Self-adaptive adjusting complex curved surface welding device and method

Abstract

The invention relates to the technical field of welding devices, in particular to a self-adaptive adjusting complex curved surface welding device which comprises a workbench, a welding mechanism installed above a welding area and a sensor module connected with the welding mechanism, a two-way moving sliding table is installed on the workbench, and a limiting seat is installed on the two-way moving sliding table; a plurality of abutting rods used for abutting against the curved surface of the workpiece and a plurality of air bag clamps self-adaptive to the curved-surface workpiece are installed in the clamping work area on the limiting base in an up-down corresponding mode. Workpiece curved surface deformation is detected through the sensor module, a three-dimensional path model is generated, the horizontal position of the welding gun is adjusted through the xy-axis moving platform, the angle of the welding gun is adjusted in cooperation with the first motor and the second motor, and meanwhile the height position of the welding gun is adjusted through the air cylinder; the welding requirement of the complex curved surface workpiece is met by adjusting the posture of the welding gun, and the welding effect of the welding device can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding devices, and particularly to an adaptive adjustment complex curved surface welding device and method. Background Art

[0002] Welding is a manufacturing process and technology for joining metals or other thermoplastic materials such as plastics by means of heating, high temperature or high pressure.

[0003] The following problems exist in the actual use of existing welding devices: First, traditional welding devices need to set corresponding working paths, which leads to the over-reliance of traditional welding devices on preset paths during operation. During the assembly process of workpieces, thermal deformation or assembly errors of workpieces will inevitably occur, resulting in deformation of the welding surfaces of workpieces, and further causing weld deviation or inconsistent penetration depth. Second, some of the workpieces to be welded in the production process have a curved surface structure. Traditional workpiece jigs cannot adaptively change the clamping for complex curved surfaces, and the design of traditional jigs has too strong rigidity and cannot fit the curved surface. Local stress concentration causes the workpiece to be easily deformed under pressure, and there is a lack of flexible support structure, making it difficult to achieve uniform force at multiple points. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art that the welding path of the welding device cannot be adjusted in real time and the design of traditional jigs has too strong rigidity and cannot fit the curved surface, and to propose an adaptive adjustment complex curved surface welding device and method.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: An adaptive adjustment complex curved surface welding device and method, the welding device includes: A workbench, on which a bidirectional moving slide is installed; A limit seat, fixed on the bidirectional moving slide, and a plurality of abutting rods and an airbag jig for adapting to the curved surface workpiece are arranged in the working area of the limit seat, and the airbag jig is located above the abutting rods; A welding mechanism installed above the welding area of the workbench, and the welding mechanism is used to perform welding operations; A sensor module connected to the welding mechanism, and the sensor module is configured to feedback data to the welding mechanism to dynamically adjust the welding path and parameters.

[0006] Preferably, the welding mechanism includes: An xy-axis moving platform installed on the mounting frame; A cylinder installed on the xy-axis moving platform; A first bracket fixedly connected to the output end of the cylinder; a first motor provided on the first bracket and a connecting column driven to rotate by the first motor; a second bracket fixedly connected to the bottom end of the connecting column; a second motor provided on the second bracket and a mounting post driven to rotate by the second motor; A power supply system fixedly mounted on the top of the first bracket; A welding gun is fixedly mounted on the bottom end of the mounting column and electrically connected to the power supply system.

[0007] Preferably, the first bracket and the second bracket are distributed in an orthogonal cross on a vertical axis, and the sensor module is fixedly mounted on the bottom end of the mounting column.

[0008] Preferably, a mounting bracket is fixedly connected to the upper surface of the workbench, and two groups of symmetrically arranged movable blocks are slidably installed on the workbench through a slide groove, and a mounting plate is fixedly connected to each group of movable blocks, and a plurality of electric cylinders and light rangefinders are installed on the upper surface of the mounting plate through a groove body, and an infrared heater is fixedly connected to the output end of the electric cylinder, and an induction plate for controlling the opening and closing of the infrared heater is fixedly provided on the mounting plate, and a driving spring is fixedly connected between the mounting plate and the limit seat.

[0009] Preferably, the limit seat is provided with a placement opening for movably placing a curved workpiece, and the first slider and the second slider are slidably mounted on both sides of the lower end of the limit seat through a slide groove, and the installation shaft located between the first slider and the second slider is provided on both sides of the lower end of the limit seat, and the installation shaft is installed with a rotating plate through a damping bearing, and the first slider and the second slider are respectively fixedly connected to the first slide plate and the second slide plate, and the first slide plate and the second slide plate are respectively installed with a second guide column and a first guide column connected to the pin shafts at both ends of the rotating plate through a slide groove, and the first slider is fixedly connected to a closing plate for blocking the infrared heater, and the second slider is fixedly connected to a connecting plate fixedly connected to the mounting plate.

[0010] Preferably, the closing plate and the connecting plate are both 匚-shaped structures.

[0011] Preferably, the top end of the interference rod is a carbide ball head, and a plurality of the interference rods are arranged in a rectangular and equidistant manner on the bottom end of the placement opening.

[0012] Preferably, the lower end of the limit seat is provided with an active cavity for slidingly fitting the resistance rod, the lower end of the limit seat is provided with a hydraulic cavity filled with hydraulic oil and connected to the active cavity, the bottom end of the resistance rod is fixedly connected with a piston away from the hydraulic oil, the resistance rod realizes a sliding seal with the active cavity through the piston, and a return spring is fixedly connected between the piston and the top of the active cavity.

[0013] Preferably, the airbag clamp consists of an airbag body and an air source system, and the airbag body and the air source system are connected by a telescopic air pipe. The air source system consists of an air pump, a pressure regulating valve, a solenoid valve, an air tank and a controller. An airbag bracket for limiting excessive expansion of the airbag body is fixedly connected to the top of the placement port. The airbag bracket is a rectangular body structure with multiple rectangular grooves opened inside and each groove passes through the front and rear end faces. The airbag body is provided with multiple independent air chambers corresponding to the airbag bracket, and each of the independent air chambers is equipped with a solenoid valve. At the same time, a pressure sensor for detecting the air pressure value is embedded in the interior of each independent air chamber, and a flexible pressure distribution sensor for monitoring the uniformity of contact pressure is attached to the surface of each independent air chamber.

[0014] A method for using the complex curved surface welding device with adaptive adjustment as described above is provided, the method comprising the following steps: Step S1, placing the curved workpiece in the placement port, placing the curved workpiece on the resistance rod, the resistance rod moves downward under the influence of the weight of the curved workpiece, the resistance rod drives the reset spring to extend the structure, and the resistance rod drives the piston to squeeze the hydraulic oil. Since the clamped end of the curved workpiece itself has a relatively complex curved surface, the deformation degree of the resistance rod is different. The initial distance between the piston and the hydraulic oil is used to compensate for the different deformation distances of each resistance rod, so that the resistance rod realizes the initial rigid positioning of the curved workpiece through the carbide ball head, and the air source system is started to inflate the airbag body, so that the airbag body expands downward under the restriction of the airbag bracket. The airbag body is inflated and expands to fit the back of the curved workpiece, and a uniform normal clamping force pressure range of 0.1-0.8MPa is applied to compensate for the shape error of the curved surface, thereby avoiding hard contact impact; Step S2, start the bidirectional movable slide to drive the limit seat to move horizontally towards each other, the limit seat drives the mounting plate to move horizontally through the driving spring, start the light rangefinder, and make the light rangefinder emit light to measure the height of the bottom surface of the curved workpiece, the electric cylinder receives the height data of the bottom surface of the curved workpiece, and adjusts the height position of the infrared heater through the electric cylinder, starts the infrared heater and turns off the light rangefinder, and heats the curved workpiece through the infrared heater to evaporate the water droplets on the curved workpiece. When the two induction plates are offset, the infrared heater is turned off. At this time, the driving spring can no longer drive the mounting plate to move, but the limit seat is still moving, so The mounting plate generates a reaction force, causing the driving spring to undergo structural contraction. At the same time, the mounting plate drives the connecting plate to move horizontally, and the connecting plate drives the second slider to move horizontally. The second slider drives the rotating plate to rotate based on the mounting axis through the first slider. At this time, the lower end of the rotating plate drives the second guide column to move vertically downward on the first slider, and the upper end of the rotating plate drives the first guide column to move vertically upward on the second slider. The rotating plate drives the first slider to move horizontally through the second slider, and the first slider drives the closing plate to move horizontally, so that the closing plate and the induction plate are offset from each other, so as to block the infrared heater through the closing plate. At this time, the two curved workpieces are offset from each other. Step S3, start the sensor module to analyze and scan the surface deformation data of the area of the curved workpiece below that needs to be welded, and generate a real-time compensation path through the algorithm to adjust the welding parameters. At the same time, start the xy-axis moving platform to adjust the horizontal position of the welding gun in the xy-axis direction, start the first motor to drive the connecting column to rotate, thereby driving the welding gun to rotate in the y-axis, start the second motor to drive the mounting column, thereby driving the welding gun to rotate in the x-axis, thereby adjusting the welding gun posture, and thus ensuring that the welding gun can perform targeted welding on the curved workpiece.

[0015] Compared with the prior art, the present invention has the following advantages: 1. In the present invention, the sensor module detects the deformation of the workpiece surface and generates a three-dimensional path model, and adjusts the horizontal position of the welding gun through the xy-axis moving platform, and cooperates with the first motor and the second motor to adjust the angle of the welding gun. At the same time, the height position of the welding gun is adjusted by the cylinder. By adjusting the posture of the welding gun, the welding requirements of complex curved surface workpieces can be met, which helps to improve the welding effect of the welding device.

[0016] 2. The present invention achieves initial rigid positioning of the curved workpiece through discrete contact points to ensure reference accuracy. At the same time, the airbag body is inflated to fit the back of the curved workpiece, applying a uniform normal clamping force to compensate for the shape error of the curved surface. The rigid positioning of the resistance rod and the flexible pressure of the airbag body form a rigid-flexible coupling mechanism, which helps to improve the accuracy and adaptability of the complex curved surface clamping process.

[0017] 3. In the present invention, an infrared heater is used to pre-heat the curved workpiece where welding is required, and a light rangefinder is used to measure the height of the lower surface of the curved workpiece. At the same time, the electric cylinder is controlled to adjust the height position of the infrared heater, so as to ensure that the curved workpiece is heated evenly and avoid large temperature differences on the surface of the curved workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure proposed by the present invention; Figure 2 This is a schematic diagram of the connection structure of parts at the limit seat proposed by the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of the parts structure after removing the limit seat; Figure 4 A cross-sectional view of the mounting plate proposed by the present invention; Figure 5 This is a schematic diagram of the connection structure of the limit seat, the interference rod and the airbag clamp proposed by the present invention; Figure 6 For the present invention Figure 5 The cross-sectional view proposed in Figure 7 For the present invention Figure 6 Schematic diagram of the locally enlarged structure of A proposed in; Figure 8 This is a schematic diagram of the connection structure between the mounting frame and the welding mechanism proposed in the present invention; Figure 9 For the present invention Figure 8 Schematic diagram of the local enlarged structure of B proposed in.

[0019] In the picture: 1. Workbench; 101. Mounting frame; 102. Movable block; 103. Mounting plate; 104. Electric cylinder; 105. Light rangefinder; 106. Infrared heater; 107. Sensor plate; 108. Drive spring; 2. Welding mechanism; 201. XY-axis moving platform; 202. Cylinder; 203. First bracket; 204. First motor; 205. Connecting column; 206. Second bracket; 207. Second motor; 208. Mounting column; 209. Power supply system; 210. Welding gun; 3. Sensor module; 4. Bidirectional movable slide; 5. Limit seat; 501. Placement port; 502. First slider; 503. Second slider; 504. Mounting shaft; 505. Rotating plate; 506. First slide; 507. Second slide; 508. First guide post; 509. Second guide post; 510. Closing plate; 511. Connecting plate; 6. Resistance rod; 601. Active chamber; 602. Hydraulic chamber; 603. Piston; 604. Return spring; 7. Airbag fixture; 701. Airbag body; 702. Air source system; 703. Airbag bracket. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] The present invention provides the following preferred implementation method: Example 1

[0022] refer to Figures 1 to 9 As shown, this embodiment provides a complex curved surface welding device with adaptive adjustment, the welding device includes a workbench 1, a welding mechanism 2 installed above the welding area, and a sensor module 3 connected to the welding mechanism 2. The sensor module 3 is composed of a laser scanner, a weld tracking sensor, an environmental sensor, an embedded controller and a communication interface. The control algorithm used by the laser scanner is PID adjustment, and laser triangulation is used to obtain surface point cloud data. The weld tracking sensor is used to detect weld position deviation, and the environmental sensor is used to monitor interference factors such as temperature and vibration. The embedded controller is used to run path planning and control algorithms. The communication interface is used to realize real-time data interaction between the sensor and the actuator. The sensor module 3 matches the actual workpiece with the CAD model through the ICP algorithm to compensate Positioning error, and continuous scanning during the welding process, identifying surface changes caused by thermal deformation, updating the path model, and using a real-time operating system and FPGA hardware acceleration algorithm, and simplifying the control model to reduce calculation delays, thereby realizing real-time call of the model to predict current and wire feeding speed, and updating the model parameters according to the weld morphology detection results, and controlling the welding mechanism 2 to perform corresponding operations, which helps to ensure the welding quality of curved workpiece products. The upper surface of the workbench 1 is fixedly connected to a mounting frame 101, and the welding mechanism 2 includes an xy-axis moving platform 201, a cylinder 202, a first bracket 203, a first motor 204, a connecting column 205, a second bracket 206, a second motor 207, a mounting column 208, a power supply system 209 and a welding gun 210. The components are arranged as follows: The xy-axis moving platform 201 is installed on the mounting frame 101. The xy-axis moving platform 201 is a cross slide structure, and the xy-axis moving platform 201 consists of two sets of transmission mechanisms, a guide system, a drive unit, a control system, a cooling system and a torque monitoring system.

[0023] The cylinder 202 is installed on the xy-axis moving platform 201. The first bracket 203 is fixedly connected to the output end of the cylinder 202. The first motor 204 is fixedly arranged on the first bracket 203. The connecting column 205 is rotatably arranged on the first bracket 203. The connecting column 205 is driven to rotate by the first motor 204. The second bracket 206 is fixedly connected to the bottom end of the connecting column 205. The first bracket 203 and the second bracket 206 are orthogonally cross-distributed on the vertical axis. The second motor 207 is fixedly arranged on the second bracket 206. The mounting column 208 is rotatably arranged on the second bracket 206. The mounting column 208 is driven to rotate by the second motor 207. The sensor module 3 is fixedly installed at the bottom end of the mounting column 208. The power supply system 209 is installed on the top end of the first bracket 203. The welding gun 210 is installed at the bottom end of the mounting column 208 and is electrically connected to the power supply system 209. The attitude of the welding gun 210 is adjusted in multiple dimensions through the xy-axis moving platform 201, the cylinder 202, the first motor 204 and the second motor 207, and in cooperation with the sensor module 3, so that the welding gun 210 can adjust the corresponding working path according to the actual situation of the curved workpiece.

[0024] A bidirectional moving slide 4 is installed on the workbench 1. The bidirectional moving slide 4 is composed of a set of bidirectional transmission mechanisms, a guiding system, a driving unit, a control system, a cooling system and a torque monitoring system. A limit seat 5 is installed on the bidirectional moving slide 4. The upper surface of the workbench 1 is fixedly connected with a mounting frame 101. The workbench 1 is slidably installed with two groups of symmetrically arranged movable blocks 102 through chutes. Each group of movable blocks 102 is fixedly connected with a mounting plate 103. A plurality of electric cylinders 104 and light distance measuring devices 105 are installed on the upper surface of the mounting plate 103 through grooves. The output end of the electric cylinder 104 is fixedly connected with an infrared heater 106. It should be noted that: the output end of the infrared heater 106 is near the output end of the light distance measuring device 105. The light emitted by the light distance measuring device 105 is inclined towards the direction of the limit seat 5. The specific inclination angle needs to be adjusted according to the actual specifications of the curved workpiece targeted by the device during actual implementation. At the same time, the electric cylinder 104 receives the height data of the bottom surface of the curved workpiece measured by the light distance measuring device 105, and uses the electric cylinder 104 to control the infrared heater 106 to adjust the height position, so that the heating degree of each infrared heater 106 to the curved workpiece is close, which helps to avoid excessive temperature difference on the lower surface of the curved workpiece, such as Figure 4As shown, the output end of the infrared heater 106 is at the installation position of the light distance measurer 105, and the structure appearance is only a schematic diagram. During actual implementation, the position needs to be adjusted according to the actual specifications of the curved workpiece targeted by the device. The infrared heater 106 is used to perform infrared heating on the welding area of the curved workpiece, so that the temperature of the welding area of the curved workpiece rises rapidly. When preheated to 100 °C, the porosity can be reduced from 5% to 0.5%. At the same time, preheating improves the tissue uniformity of the fusion zone, and the tensile strength increases by 10 - 20%. When preheated to 100 - 200 °C, hydrogen can diffuse and escape, which helps to reduce the risk of cold cracks. At the same time, preheating can reduce the temperature difference between the molten pool and the base metal and avoid the formation of brittle phases.

[0025] An induction plate 107 for controlling the opening and closing of the infrared heater 106 is fixedly arranged on the mounting plate 103. A driving spring 108 is fixedly connected between the mounting plate 103 and the limit seat 5. A placement opening 501 for movably placing the curved workpiece is provided on the limit seat 5. Both sides of the lower end of the limit seat 5 are slidably sleeved with a first slider 502 and a second slider 503 through chutes, thereby restricting the movement trajectories of the first slider 502 and the second slider 503, and ensuring the unidirectionality of the first slider 502 and the second slider 503.

[0026] Both sides of the lower end of the limit seat 5 are provided with mounting shafts 504 located between the first slider 502 and the second slider 503. The mounting shafts 504 are installed with rotating plates 505 through damping bearings, so that the rotating plates 505 remain stable when not affected by external forces.

[0027] A first sliding plate 506 and a second sliding plate 507 are respectively fixedly connected to the first slider 502 and the second slider 503. The first sliding plate 506 is installed with a second guiding column 509 pin-connected to the lower end of the rotating plate 505 through a chute. The second sliding plate 507 is installed with a first guiding column 508 pin-connected to the upper end of the rotating plate 505 through a chute. A closing plate 510 for shielding the infrared heater 106 is fixedly connected to the first slider 502. The molten metal in the molten pool scatters due to the action of arc force, surface tension or air flow, forming tiny particles. These tiny particles are extremely likely to adhere to the infrared heater 106 and the light distance measurer 105 under the action of gravity, causing damage to the service performance of the two. Therefore, shielding by the closing plate 510 can effectively prevent these tiny particles from damaging the infrared heater 106 and the light distance measurer 105. A connecting plate 511 fixedly connected to the mounting plate 103 is fixedly connected to the second slider 503. Both the closing plate 510 and the connecting plate 511 are in a U-shaped structure.

[0028] The clamping work area on the limit seat 5 is equipped with multiple corresponding upper and lower contact rods 6 for contacting the workpiece curved surface and an airbag clamp 7 for the adaptive curved workpiece. The top of the contact rod 6 is a carbide ball head. The hardness of carbide is much higher than that of ordinary tool steel, and the wear resistance is improved by 5-10 times. In high-frequency clamping processing, the life of the ball head can exceed 100,000 times, reducing the frequency of replacement. At the same time, carbide still maintains high hardness at 800°C, avoiding positioning misalignment caused by thermal softening during welding or high-temperature processing. Spherical contact reduces stress concentration. The contact stress formula is as follows:

[0029] Among them, increasing the radius R of the ball head can reduce the maximum contact stress (for example, when R=5mm, the stress is reduced by 60% compared with the flat head). The carbide ball head is connected to the resistance rod 6 through a universal joint, so that the carbide ball head allows the contact point normal to be automatically adjusted (±15° inclination) to adapt to sudden changes in the curvature of the surface. The carbide ball head and the curved workpiece are theoretically in point contact, eliminating positioning interference caused by manufacturing errors in surface contact.

[0030] Multiple resistance rods 6 are arranged in a rectangular and equidistant manner on the bottom end of the placement opening 501, and contact the lower surface of the curved workpiece through the carbide ball head to establish a high-precision geometric reference to ensure the initial position certainty of the curved workpiece in the limit seat 5.

[0031] The lower end of the limit seat 5 is provided with an active chamber 601 for slidingly fitting the resistance rod 6, and the lower end of the limit seat 5 is provided with a hydraulic chamber 602 filled with hydraulic oil and connected to the active chamber 601. The bottom end of the resistance rod 6 is fixedly connected to a piston 603. It should be noted that: there is a certain space between the initial position of the piston 603 and the hydraulic oil, so the initial position of the piston 603 is not in contact with the hydraulic oil. The resistance rod 6 contacts the curved workpiece and moves downward under the influence of the dead weight of the curved workpiece. However, since the curved workpiece has a more complex curved surface, the movement stroke of each resistance rod 6 is different. By leaving a certain active space between the piston 603 and the hydraulic oil, the spatial influence caused by the different movement strokes of each resistance rod 6 is compensated. The resistance rod 6 realizes a sliding seal with the active chamber 601 through the piston 603. At the same time, the incompressibility of the hydraulic oil is utilized to prevent the resistance rod 6 from continuing to move downward after each piston 603 comes into contact with the hydraulic oil, thereby ensuring the position stability of the resistance rod 6 after the positioning is completed.

[0032] A return spring 604 is fixedly connected between the piston 603 and the top of the movable chamber 601. Through the elastic force of the return spring 604, the resistance rod 6 drives the piston 603 to move toward the initial state until it is reset when not affected by external forces.

[0033] The airbag fixture 7 is composed of an airbag main body 701 and an air source system 702. The airbag main body 701 is made of rubber, with nylon fibers embedded to improve tear resistance, and silicone is used as an elastic coating to avoid direct contact between the airbag main body 701 and the curved workpiece, which helps to extend the service life of the airbag main body 701. The airbag main body 701 is connected to the air source system 702 through a telescopic air pipe. The air source system 702 consists of an air pump, a pressure regulating valve, a solenoid valve, an air storage tank and a controller. The air pump is used to compress air, the pressure regulating valve is used to precisely control the inflation pressure, the solenoid valve is used for rapid inflation or exhaust, the air storage tank is used to stabilize the air pressure fluctuation and improve the system response speed, the controller adopts a PLC system, and the air pressure is regulated through a PID algorithm.

[0034] At the top of the placement port 501, an airbag bracket 703 for restricting the excessive expansion of the airbag main body 701 is fixedly connected. The airbag bracket 703 is a rectangular body structure with multiple rectangular grooves opened inside and each groove penetrating the front and rear end faces. The airbag main body 701 is provided with a plurality of independent air chambers corresponding to the airbag bracket 703. Each independent air chamber is equipped with a solenoid valve. At the same time, a pressure sensor for detecting the air pressure value is embedded inside each independent air chamber, and a flexible pressure distribution sensor for monitoring the uniformity of the contact pressure is attached to the surface of each independent air chamber. When the flexible pressure distribution sensor of one independent air chamber detects abnormal pressure change due to the height limit of the curved surface of the curved workpiece and cannot continue to move down, the solenoid valve will control the closure of this independent air chamber and stop further inflation. The air source system 702 will continue to supply gas to other independent air chambers, causing other independent air chambers to continue to expand. At the same time, since there is one less independent air chamber that needs to be supplied with gas but the gas supply speed remains unchanged, the inflation speed of other independent air chambers is accelerated until all independent air chambers are in a closed state. And through the corresponding resistance and limit of different curved surface heights of the curved workpiece by multiple independent air chambers, the airbag fixture 7 can adapt to more complex curved workpieces. At the same time, through the flexible resistance of the airbag main body 701, it helps to improve the fitting degree between the airbag main body 701 and the curved workpiece.

[0035] When using this welding device, operate according to the following steps: Step S1: Place the curved surface workpiece in the placement opening 501 so that the curved surface workpiece is placed on the contact rod 6. The contact rod 6 moves downward under the influence of the weight of the curved surface workpiece. The contact rod 6 drives the reset spring 604 to extend structurally. The contact rod 6 drives the piston 603 to squeeze the hydraulic oil. Since the clamped end of the curved surface workpiece itself has a relatively complex curved surface, the deformation degrees of each contact rod 6 are different. The initial distance between the piston 603 and the hydraulic oil is used to compensate for the different deformation distances generated by each contact rod 6, so that the contact rod 6 realizes the initial rigid positioning of the curved surface workpiece through the cemented carbide ball head. Start the air source system 702 to inflate the airbag main body 701, so that the airbag main body 701 expands downward under the restriction of the airbag bracket 703. The airbag main body 701 inflates and fits the back of the curved surface workpiece, applying a uniform normal clamping force in the pressure range of 0.1 - 0.8 MPa to compensate for the curved surface shape error, thereby avoiding hard contact impact; Step S2: Start the bidirectional moving slide 4 to drive the limit seat 5 to move horizontally towards each other. The limit seat 5 drives the mounting plate 103 to move horizontally through the driving spring 108. Start the light distance measurer 105 to make the light distance measurer 105 emit light to measure the height of the bottom curved surface of the curved surface workpiece. The electric cylinder 104 receives the height data of the bottom curved surface of the curved surface workpiece to adjust the height position of the infrared heater 106 through the electric cylinder 104. Start the infrared heater 106 and turn off the light distance measurer 105. Heat the curved surface workpiece through the infrared heater 106 to evaporate the water droplets on the curved surface workpiece. When the two induction plates 107 are in contact with each other, the infrared heater 106 is turned off. At this time, the driving spring 108 can no longer drive the mounting plate 103 to move, but the limit seat 5 is still moving. Therefore, the mounting plate 103 will generate a reaction force, causing the driving spring 108 to contract structurally. At the same time, the mounting plate 103 will drive the connecting plate 511 to move horizontally. The connecting plate 511 drives the second slider 503 to move horizontally. The second slider 503 drives the rotating plate 505 to rotate based on the mounting shaft 504 through the first sliding plate 506. At this time, the lower end of the rotating plate 505 drives the second guide post 509 to move vertically downward on the first sliding plate 506, and the upper end of the rotating plate 505 drives the first guide post 508 to move vertically upward on the second sliding plate 507. The rotating plate 505 drives the first slider 502 to move horizontally through the second sliding plate 507. The first slider 502 drives the closing plate 510 to move horizontally, so that the closing plate 510 is in contact with the induction plate 107 to block the infrared heater 106 through the closing plate 510. At this time, the two curved surface workpieces are in contact with each other; Step S3: Activate the sensor module 3 to analyze the surface deformation data of the area to be welded on the curved workpiece below, generate a real-time compensation path through an algorithm, adjust the welding parameters, and at the same time activate the xy-axis moving platform 201 to adjust the horizontal position of the welding gun 210 in the xy-axis direction. Activate the first motor 204 to drive the connecting column 205 to rotate, thereby driving the welding gun 210 to rotate around the y-axis. Activate the second motor 207 to drive the mounting column 208, thereby driving the welding gun 210 to rotate around the x-axis, so as to adjust the posture of the welding gun 210, and thus ensure that the welding gun 210 can perform targeted welding on the curved workpiece. Embodiment 2

[0036] Reference Figures 1 to 9 As shown in the figure, the structure of this embodiment is basically the same as that of Embodiment 1, and the difference lies in that: the sensor module 3 uses a 3D vision sensor as the technical means to obtain the curved surface point cloud data. The specific implementation method is as follows: The 3D vision sensor uses the structured light method to obtain the curved surface point cloud data. The 3D vision sensor projects a coded grating onto the object, captures the deformed grating through at least two cameras, and generates a three-dimensional model by combining triangulation and phase resolution. Its accuracy can reach the micron level, but the measurement range is small. Therefore, this embodiment is more suitable for the welding work of curved workpieces with smaller size specifications compared to Embodiment 1.

[0037] As described above, the above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. An adaptive adjustment complex surface welding device, characterized in that The welding device includes: A workbench (1) on which a bidirectional moving slide (4) is installed; A limit seat (5) installed on the bidirectional moving slide (4). Inside the working area of the limit seat (5), there are multiple abutting rods (6) and an airbag fixture (7) adapted to the curved workpiece. The airbag fixture (7) is located above the abutting rods (6); A welding mechanism (2) installed above the welding area of the workbench (1). The welding mechanism (2) is used to perform welding operations; A sensor module (3) connected to the welding mechanism (2). The sensor module (3) is configured to feedback data to the welding mechanism (2) to dynamically adjust the welding path and parameters.

2. An adaptive adjustment complex curved surface welding device according to claim 1, characterized in that, The welding mechanism (2) includes: An xy-axis moving platform (201) installed on the mounting frame (101); A cylinder (202) installed on the xy-axis moving platform (201); A first bracket (203) fixedly connected to the output end of the cylinder (202); A first motor (204) provided on the first bracket (203) and a connecting column (205) driven to rotate by the first motor (204); A second bracket (206) fixedly connected to the bottom end of the connecting column (205); A second motor (207) provided on the second bracket (206) and a mounting column (208) driven to rotate by the second motor (207); A power supply system (209) fixedly installed on the top end of the first bracket (203); A welding gun (210) fixedly installed on the bottom end of the mounting column (208) and electrically connected to the power supply system (209).

3. An adaptive adjustment complex surface welding device according to claim 2, characterized in that, The first bracket (203) and the second bracket (206) are orthogonally distributed in a cross shape on the vertical axis. The sensor module (3) is fixedly installed on the bottom end of the mounting column (208).

4. An adaptive adjustment complex surface welding device according to claim 3, characterized in that, On the upper surface of the workbench (1), a mounting frame (101) is fixedly connected. The workbench (1) is slidably installed with two groups of symmetrically arranged movable blocks (102) through chutes. On each group of movable blocks (102), a mounting plate (103) is fixedly connected. On the upper surface of the mounting plate (103), a plurality of electric cylinders (104) and light distance measuring devices (105) are installed through grooves. The output end of the electric cylinder (104) is fixedly connected to an infrared heater (106). An induction plate (107) for controlling the opening and closing of the infrared heater (106) is fixedly arranged on the mounting plate (103). A driving spring (108) is fixedly connected between the mounting plate (103) and the limit seat (5).

5. An adaptive adjustment complex surface welding device according to claim 4, characterized in that, The limiting seat (5) is provided with a placement opening (501) for movably placing a curved workpiece. The lower end of the limiting seat (5) is provided with a first slider (502) and a second slider (503) on both sides thereof through a sliding groove. The lower end of the limiting seat (5) is provided with a mounting shaft (504) located between the first slider (502) and the second slider (503). The mounting shaft (504) is provided with a rotating plate (505) through a damping bearing. The first slider (502) and the second slider (503) are respectively fixed on the first slider (502) and the second slider (503). A first slide plate (506) and a second slide plate (507) are fixedly connected, and a second guide column (509) and a first guide column (508) connected to the pins at both ends of the rotating plate (505) are respectively installed on the first slide plate (506) and the second slide plate (507) through a slide groove. A closing plate (510) for shielding the infrared heater (106) is fixedly connected to the first slider (502), and a connecting plate (511) fixedly connected to the mounting plate (103) is fixedly connected to the second slider (503).

6. The adaptive adjustment complex surface welding device according to claim 5, wherein, The closing plate (510) and the connecting plate (511) are both 匚-shaped structures.

7. An adaptive adjustment complex surface welding device according to claim 6, characterized in that, The top end of the interference rod (6) is a hard alloy ball head, and a plurality of the interference rods (6) are arranged in a rectangular and equidistant manner on the bottom end of the placement opening (501).

8. An adaptive adjustment complex surface welding device according to claim 7, characterized in that, The lower end of the limiting seat (5) is provided with an active cavity (601) for slidingly fitting the interference rod (6), the lower end of the limiting seat (5) is provided with a hydraulic cavity (602) filled with hydraulic oil and connected to the active cavity (601), the bottom end of the interference rod (6) is fixedly connected with a piston (603) away from the hydraulic oil, the interference rod (6) realizes a sliding seal with the active cavity (601) through the piston (603), and a return spring (604) is fixedly connected between the piston (603) and the top end of the active cavity (601).

9. An adaptive adjustment complex curved surface welding device according to claim 8, characterized in that, The airbag clamp (7) is composed of an airbag body (701) and an air source system (702), wherein the airbag body (701) and the air source system (702) are connected via a telescopic air tube, and the air source system (702) is composed of an air pump, a pressure regulating valve, a solenoid valve, an air tank and a controller. An airbag bracket (703) for limiting excessive expansion of the airbag body (701) is fixedly connected to the top of the placement port (501), and the airbag bracket (703) is a rectangular body structure with a plurality of rectangular grooves provided inside and each groove passing through the front and rear end surfaces. The airbag body (701) is provided with a plurality of independent air chambers corresponding to the airbag bracket (703), each of the independent air chambers is equipped with a solenoid valve, and a pressure sensor for detecting air pressure value is embedded in the interior of each independent air chamber, and a flexible pressure distribution sensor for monitoring contact pressure uniformity is attached to the surface of each independent air chamber.

10. The method of using the adaptive adjustment complex curved surface welding device according to claim 9 above, characterized in that, The method comprises the following steps: Step S1, place the curved workpiece into the placement opening (501) so that the curved workpiece is placed on the abutting rod (6). The abutting rod (6) moves downward under the influence of the weight of the curved workpiece. The abutting rod (6) drives the reset spring (604) to extend structurally. The abutting rod (6) drives the piston (603) to squeeze the hydraulic oil. Since the clamped end of the curved workpiece itself has a relatively complex curved surface, the deformation degree of the abutting rod (6) is different. The initial distance between the piston (603) and the hydraulic oil is used to compensate for the different deformation distances generated by each abutting rod (6), so that the abutting rod (6) realizes the initial rigid positioning of the curved workpiece through the cemented carbide ball head. Start the air source system (702) to inflate the airbag main body (701), so that the airbag main body (701) expands downward under the restriction of the airbag bracket (703). The airbag main body (701) inflates and fits the back of the curved workpiece, applying a uniform normal clamping force in the pressure range of 0.1 - 0.8 MPa to compensate for the curved surface shape error, thereby avoiding hard contact impact; Step S2, start the bidirectional moving slide table (4) to drive the limit seat (5) to move horizontally towards each other. The limit seat (5) drives the mounting plate (103) to move horizontally through the driving spring (108). Start the light distance measurer (105) to make the light distance measurer (105) emit light to measure the height of the bottom curved surface of the curved workpiece. The electric cylinder (104) receives the height data of the bottom curved surface of the curved workpiece to adjust the height position of the infrared heater (106) through the electric cylinder (104). Start the infrared heater (106) and turn off the light distance measurer (105). Heat the curved workpiece through the infrared heater (106) to evaporate the water droplets on the curved workpiece. When the two induction plates (107) are in contact with each other, the infrared heater (106) is turned off. At this time, the driving spring (108) cannot continue to drive the mounting plate (103) to move, but the limit seat (5) is still moving. Therefore, the mounting plate (103) will generate a reaction force, causing the driving spring (108) to contract structurally. At the same time, the mounting plate (103) will drive the connecting plate (511) to move horizontally. The connecting plate (511) drives the second slider (503) to move horizontally. The second slider (503) drives the rotating plate (505) to rotate based on the mounting shaft (504) through the first slide plate (506). At this time, the lower end of the rotating plate (505) drives the second guide post (509) to move vertically downward on the first slide plate (506), and the upper end of the rotating plate (505) drives the first guide post (508) to move vertically upward on the second slide plate (507). The rotating plate (505) drives the first slider (502) to move horizontally through the second slide plate (507). The first slider (502) drives the closing plate (510) to move horizontally, so that the closing plate (510) is in contact with the induction plate (107) to block the infrared heater (106) through the closing plate (510). At this time, the two curved workpieces are in contact with each other; Step S3, start the sensor module (3) to analyze the surface deformation data of the area to be welded on the curved workpiece below, generate a real-time compensation path through an algorithm, adjust the welding parameters, and at the same time start the xy-axis moving platform (201) to adjust the horizontal position of the welding gun (210) in the xy-axis direction. Start the first motor (204) to drive the connecting column (205) to rotate, thereby driving the welding gun (210) to rotate around the y-axis. Start the second motor (207) to drive the mounting column (208), thereby driving the welding gun (210) to rotate around the x-axis, so as to adjust the posture of the welding gun (210), and thus ensure that the welding gun (210) can perform targeted welding on the curved workpiece.

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