GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor cooperation

Abstract

This invention relates to the field of GTAW (Glass Wire Aluminum) single-sided welding and double-sided forming, and is a GTAW single-sided welding and double-sided forming system based on multi-sensor collaboration. Addressing the problems of difficulty and low forming quality in single-sided welding and double-sided forming of aluminum plates during filler wire GTAW, this invention proposes a GTAW single-sided welding and double-sided forming system based on multi-sensor collaboration. The system utilizes a welding torch attitude monitoring and control system to monitor and control the spatial attitude parameters of the welding torch; a welding wire attitude monitoring and control system to monitor and control the spatial attitude parameters of the wire feed tube; a bevel root melting state sensing system to sense the melting state at the bevel root; a molten pool monitoring system to monitor the molten pool size parameters; and an arc length monitoring system to monitor the GTAW arc length. A central control system rationally controls each subsystem to achieve high-quality forming results.

Description

Technical Field

[0001] This invention relates to the field of GTAW aluminum sheet single-sided welding and double-sided forming, and is a GTAW aluminum sheet single-sided welding and double-sided forming system based on multi-sensor collaboration. Background Technology

[0002] GTAW (Gas Non-Consumable Electrode Welding) is widely used in the automotive industry, marine engineering equipment, aerospace, and other fields. Especially in recent years, the rapid development of arc additive manufacturing technology has placed higher demands on the automation and intelligence of filler wire GTAW. In filler wire GTAW, single-sided welding with double-sided forming of aluminum plates is quite difficult to implement. The high operational difficulty of single-sided welding with double-sided forming of aluminum plates in GTAW is prone to welding defects and low weld quality. To address these challenges, this invention discloses a multi-sensor collaborative GTAW system for single-sided welding with double-sided forming of aluminum plates. By controlling the welding torch posture and wire feed during the welding process, the stability and welding efficiency of the single-sided welding with double-sided forming process are improved. Summary of the Invention

[0003] This multi-sensor collaborative GTAW aluminum plate single-sided welding double-sided forming system is used for filler wire GTAW aluminum plate single-sided welding double-sided forming. Through multi-sensor collaborative control, it achieves real-time monitoring and precise control of the welding process, improving welding quality and double-sided forming effect. The system is characterized by comprising a GTAW robot, a welding torch posture monitoring and control system, a welding wire posture monitoring and control system, a bevel root melting state sensing system, a molten pool monitoring system, and an arc length monitoring system, all interacting with each other through a central control system. The GTAW welding robot controls the welding torch for welding operations; the welding torch posture monitoring and control system… The control system consists of a welding torch attitude sensor and a welding torch multi-axis control system; the welding torch attitude monitoring and control system is used to monitor and control the spatial attitude parameters of the welding torch; the welding wire attitude monitoring and control system consists of a wire feed tube attitude sensor and a welding wire multi-axis control system; the welding wire attitude monitoring and control system is used to monitor and control the spatial attitude parameters of the wire feed tube; the bevel root melting state sensing system consists of a thin-film pressure sensor and a transmission line for transmitting pressure data, used to sense the melting state at the bevel root; the molten pool monitoring system consists of a camera and a laser emitter, used to monitor the molten pool size parameters; the arc length monitoring system consists of an arc sensor and a data acquisition module, used to monitor the GTAW arc length. A diagram of the GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration is shown below. Figure 1 As shown.

[0004] The GTAW aluminum plate single-sided welding and double-sided forming system based on multi-sensor collaboration is characterized by: utilizing a welding torch and welding wire attitude monitoring and control method to monitor and control the spatial relationship between the welding wire, welding torch, and workpiece; the welding torch and welding wire attitude monitoring and control method is implemented through a welding torch attitude monitoring and control system and a welding wire attitude monitoring and control system; the welding torch attitude detection and control system consists of a welding torch attitude sensor and a welding torch multi-axis control system; the welding torch attitude sensor consists of a three-axis gyroscope and a transmission line capable of transmitting welding torch attitude information; the welding torch attitude sensor detects in real time... The angle change of the welding torch coordinate system relative to the world coordinate system is measured and transmitted to the welding torch multi-axis control system. The world coordinate system is established with any vertex on the upper surface of the workpiece as the base point. The X-axis of the world coordinate system is parallel to the welding direction, the Y-axis is perpendicular to the X-axis, and the Z-axis is consistent with the direction of gravity. The welding torch coordinate system is established with any point on the welding torch as the base point. The initial state of the welding torch coordinate system is consistent with the world coordinate system. After the welding torch moves, the motion state of the welding torch coordinate system is completely synchronized with the welding torch. The initial state of the welding torch is vertically downward and perpendicular to the upper surface of the workpiece. The welding torch tilt angle θ 焊枪 The angle θ is the complementary angle of angle α, i.e., θ = 90 - α; the welding torch tilt angle is the angle between the welding torch centerline direction and the upper surface of the workpiece; angle α is the angle of rotation of the welding torch coordinate system around the Y-axis of the world coordinate system; the welding torch multi-axis control system consists of a welding torch vertical guide rail, a welding torch swing guide rail, and a welding torch rotary joint; the welding torch multi-axis control system controls the displacement of the welding torch rotary joint along the welding torch vertical guide rail; the welding torch multi-axis control system controls the displacement of the welding torch along the welding torch swing guide rail; the welding torch multi-axis control system controls the rotation of the welding torch swing guide rail around the welding torch rotary joint; the welding torch vertical guide rail has a length of W, is connected to the back plate, and is perpendicular to the horizontal plane; the welding torch rotary joint is embedded in the groove of the welding torch vertical guide rail, can move up and down, and the welding torch rotary joint itself rotates 360 degrees; the welding torch swing guide rail has a length of E, the center of the welding torch swing guide rail is fixed to the welding torch rotary joint, and rotates synchronously with the welding torch rotary joint. The welding torch is embedded in the welding torch oscillation guide rail groove. The welding torch multi-axis control system controls the welding torch posture by controlling the movement of the welding torch rotary joint in the welding torch vertical guide rail, the rotation of the welding torch rotary joint itself, and the movement of the welding torch in the welding torch oscillation guide rail. The welding wire posture monitoring and control system consists of a wire feed tube posture sensor and a welding wire multi-axis control system. The wire feed tube posture sensor consists of a three-axis gyroscope and a transmission line that can transmit welding torch posture information. The wire feed tube posture sensor monitors the angle change of the wire feed tube coordinate system relative to the world coordinate system in real time and transmits the information to the welding wire multi-axis control system. The wire feed tube coordinate system is established with any point on the wire feed tube as the base point. The initial state of the wire feed tube coordinate system is consistent with the world coordinate system. After the wire feed tube moves, the motion state of the wire feed tube coordinate system is completely synchronized with the wire feed tube. The initial state of the wire feed tube is vertically downward and perpendicular to the upper surface of the workpiece. The welding wire tilt angle θ 送丝The angle is the complementary angle of angle β, i.e., 90-β; the wire tilt angle is the angle between the wire feeding direction and the upper surface of the workpiece; angle β is the angle of rotation of the wire feeding tube coordinate system around the Y-axis of the world coordinate system; the multi-axis control system for the wire feeding tube consists of a vertical guide rail for the wire feeding tube and a rotary joint for the wire feeding tube; the multi-axis control system for the wire feeding tube controls the displacement of the rotary joint for the wire feeding tube along the vertical guide rail for the wire feeding tube; the multi-axis control system for the wire feeding tube controls the rotation of the wire feeding tube around the rotary joint for the wire feeding tube; the vertical guide rail for the wire feeding tube has a length of Q and is connected to the back plate and perpendicular to the horizontal plane; the rotary joint for the wire feeding tube is embedded in the vertical guide rail for the wire feeding tube. The guide rail allows for vertical movement, and the wire feed tube rotary joint rotates 360 degrees. The center of the wire feed tube is fixed to the rotary joint and rotates synchronously with it. The multi-axis control system controls the wire feed tube's posture by controlling the movement of the rotary joint within the vertical guide rail and the rotation of the wire feed tube itself. The spatial relationship between the welding wire, welding torch, and workpiece is preset before welding begins, with preset parameters: welding torch angle 70°–80°, wire feed angle 15°, and distances H from both the wire tip and the welding torch tip to the upper surface of the workpiece. A partial enlarged view of the GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration is shown below. Figure 2 As shown; schematic diagrams of the world coordinate system, welding torch attitude sensor XYZ axes, and wire feed tube attitude sensor XYZ axes are as follows. Figure 3 As shown in the diagram; the movable distance of the welding torch angle, wire feed angle, welding torch oscillation guide rail, welding torch vertical guide rail, and wire feed tube vertical guide rail is as follows. Figure 4 As shown; the spatial relationship between the preset welding torch and the wire feed tube is as follows. Figure 5 As shown.

[0005] The GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration is characterized by: achieving precise control of the welding process by utilizing a GTAW aluminum plate single-sided welding double-sided forming initiation method based on multi-sensor collaboration; the GTAW aluminum plate single-sided welding double-sided forming initiation method based on multi-sensor collaboration is implemented through a bevel root melting state sensing system and an arc length monitoring system; the arc length monitoring system monitors the arc voltage between the welding torch tip and the workpiece and calculates the arc length using L = F(U); where U represents the arc voltage; L represents the arc length; and F(U) represents the relationship between the arc length and the arc voltage; the bevel root melting state sensing system controls the arc length to 4-7mm before the filler wire begins, and monitors the pressure at the bevel root in real time; when the bevel root is sensed to soften and melt, filler wire welding can begin.

[0006] The GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration is characterized by: utilizing a GTAW aluminum plate single-sided welding double-sided forming bevel pressure monitoring method based on multi-sensor collaboration to achieve bevel pressure sensing; the GTAW aluminum plate single-sided welding double-sided forming bevel pressure monitoring method based on multi-sensor collaboration is implemented through a bevel root melting state sensing system; in the bevel root melting state sensing system, a thin-film pressure sensor is fixed to the junction of the workpiece and the platform on the back of the welding point by a pressure sensor clamp to ensure that the sensor is in close contact with the workpiece surface, and the initial value of the thin-film pressure sensor is m; the workpiece thickness is h; after welding begins, the GTAW robot begins wire feeding; the wire feeding length is... ε is the ratio of the depth of the bevel root to the thickness of the workpiece; when the GTAW robot controls the wire feeding, the value of the thin-film pressure sensor increases, indicating that the bevel root has not melted; when the GTAW robot controls the wire feeding, the value of the thin-film pressure sensor remains unchanged, indicating that the bevel root has completely melted.

[0007] The GTAW single-sided welding and double-sided forming system for aluminum plates based on multi-sensor collaboration is characterized by: utilizing a multi-sensor collaboration-based GTAW single-sided welding and double-sided forming arc-swinging method to achieve precise control and optimization of the welding process; the multi-sensor collaboration-based GTAW single-sided welding and double-sided forming arc-swinging method for aluminum plates is implemented through a molten pool monitoring system, an arc length monitoring system, a welding torch posture monitoring and control system, and a welding wire posture monitoring and control system; the molten pool monitoring system monitors the molten pool size parameters in real time, including the molten pool length ε and the molten pool width ∈; the molten pool length ε is the extension length of the molten pool in the welding direction; the molten pool width ∈ is the lateral dimension of the molten pool perpendicular to the welding direction; the camera in the molten pool monitoring system is positioned directly above the molten pool at a distance of H mm; H is the camera's field of view that completely encompasses the height of the molten pool; the laser emitter in the molten pool monitoring system emits a laser and completely covers the molten pool; the camera and laser emitter move synchronously with the welding torch; after welding begins, a preset arc-swinging period T is set, T = a + b; where a is the welding torch's forward movement... The length of the molten pool; b is the welding torch retraction time. The time required for each molten pool length; when T=0, the molten pool monitoring system monitors the molten pool length ε in real time and transmits the data to the central control system; the central control system controls the GTAW robot to stop wire feeding; the central control system controls the backplate to move forward; the central control system controls the welding torch to move downward along the welding torch swing guide rail; when the arc length monitoring system detects an arc length of 2mm~3mm, the welding torch stops moving; when T=a, the central control system controls the GTAW robot to start wire feeding; the central control system controls the backplate to move backward; the central control system controls the welding torch to move upward along the welding torch swing guide rail; when the arc length monitoring system detects an arc length of 6mm~7mm, the welding torch stops moving; the GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration achieves high-quality aluminum plate single-sided welding double-sided forming by repeating the swing arc cycle T. The flowchart of the GTAW aluminum plate single-sided welding double-sided forming swing arc method based on multi-sensor collaboration is as follows. Figure 6 As shown.

[0008] Beneficial effects of the invention

[0009] This invention relates to the field of GTAW (Glass Wire Aluminum) single-sided welding and double-sided forming, and is a GTAW single-sided welding and double-sided forming system based on multi-sensor collaboration. Addressing the problems of difficulty and low forming quality in single-sided welding and double-sided forming of aluminum plates during filler wire GTAW, this invention proposes a GTAW single-sided welding and double-sided forming system based on multi-sensor collaboration. The system utilizes a welding torch attitude monitoring and control system to monitor and control the spatial attitude parameters of the welding torch; a welding wire attitude monitoring and control system to monitor and control the spatial attitude parameters of the wire feed tube; a bevel root melting state sensing system to sense the melting state at the bevel root; a molten pool monitoring system to monitor the molten pool size parameters; and an arc length monitoring system to monitor the GTAW arc length. A central control system rationally controls each subsystem to achieve high-quality forming results. Attached Figure Description

[0010] Figure 1 This is a diagram of a GTAW aluminum plate single-sided welding and double-sided forming system based on multi-sensor collaboration.

[0011] In the diagram, 1 is the control box, 2 is the communication line, 3 is the central control system, 4 is the X-axis guide rail, 5 is the bearing device, 6 is the clamping device of the bearing device, 7 is the Z-axis guide rail, 8 is the Y-axis guide rail, 9 is the workpiece, 10 is the working platform, 11 is the pad, 12 is the grounding wire, 13 is the control bus, and 14 is the communication bus.

[0012] Figure 2 This is a partial enlarged view of the GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration.

[0013] In the figure, 1 is the welding wire, 2 is the wire feed tube, 3 is the wire feed tube attitude sensor, 4 is the welding wire multi-axis control system, 5 is the wire feed tube attitude sensor fixing device, 6 is the wire feed tube vertical guide rail, 7 is the wire feed tube rotary joint, 9 is the active laser, 10 is the camera, 11 is the welding torch rotary joint, 12 is the welding torch vertical guide rail, 13 is the welding torch attitude sensor fixing device, 14 is the welding torch attitude sensor, 15 is the welding torch rotary joint, 16 is the welding torch multi-axis control system, and 17 is the welding torch.

[0014] Figure 3 This diagram shows the world coordinate system, the XYZ axes of the welding torch attitude sensor, and the XYZ axes of the wire feed tube attitude sensor.

[0015] Figure 4 This diagram illustrates the movable distance of the welding torch angle, wire feed angle, welding torch oscillation guide rail, welding torch vertical guide rail, and wire feed tube vertical guide rail.

[0016] Figure 5 To preset the spatial relationship between the welding torch, wire feed tube and workpiece.

[0017] Figure 6 This is a flowchart of a GTAW aluminum plate single-sided welding double-sided forming swing arc method based on multi-sensor collaboration. Detailed Implementation

[0018] To better illustrate the technical solution and beneficial effects of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The implementation methods of the present invention are not limited thereto.

[0019] Step 1: Precisely control the arc initiation.

[0020] High-quality arc ignition is achieved by precisely controlling the feeding of the welding wire. During the single-sided welding of aluminum plates with double-sided forming, it is necessary to monitor in real time whether the root of the workpiece's bevel has melted to the appropriate state. If the root of the workpiece's bevel is not completely melted, feeding the welding wire at this time will result in the inability to form a single-sided weld with double-sided forming; if the root of the workpiece's bevel is over-melted, it will result in complete penetration. To address this problem, this invention discloses a GTAW (Glass Wire Arcade) method for single-sided welding of aluminum plates with double-sided forming based on multi-sensor collaboration to achieve precise control of the welding process. Before the wire is filled, the bevel root melting state sensing system controls the arc length to be 4mm-7mm through the arc length monitoring system. Then, the GTAW robot feeds the wire at the appropriate length... When the value of the diaphragm pressure sensor increases, it indicates that the root of the bevel has not melted and the wire cannot be fed; when the value of the diaphragm pressure sensor remains unchanged, it indicates that the root of the bevel has completely melted and the wire can be fed.

[0021] Step 2: Repeated arc swinging achieves high-quality single-sided welding and double-sided forming.

[0022] Achieving high-quality single-sided welding and double-sided forming of aluminum plates requires controlling the spatial posture of the welding torch and the feeding of the welding wire. Improper torch posture or wire feeding will result in poor quality single-sided welding and double-sided forming of the aluminum plate. To address this challenge, this invention discloses a multi-sensor collaborative GTAW (Gas-Assisted Welding) method for single-sided welding and double-sided forming of aluminum plates. After welding begins, at T=0, the molten pool monitoring system monitors the molten pool length (ε) in real time and transmits the data to the central control system. The central control system controls the GTAW robot to stop wire feeding; the central control system controls the backplate to move forward; the central control system controls the welding torch to move downward along the torch swing guide rail; when the arc length monitoring system detects an arc length of 2mm-3mm, the welding torch stops moving; at T=a, the central control system controls the GTAW robot to start wire feeding; the central control system controls the backplate to move backward; the central control system controls the welding torch to move upward along the torch swing guide rail; when the arc length monitoring system detects an arc length of 6mm-7mm, the welding torch stops moving. The GTAW aluminum plate single-sided welding double-sided forming swing arc method based on multi-sensor collaboration achieves high-quality single-sided welding double-sided forming of aluminum plates by repeating the operation in cycle T.

Claims

1. A multi-sensor collaborative GTAW aluminum plate single-sided welding double-sided forming system, used for single-sided welding double-sided forming of filler wire GTAW aluminum plates, achieves real-time monitoring and precise control of the welding process through multi-sensor collaborative control, improving welding quality and double-sided forming effect, characterized by: The GTAW aluminum plate single-sided welding and double-sided forming system based on multi-sensor collaboration consists of a GTAW robot, a welding torch attitude monitoring and control system, a welding wire attitude monitoring and control system, a bevel root melting state sensing system, a molten pool monitoring system, and an arc length monitoring system, and interacts with data through a central control system. The GTAW welding robot controls the welding torch for welding operations. The welding torch attitude monitoring and control system consists of a welding torch attitude sensor and a welding torch multi-axis control system. The welding torch attitude monitoring and control system monitors and controls the spatial attitude parameters of the welding torch. The welding wire attitude monitoring and control system consists of a wire feed tube attitude sensor, a welding... The system comprises a multi-axis wire control system; a wire attitude monitoring and control system for monitoring and controlling the spatial attitude parameters of the wire feed tube; a bevel root melting state sensing system consisting of a thin-film pressure sensor and a transmission line for transmitting pressure data, used to sense the melting state at the bevel root; a molten pool monitoring system consisting of a camera and a laser emitter, used to monitor the molten pool size parameters; and an arc length monitoring system consisting of an arc sensor and a data acquisition module, used to monitor the GTAW arc length. Before wire feeding, the bevel root melting state sensing system controls the arc length to 4mm-7mm via the arc length monitoring system, after which the GTAW robot feeds in a suitable length. When the diaphragm pressure sensor reading increases, it indicates that the root of the bevel has not melted and wire feeding is not possible; when the diaphragm pressure sensor reading remains unchanged, it indicates that the root of the bevel has completely melted and wire feeding is possible. After welding begins, at T=0, the molten pool monitoring system monitors the molten pool length ε in real time and transmits the data to the central control system. The central control system controls the GTAW robot to stop wire feeding; the central control system controls the backplate to move forward; the central control system controls the welding torch to move downward along the welding torch swing guide rail; when the arc length monitoring system detects an arc length of 2mm~3mm, the welding torch stops moving; at T=a, the central control system controls the GTAW robot to start wire feeding; the central control system controls the backplate to move backward; the central control system controls the welding torch to move upward along the welding torch swing guide rail; when the arc length monitoring system detects an arc length of 6mm~7mm, the welding torch stops moving. The GTAW aluminum plate single-sided welding double-sided forming swing arc method based on multi-sensor collaboration achieves high-quality aluminum plate single-sided welding double-sided forming by repeating the operations in cycle T.

2. The GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration according to claim 1, characterized in that: A method for monitoring and controlling the attitude of welding torch and welding wire is used to monitor and control the spatial relationship between the welding wire, welding torch, and workpiece. This method is implemented through a welding torch attitude monitoring and control system and a welding wire attitude monitoring and control system. The welding torch attitude monitoring and control system consists of a welding torch attitude sensor and a welding torch multi-axis control system. The welding torch attitude sensor consists of a three-axis gyroscope and a transmission line capable of transmitting welding torch attitude information. The welding torch attitude sensor detects the angular change of the welding torch coordinate system relative to the world coordinate system in real time and transmits the information to the welding torch multi-axis control system. The world coordinate system is established with any vertex on the upper surface of the workpiece as the base point. The X-axis of the world coordinate system is parallel to the welding direction, the Y-axis is perpendicular to the X-axis, and the Z-axis is consistent with the direction of gravity. The welding torch coordinate system is established with any point on the welding torch as the base point. The initial state of the welding torch coordinate system is consistent with the world coordinate system. After the welding torch moves, the motion state of the welding torch coordinate system is completely synchronized with the welding torch. The initial state of the welding torch is vertically downward and perpendicular to the upper surface of the workpiece. The welding torch tilt angle θ... 焊枪 The angle θ is the complementary angle of angle α, i.e., θ = 90 - α; the welding torch tilt angle is the angle between the welding torch centerline direction and the upper surface of the workpiece; angle α is the angle of rotation of the welding torch coordinate system around the Y-axis of the world coordinate system; the welding torch multi-axis control system consists of a welding torch vertical guide rail, a welding torch swing guide rail, and a welding torch rotary joint; the welding torch multi-axis control system controls the displacement of the welding torch rotary joint along the welding torch vertical guide rail; the welding torch multi-axis control system controls the displacement of the welding torch along the welding torch swing guide rail; the welding torch multi-axis control system controls the rotation of the welding torch swing guide rail around the welding torch rotary joint; the welding torch vertical guide rail has a length of W, is connected to the back plate, and is perpendicular to the horizontal plane; the welding torch rotary joint is embedded in the groove of the welding torch vertical guide rail, can move up and down, and the welding torch rotary joint itself rotates 360 degrees; the welding torch swing guide rail has a length of E, the center of the welding torch swing guide rail is fixed to the welding torch rotary joint, and rotates synchronously with the welding torch rotary joint. The welding torch is embedded in the welding torch oscillation guide rail groove. The welding torch multi-axis control system controls the welding torch posture by controlling the movement of the welding torch rotary joint in the welding torch vertical guide rail, the rotation of the welding torch rotary joint itself, and the movement of the welding torch in the welding torch oscillation guide rail. The welding wire posture monitoring and control system consists of a wire feed tube posture sensor and a welding wire multi-axis control system. The wire feed tube posture sensor consists of a three-axis gyroscope and a transmission line that can transmit welding torch posture information. The wire feed tube posture sensor monitors the angle change of the wire feed tube coordinate system relative to the world coordinate system in real time and transmits the information to the welding wire multi-axis control system. The wire feed tube coordinate system is established with any point on the wire feed tube as the base point. The initial state of the wire feed tube coordinate system is consistent with the world coordinate system. After the wire feed tube moves, the motion state of the wire feed tube coordinate system is completely synchronized with the wire feed tube. The initial state of the wire feed tube is vertically downward and perpendicular to the upper surface of the workpiece. The welding wire tilt angle θ 送丝 The angle is the complementary angle of angle β, i.e., 90-β; the wire tilt angle is the angle between the wire feeding direction and the upper surface of the workpiece; angle β is the angle of rotation of the wire feeding tube coordinate system around the Y-axis of the world coordinate system; the multi-axis control system for the wire feeding tube consists of a vertical guide rail for the wire feeding tube and a rotary joint for the wire feeding tube; the multi-axis control system for the wire feeding tube controls the displacement of the rotary joint for the wire feeding tube along the vertical guide rail for the wire feeding tube; the multi-axis control system for the wire feeding tube controls the rotation of the wire feeding tube around the rotary joint for the wire feeding tube; the vertical guide rail for the wire feeding tube has a length of Q and is connected to the back plate and perpendicular to the horizontal plane; the rotary joint for the wire feeding tube is embedded in the vertical guide rail for the wire feeding tube. The wire feed tube rotary joint can move up and down in the straight guide rail and rotates 360 degrees. The center of the wire feed tube is fixed to the rotary joint and rotates synchronously with it. The multi-axis control system controls the wire feed tube posture by controlling the movement of the rotary joint in the vertical guide rail and the rotation of the wire feed tube itself. The spatial relationship between the welding wire, the welding torch, and the workpiece is preset before welding begins. The preset parameters are: welding torch angle of 70° to 80°, wire feed angle of 15°, and distance H from the tip of the welding wire and the tip of the welding torch to the upper surface of the workpiece.

3. The GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration according to claim 1, characterized in that: A multi-sensor collaborative GTAW aluminum plate single-sided welding double-sided forming initiation method is used to achieve precise control of the initiation process. This method is implemented through a bevel root melting state sensing system and an arc length monitoring system. The arc length monitoring system monitors the arc voltage between the welding torch tip and the workpiece and calculates the arc length using L = F(U), where U represents the arc voltage, L represents the arc length, and F(U) represents the relationship between the arc length and the arc voltage. Before the filler wire begins, the bevel root melting state sensing system controls the arc length to 4-7 mm using the arc length monitoring system and monitors the pressure at the bevel root in real time. When the bevel root is sensed to soften and melt, filler wire welding can begin.

4. The GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration according to claim 1, characterized in that: A method for monitoring bevel pressure in single-sided welding and double-sided forming of aluminum plates using GTAW (Gas-Only Craftsmanship) based on multi-sensor collaboration is employed. This method utilizes a bevel root melting state sensing system. Within this system, a thin-film pressure sensor is fixed to the interface between the workpiece and the platform on the back of the welding point using a pressure sensor clamp, ensuring close contact between the sensor and the workpiece surface. The initial value of the thin-film pressure sensor is m. The workpiece thickness is h. After welding begins, the GTAW robot starts wire feeding. The wire feeding length is [missing information]. ε is the ratio of the depth of the bevel root to the thickness of the workpiece; when the GTAW robot controls the wire feeding, the value of the thin-film pressure sensor increases, indicating that the bevel root has not melted; when the GTAW robot controls the wire feeding, the value of the thin-film pressure sensor remains unchanged, indicating that the bevel root has completely melted.

5. The GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration according to claim 1, characterized in that: A multi-sensor collaborative GTAW (Gas-Only Welding) method for single-sided welding of aluminum plates with double-sided forming arc oscillation is used to achieve precise control and optimization of the welding process. This method is implemented through a molten pool monitoring system, an arc length monitoring system, a welding torch posture monitoring and control system, and a welding wire posture monitoring and control system. The molten pool monitoring system monitors the molten pool dimensions in real time, including the molten pool length ε and the molten pool width ∈. The molten pool length ε is the length of the molten pool extending in the welding direction; the molten pool width ∈ is the lateral dimension of the molten pool perpendicular to the welding direction. The camera in the molten pool monitoring system is positioned directly above the molten pool at a distance H mm, where H is the camera's field of view that completely encompasses the height of the molten pool. The laser emitter in the molten pool monitoring system emits a laser beam that completely covers the molten pool. The camera and laser emitter move synchronously with the welding torch. After welding begins, a preset arc oscillation period T is established, where T = a + b, and a is the distance the welding torch travels. The length of the molten pool; b is the welding torch retraction time. The time required for the length of the molten pool; when T=0, the molten pool monitoring system monitors the molten pool length as ε in real time and transmits the data to the central control system; the central control system controls the GTAW robot to stop wire feeding; the central control system controls the backplate to move forward; the central control system controls the welding torch to move downward along the welding torch swing guide rail; when the arc length monitoring system monitors the arc length as 2mm~3mm, the welding torch stops moving; when T=a, the central control system controls the GTAW robot to start wire feeding; the central control system controls the backplate to move backward; the central control system controls the welding torch to move upward along the welding torch swing guide rail; when the arc length monitoring system monitors the arc length as 6mm~7mm, the welding torch stops moving; the GTAW aluminum plate single-sided welding double-sided forming system based on multi-sensor collaboration achieves high-quality aluminum plate single-sided welding double-sided forming by repeating the swing arc cycle T.

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