to perform thin-walled catheter clamping. The operation can be carried out continuously, and the clamping stroke can be effectively controlled to avoid damage to the thin-walled conduit; the welding plate also centrally arranges the electrical circuits in the electrical control system. The thin-walled conduit to be welded is welded by the special-shaped thin-walled conduit and the relatively regular pipe joint. When the welding operation is performed, the relatively regular pipe joint is installed on the welding tail frame, and the special-shaped thin-walled conduit is placed on the conduit placement platform. The relatively regular pipe joint and the special-shaped thin-walled conduit are in a more reasonable initial position. This more reasonable initial position is provided by the intelligent recognition system after identifying the parameter information of the thin-walled conduit to be welded, and labels are respectively attached to the head and tail ends of the special-shaped thin-walled conduit, which is convenient for the visual system to quickly locate the initial position of the special-shaped thin-walled conduit; the mechanical interface is used to install the flexible clamping system on the automation equipment; The electrical control system includes a controller; The visual system includes a visual camera. The visual camera scans and records the labels attached to the ends of the special-shaped thin-walled conduit and sends the label information to the intelligent recognition system. The intelligent recognition model automatically generates the optimal clamping position and clamping angle of the thin-walled conduit, and forms corresponding instructions, which are then sent by the controller of the electrical control system to the servo motor for controlling the six-axis robotic arm. The servo motor controls the six-axis robotic arm to lift the thin-walled conduit to be welded from the initial position to the designated welding position according to the optimal moving path and clamping method. The welding system includes a welding gun, and a flexible clamping system is installed on the automation equipment through a mechanical interface. The rotation of the automation equipment drives the six-axis robot arm of the flexible clamping system to rotate, thereby ensuring that the welding section of the special-shaped thin-walled conduit can rotate around its axis at any angle, and the more regular pipe joint is installed on the welding tail frame, and it is ensured that the special-shaped thin-walled conduit and the more regular pipe joint are in the best welding position. At this time, it is only necessary to move the welding gun to the weld between the special-shaped thin-walled conduit and the more regular pipe joint, and the automation equipment drives the special-shaped thin-walled conduit and the more regular pipe joint installed on the welding tail frame to rotate synchronously, so as to realize automatic welding with the welding gun not moving and the workpiece rotating at multiple angles.

[0007] In the present invention, the intelligent recognition model training method is as follows: 1) Enter thin-walled conduit size information Collect a large number of customized welding tools of aircraft manufacturers and thin-walled ducts processed by customized welding tools, build an intelligent recognition model in the same coordinate system, and obtain parameter information such as size, shape, and spatial curve of thin-walled ducts; 2) Obtaining a sample of thin-walled catheter clamping The intelligent recognition model obtains samples of the clamping angle and the clamping position of each thin-walled conduit according to the clamping angle of the customized welding tool and the clamping position of the customized welding tool; 3) Training intelligent recognition model The thin-walled conduit clamping samples obtained in step 2) are feature processed and then used to train the intelligent recognition model to form an intelligent recognition model with an optimal solution. The trained intelligent recognition model can intelligently generate the optimal clamping position and clamping angle for each thin-walled conduit according to parameter information such as the size, shape, and spatial curve of the thin-walled conduit to be welded.

[0008] In the present invention, the six-axis robot arm places the special-shaped thin-walled conduit from the initial position to the optimal welding position, that is, the position where the axis of the welding section of the special-shaped thin-walled conduit is collinear with the axis of the more regular pipe joint. Beneficial Effects

[0009] 1) The intelligent recognition system in the present invention is capable of automatically generating clamping parameters according to the size and shape of the thin-walled conduit. It cooperates with the flexible clamping system, the electrical control system, and the visual system to move the thin-walled conduit to be welded from the conduit placement platform to the welding position, effectively reducing the labor intensity of manual labor; 2) The present invention can not only help aircraft manufacturers reduce their heavy reliance on customized tooling, reduce the cost of customized tooling production and manufacturing and the energy of subsequent maintenance and management, but also improve the clamping efficiency of thin-walled ducts, bringing a positive impact on the overall production progress of thin-walled ducts; 3) The present invention can realize the flexible clamping and automated production of thin-walled duct parts of multiple varieties and small batches, greatly improving the welding qualification rate of thin-walled ducts. At the same time, it can also make unified management of welding quality, further speed up the overall production progress of thin-walled ducts, and bring more positive impact on the delivery and production of aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the structure of a special-shaped thin-walled conduit in a preferred embodiment of the present invention.

[0011] Figure 2 Schematic diagram of welding operation of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0012] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0013] See also Figures 1-2 An intelligent thin-walled catheter flexible welding equipment includes an intelligent recognition system, a flexible clamping system, an electrical control system, a visual system and a welding system. The specific structures of each part are as follows: Intelligent recognition system 1) Enter thin-walled conduit size information Collect a large number of customized welding tools of aircraft manufacturers and thin-walled ducts processed by customized welding tools, build an intelligent recognition model in the same coordinate system, and obtain parameter information such as size, shape, and spatial curve of thin-walled ducts; 2) Obtaining a sample of thin-walled catheter clamping The intelligent recognition model obtains samples of the clamping angle and the clamping position of each thin-walled conduit according to the clamping angle of the customized welding tool and the clamping position of the customized welding tool; 3) Training intelligent recognition model The thin-walled conduit clamping samples obtained in step 2) are processed by features to train the intelligent recognition model to form an intelligent recognition model with an optimal solution. The trained intelligent recognition model can intelligently generate the optimal clamping position and clamping angle of each thin-walled conduit according to the parameter information such as the size, shape, and spatial curve of the thin-walled conduit to be welded, and can obtain the optimal thin-walled conduit moving route and the moving instructions of the six-axis robot in the flexible clamping system after comprehensive processing of all the received information; the intelligent recognition model is loaded in the intelligent recognition system, and the intelligent recognition system is connected to the barcode scanner; Flexible clamping system The flexible clamping system includes a welding plate, an electric clamping head, four six-axis robotic arms, a servo motor, a catheter placement platform, a mechanical interface and a welding tail frame, wherein the welding plate is used for the installation of the six-axis robotic arm and the centralized arrangement of the electrical circuits in the electrical control system; the six-axis robotic arms connected to the servo motor are symmetrically installed on both sides of the welding plate, and the first axis of each six-axis robotic arm is a rotating axis, which can rotate around the center of the first axis axis position; the second axis is a bending axis, and the bending angle is affected by the mechanical structure and the controller; the third axis is a bending axis, and the movement mode is the same as the second axis; the fourth axis is a rotating axis, and the movement mode is the same as the first axis; the fifth axis is a bending axis, and the movement mode is the same as the second axis; and the sixth axis is a rotating axis , the movement mode is the same as that of the first axis, and an electric chuck is installed at the end of the sixth axis to perform the clamping operation of the thin-walled tube, which can effectively control the clamping stroke and avoid damage to the thin-walled tube; the thin-walled tube to be welded is welded by a special-shaped thin-walled tube and a relatively regular pipe joint. When the welding operation is performed, the relatively regular pipe joint is installed on the welding tail frame, and the special-shaped thin-walled tube is placed on the tube placement platform. The relatively regular pipe joint and the special-shaped thin-walled tube are in a more reasonable initial position. This more reasonable initial position is provided by the intelligent recognition system after identifying the parameter information of the thin-walled tube to be welded, and labels are respectively attached to the head and tail ends of the special-shaped thin-walled tube, which is convenient for the visual system to quickly locate the initial position of the special-shaped thin-walled tube; Electrical control system The electrical control system controls the servo motor in the flexible clamping system through the controller, and controls the stroke of the six-axis robot arm through the servo motor. The stroke includes the movement, power on and off, emergency stop, and reset of the six-axis robot arm. Vision System The visual system includes a visual camera. The visual camera scans the code to record the labels pasted on the ends of the special-shaped thin-walled conduit and sends the label information to the intelligent recognition system. The intelligent recognition model automatically generates the optimal clamping position and clamping angle of the conduit, and forms corresponding instructions, which are then sent by the controller of the electrical control system to the servo motor used to control the six-axis robotic arm. The servo motor controls the six-axis robotic arm to lift the thin-walled conduit to be welded from the initial position to the specified welding position according to the optimal movement path and clamping method. When the visual camera scans the code to record the labels pasted on the ends of the special-shaped thin-walled conduit, the intelligent recognition model Having received the parameter information of the thin-walled conduit to be welded, such as the size and space curve, the labels pasted on both ends of the special-shaped thin-walled conduit can help the visual camera to quickly locate the initial position of the special-shaped thin-walled conduit, and perform specific positioning and clamping of the special-shaped thin-walled conduit according to the optimal clamping position generated by the intelligent recognition model. At the same time, the visual system generates a three-dimensional model in the intelligent recognition system with the collected parameter information of the special-shaped thin-walled conduit in real time; when adding a new model of thin-walled conduit to be welded, it only needs to enter the parameter information of the thin-walled conduit to be welded in the intelligent recognition system to generate the optimal clamping parameters; From placing the special-shaped thin-walled conduit on the conduit placement platform to the final welding position, the intelligent recognition model calculates the optimal movement path, and based on this optimal movement path, generates the six-axis robot arm movement instruction to control the movement of the six-axis robot arm, and then places the special-shaped thin-walled conduit from the initial position to the optimal welding position, that is, the position where the axis of the welding section of the special-shaped thin-walled conduit is collinear with the axis of the more regular pipe joint, and the weld width is less than the range required by the process document. After the six-axis robot arm reaches the specified position, it is locked, and the thin-walled conduit to be welded is fixed; Welding system The welding system includes a welding gun. Since the thin-walled conduit flexible welding equipment has a mechanical interface reserved in the flexible clamping system, the thin-walled conduit flexible welding equipment can be conveniently installed on automated equipment, such as a positioner. The six-axis robotic arm in the flexible clamping system clamps the thin-walled conduit to be welded, so as to ensure that the axis of the special-shaped thin-walled conduit welding section is in line with the axis of the positioner output shaft. At this time, the rotation of the positioner output shaft drives the six-axis robotic arm to rotate, thereby ensuring that the special-shaped thin-walled conduit welding section can rotate at any angle around its axis, and the more regular pipe joint is installed on the welding tail frame, and the special-shaped thin-walled conduit and the more regular pipe joint are ensured to be in the best welding position. At this time, it is only necessary to move the welding gun of the welding system to the weld of the special-shaped thin-walled conduit and the more regular pipe joint, cooperate with welding wire, shielding gas and appropriate welding parameters, etc., and the output shaft of the positioner drives the special-shaped thin-walled conduit and the more regular pipe joint installed on the welding tail frame to rotate synchronously, so as to realize the automatic welding with the welding gun not moving and the workpiece rotating at multiple angles. This process only requires a small amount of manual intervention, and the entire welding process is completely completed by automated equipment, which largely guarantees the consistency of welding quality and a high welding pass rate.

[0014] In this embodiment, if Figure 2 As shown, a welding method of an intelligent thin-walled conduit flexible welding device is as follows: Manually use a barcode scanner to scan the QR code of the thin-walled conduit to be welded. The barcode scanner enters the parameter information of the thin-walled conduit to be welded into the intelligent recognition system. The intelligent recognition model generates the corresponding optimal clamping position and clamping angle of the thin-walled conduit, and then clamps the more regular pipe joint on the welding tail frame, and places the special-shaped thin-walled conduit on the conduit placement platform according to the clamping angle generated by the intelligent recognition model; at this time, the visual system quickly locates the initial position of the thin-walled conduit to be welded through the labels pasted on both ends of the special-shaped thin-walled conduit and feeds back the initial position information to the intelligent recognition model. The intelligent recognition model comprehensively processes all the received information to obtain the optimal thin-walled conduit movement route and the movement command of the six-axis robot in the flexible clamping system, and then sends the movement command to the flexible clamping system through the electrical control system. The four six-axis robots of the flexible clamping system cooperate with each other in pairs, and finally move the thin-walled conduit to be welded from the initial position to the specified welding position, and then lock the various active components of the flexible clamping system, thereby completing the flexible clamping of the thin-walled conduit, and finally welding.

Claims

1. An intelligent thin-walled conduit flexible welding device, characterized in that: It includes an intelligent recognition system for identifying parameter information of thin-walled conduits to be welded, a flexible clamping system for clamping thin-walled conduits to be welded, an electrical control system for controlling the flexible clamping system, a visual system for positioning thin-walled conduits to be welded, and a welding system for welding, wherein the visual system is connected to the intelligent recognition system, the intelligent recognition system is connected to the electrical control system, and the electrical control system is connected to the flexible clamping system. The specific structures of each part are as follows: The intelligent recognition system is equipped with an intelligent recognition model, which is used to identify the parameter information of the thin-walled pipe to be welded and generate the corresponding optimal clamping position and clamping angle of the thin-walled pipe. It can also obtain the optimal thin-walled pipe moving route and control the moving instructions of the six-axis robot in the flexible clamping system after comprehensive processing of all the received information. The flexible clamping system includes a welding plate, an electric clamping head, four six-axis robotic arms, a servo motor, a catheter placement platform, a mechanical interface and a welding tail frame, wherein the six-axis robotic arms connected to the servo motor are symmetrically installed on both sides of the welding plate, and an electric clamping head is installed at the end of the six-axis robotic arms; the welding plate also centrally arranges the electrical circuits in the electrical control system, the thin-walled catheter to be welded is welded by a special-shaped thin-walled catheter and a relatively regular pipe joint, the relatively regular pipe joint is installed on the welding tail frame, the special-shaped thin-walled catheter is placed on the catheter placement platform, and labels are respectively affixed to the head and tail ends of the special-shaped thin-walled catheter, and the mechanical interface is used to install the flexible clamping system on the automation equipment; The electrical control system includes a controller; The visual system includes a visual camera, which scans and records the labels attached to both ends of the special-shaped thin-walled catheter and sends the label information to the intelligent recognition system; The welding system includes a welding gun, and a flexible clamping system is installed on the automation equipment through a mechanical interface. The rotation of the automation equipment drives the six-axis robot arm of the flexible clamping system to rotate, thereby ensuring that the welding section of the special-shaped thin-walled conduit can rotate at any angle around its axis. The welding gun is moved to the weld between the special-shaped thin-walled conduit and the more regular pipe joint. The automation equipment drives the special-shaped thin-walled conduit and the more regular pipe joint installed on the welding tail frame to rotate synchronously, thereby realizing automated welding with the welding gun not moving and the workpiece rotating at multiple angles.

2. The intelligent thin-walled conduit flexible welding equipment according to claim 1 is characterized in that: The first axis of each six-axis robotic arm is a rotation axis, which can rotate around the center of the axis position of the first axis; the second axis is a bending axis; the third axis is a bending axis, and its movement method is the same as the second axis; the fourth axis is a rotation axis, and its movement method is the same as the first axis; the fifth axis is a bending axis, and its movement method is the same as the second axis; and the sixth axis is a rotation axis, and its movement method is the same as the first axis.

3. The intelligent thin-walled conduit flexible welding equipment according to claim 2 is characterized in that: An electric chuck is installed at the end of the sixth axis.

4. The intelligent thin-walled conduit flexible welding device according to claim 1, characterized in that: The intelligent recognition model training method is as follows: 1) Enter thin-walled conduit size information Collect a large amount of information about customized welding tools and thin-walled ducts processed by customized welding tools from aircraft manufacturers, build an intelligent recognition model in the same coordinate system, and obtain parameter information of thin-walled ducts; 2) Obtaining a sample of thin-walled catheter clamping The intelligent recognition model obtains samples of the clamping angle and the clamping position of each thin-walled conduit according to the clamping angle of the customized welding tool and the clamping position of the customized welding tool; 3) Training intelligent recognition model The thin-walled conduit clamping samples obtained in step 2) are feature processed and then used to train the intelligent recognition model to form an intelligent recognition model with an optimal solution. The trained intelligent recognition model can intelligently generate the optimal clamping position and clamping angle for each thin-walled conduit according to the parameter information of the thin-walled conduit to be welded.

5. The intelligent thin-walled conduit flexible welding equipment according to claim 1 is characterized in that: The six-axis robotic arm places the special-shaped thin-walled conduit from the initial position to the optimal welding position, that is, the position where the axis of the welding section of the special-shaped thin-walled conduit is collinear with the axis of the more regular pipe joint.

6. A welding method using the intelligent thin-walled conduit flexible welding device according to any one of claims 1 to 5, characterized in that: The parameter information of the thin-walled conduit to be welded is entered into the intelligent recognition system, and the intelligent recognition model generates the corresponding optimal clamping position and clamping angle of the thin-walled conduit. Then, the relatively regular pipe joint is clamped on the welding tail frame, and the special-shaped thin-walled conduit is placed on the conduit placement platform according to the clamping angle generated by the intelligent recognition model. At this time, the visual system quickly locates the initial position of the thin-walled conduit to be welded through the labels pasted on both ends of the special-shaped thin-walled conduit and feeds back the initial position information to the intelligent recognition model. The intelligent recognition model comprehensively processes all the received information to obtain the optimal thin-walled conduit movement route and the movement instructions of the six-axis robot in the flexible clamping system. Then, the movement instructions are sent to the flexible clamping system through the electrical control system. The four six-axis robots of the flexible clamping system cooperate with each other in pairs, and finally the thin-walled conduit to be welded is moved from the initial position to the specified welding position, and then the various active components of the flexible clamping system are locked, thereby completing the flexible clamping of the thin-walled conduit, and finally welding is performed.

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