An adaptive adjustment device and method for welding complex curved surfaces

Abstract

This invention relates to the field of welding equipment technology, and more particularly to an adaptive adjustment welding device for complex curved surfaces. The device includes a worktable, a welding mechanism mounted above the welding area, and a sensor module connected to the welding mechanism. A bidirectional moving slide is mounted on the worktable, and a limiting seat is mounted on the bidirectional moving slide. Multiple vertically corresponding abutment rods for contacting the curved surface of the workpiece and an airbag clamp for adaptively adjusting the curved surface workpiece are mounted on the limiting seat. In this invention, the sensor module detects the deformation of the workpiece surface and generates a three-dimensional path model. The horizontal position of the welding gun is adjusted via an xy-axis moving platform, and the angle of the welding gun is adjusted in conjunction with a first and second motor. Simultaneously, the height of the welding gun is adjusted via a cylinder. By adjusting the posture of the welding gun, the welding requirements of the complex curved surface workpiece are met, which helps to improve the welding effect of the welding device.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to an adaptive adjustment welding device and method for complex curved surfaces. Background Technology

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

[0003] The existing welding equipment has the following problems in actual use:

[0004] First, traditional welding equipment requires setting a corresponding working path, which makes traditional welding equipment too reliant on the preset path when performing operations. During the assembly of the workpiece, thermal deformation or errors in the workpiece assembly are inevitable, which will cause deformation of the welding surface of the workpiece, resulting in weld deviation or inconsistent penetration depth.

[0005] Secondly, some of the workpieces that need to be welded during the production process have curved surfaces. Traditional workpiece fixtures cannot adapt to the changes in complex curved surfaces, and the traditional fixture design is too rigid, which cannot fit the curved surface. Local stress concentration makes the workpiece easily deformed under pressure, and it lacks a flexible support structure, making it difficult to achieve multi-point uniform force. Summary of the Invention

[0006] The purpose of this invention is to solve the problems in the prior art where the welding path of the welding device cannot be adjusted in real time and the traditional fixture design is too rigid and cannot fit the curved surface. Therefore, an adaptive adjustment complex curved surface welding device and method are proposed.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An adaptive adjustment welding apparatus and method for complex curved surfaces, the welding apparatus comprising:

[0009] The workbench is equipped with a bidirectional movable slide.

[0010] A limiting seat is fixed on the bidirectional moving slide. The working area of ​​the limiting seat is provided with multiple abutment rods and an airbag clamp for the adaptive curved surface workpiece. The airbag clamp is located above the abutment rods.

[0011] A welding mechanism is installed above the welding area of ​​the workbench, and the welding mechanism is used to perform welding operations;

[0012] A sensor module connected to the welding mechanism is configured to feed back data to the welding mechanism to dynamically adjust the welding path and parameters.

[0013] Preferably, the welding mechanism includes:

[0014] An xy-axis moving platform mounted on the mounting bracket;

[0015] Cylinders mounted on the xy-axis moving platform;

[0016] A first bracket fixedly connected to the output end of the cylinder;

[0017] A first motor mounted on the first bracket and a connecting column driven to rotate by the first motor;

[0018] A second bracket is fixedly connected to the bottom end of the connecting column;

[0019] A second motor mounted on the second bracket and a mounting column driven to rotate by the second motor;

[0020] A power supply system that is fixedly installed on the top of the first bracket;

[0021] A welding gun that is fixedly installed on the bottom end of the mounting column and electrically connected to the power supply system.

[0022] Preferably, the first bracket and the second bracket are orthogonally cross-shaped on the vertical axis, and the sensor module is fixedly installed on the bottom end of the mounting column.

[0023] Preferably, a mounting frame is fixedly connected to the upper surface of the workbench, and two sets of symmetrically arranged movable blocks are slidably mounted on the workbench via a slide groove. A mounting plate is fixedly connected to each set of movable blocks. Multiple electric cylinders and a light rangefinder are mounted on the upper surface of the mounting plate via a groove. An infrared heater is fixedly connected to the output end of the electric cylinder. A sensing plate for controlling the opening and closing of the infrared heater is fixedly installed on the mounting plate. A drive spring is fixedly connected between the mounting plate and the limiting seat.

[0024] Preferably, the limiting seat has a placement opening for movably placing curved workpieces. A first slider and a second slider are slidably mounted on both sides of the lower end of the limiting seat via sliding grooves. An installation shaft is provided on both sides of the lower end of the limiting seat between the first slider and the second slider. A rotating plate is mounted on the installation shaft via a damping bearing. A first sliding plate and a second sliding plate are fixedly connected to the first slider and the second slider, respectively. A second guide post and a first guide post, connected to pins at both ends of the rotating plate, are respectively mounted on the first sliding plate and the second sliding plate via sliding grooves. A sealing plate for shielding the infrared heater is fixedly connected to the first slider, and a connecting plate fixedly connected to the mounting plate is fixedly connected to the second slider.

[0025] Preferably, both the sealing plate and the connecting plate have a c-shaped structure.

[0026] Preferably, the top of the abutment rod is a hard alloy ball head, and multiple abutment rods are arranged in a rectangular equidistant pattern on the bottom of the placement opening.

[0027] Preferably, the lower end of the limiting seat has a movable cavity for slidingly mounting the abutment rod, and the lower end of the limiting seat has a hydraulic cavity for filling with hydraulic oil and communicating with the movable cavity. The bottom end of the abutment rod is fixedly connected to a piston away from the hydraulic oil, and the abutment rod achieves a sliding seal with the movable cavity through the piston. A return spring is fixedly connected between the piston and the top end of the movable cavity.

[0028] Preferably, the airbag clamp consists of an airbag body and an air source system, which are connected by a telescopic air tube. The air source system consists of an air pump, a pressure regulating valve, a solenoid valve, an air tank, and a controller. An airbag support for limiting excessive inflation of the airbag body is fixedly connected to the top of the placement port. The airbag support is a rectangular structure with multiple rectangular slots inside, each slot penetrating the front and rear ends. The airbag body is provided with multiple independent air chambers corresponding to the airbag support. Each independent air chamber is equipped with a solenoid valve. At the same time, a pressure sensor for detecting air pressure is embedded inside 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.

[0029] A method of using a complex curved surface welding apparatus that adaptively adjusts as described above is provided, the method comprising the following steps:

[0030] Step S1: Place the curved workpiece in the placement opening, so that the curved workpiece rests on the abutment rod. The abutment rod moves downward due to the weight of the curved workpiece. The abutment rod drives the return spring to extend the structure. The abutment 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 abutment rod is different. The initial distance between the piston and the hydraulic oil is used to compensate for the different deformation distances generated by each abutment rod, so that the abutment rod achieves initial rigid positioning of the curved workpiece through the hard alloy ball head. Start the air source system to inflate the airbag body, so that the airbag body expands downward under the restriction of the airbag support. The inflated airbag body fits against the back of the curved workpiece, applying a uniform normal clamping force pressure range of 0.1-0.8MPa to compensate for the curved surface shape error, thereby avoiding hard contact impact.

[0031] Step S2: The bidirectional moving slide is activated, driving the limiting seat to move horizontally towards each other. The limiting seat, via a drive spring, drives the mounting plate to move horizontally. The optical rangefinder is activated, emitting 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, adjusting the height of the infrared heater. The infrared heater is activated, and the optical rangefinder is turned off. The infrared heater heats the curved workpiece, evaporating water droplets on it. When the two sensing plates move in opposition, the infrared heater is turned off. At this point, the drive spring can no longer drive the mounting plate, but the limiting seat continues to move. The mounting plate generates a reaction force, causing the drive spring to contract. Simultaneously, the mounting plate drives the connecting plate to move horizontally, which in turn drives the second slider to move horizontally. The second slider, through the first sliding plate, drives the rotating plate to rotate based on the mounting shaft. At this time, the lower end of the rotating plate drives the second guide post to move vertically downward on the first sliding plate, while the upper end of the rotating plate drives the first guide post to move vertically upward on the second sliding plate. The rotating plate, through the second sliding plate, drives the first slider to move horizontally, which in turn drives the sealing plate to move horizontally, causing the sealing plate to move against the sensing plate to block the infrared heater. At this time, the two curved workpieces are in contact.

[0032] Step S3: The sensor module is activated to analyze the surface deformation data of the area to be welded on the curved workpiece below, and generates a real-time compensation path through an algorithm to adjust the welding parameters. At the same time, the xy-axis moving platform is activated to adjust the horizontal position of the welding gun in the xy-axis direction. The first motor is activated to drive the connecting column to rotate, thereby driving the welding gun to rotate in the y-axis. The second motor is activated to drive the mounting column, thereby driving the welding gun to rotate in the x-axis, thereby adjusting the posture of the welding gun, so as to ensure that the welding gun can perform targeted welding on the curved workpiece.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. In this invention, the deformation of the workpiece surface is detected by a sensor module and a three-dimensional path model is generated. The horizontal position of the welding gun is adjusted by the xy-axis moving platform, and the angle of the welding gun is adjusted by the first motor and the second motor. 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 workpieces can be met, which helps to improve the welding effect of the welding device.

[0035] 2. This invention achieves initial rigid positioning of curved workpieces through discrete contact points, ensuring datum accuracy. At the same time, the airbag body inflates and fits against the back of the curved workpiece, applying a uniform normal clamping force to compensate for surface shape errors. The rigid positioning of the contact rod and the flexible pressure of the airbag body form a rigid-flexible coupling mechanism, which helps to improve the accuracy and adaptability in the clamping process of complex curved surfaces.

[0036] 3. In this invention, an infrared heater is used to preheat the curved workpiece at the welding point. At the same time, a light rangefinder is used to measure the height of the lower surface of the curved workpiece, and an electric cylinder is controlled to adjust the height of the infrared heater. This ensures that the curved workpiece is heated evenly and avoids large temperature differences on the surface of the curved workpiece. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure proposed in this invention;

[0038] Figure 2 This is a schematic diagram of the component connection structure at the limiting seat proposed in this invention;

[0039] Figure 3 For the present invention Figure 2 A schematic diagram of the part structure after removing the limit seat;

[0040] Figure 4 This is a cross-sectional view of the mounting plate proposed in this invention;

[0041] Figure 5 This is a schematic diagram of the connection structure between the limiting seat, the contact rod, and the airbag clamp proposed in this invention.

[0042] Figure 6 For the present invention Figure 5 The sectional view proposed in the paper;

[0043] Figure 7 For the present invention Figure 6 A schematic diagram of the locally enlarged structure A proposed in the paper;

[0044] Figure 8 This is a schematic diagram of the connection structure between the mounting frame and the welding mechanism proposed in this invention;

[0045] Figure 9 For the present invention Figure 8 A schematic diagram of the B-part enlarged structure proposed in the paper.

[0046] In the picture:

[0047] 1. Workbench; 101. Mounting bracket; 102. Movable block; 103. Mounting plate; 104. Electric cylinder; 105. Light rangefinder; 106. Infrared heater; 107. Induction plate; 108. Drive spring;

[0048] 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;

[0049] 3. Sensor module;

[0050] 4. Two-way moving slide;

[0051] 5. Limiting seat; 501. Placement port; 502. First slider; 503. Second slider; 504. Mounting shaft; 505. Rotating plate; 506. First sliding plate; 507. Second sliding plate; 508. First guide post; 509. Second guide post; 510. Closing plate; 511. Connecting plate;

[0052] 6. Abutment rod; 601. Movable cavity; 602. Hydraulic cavity; 603. Piston; 604. Return spring;

[0053] 7. Airbag clamp; 701. Airbag body; 702. Air supply system; 703. Airbag support. Detailed Implementation

[0054] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0055] The present invention provides the following preferred embodiments: Example 1

[0056] refer to Figures 1 to 9As shown, this embodiment provides an adaptive adjustment complex curved surface welding device. The welding device includes a worktable 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 consists of a laser scanner, a weld seam tracking sensor, an environmental sensor, an embedded controller, and a communication interface. The laser scanner uses a PID control algorithm and acquires curved surface point cloud data using laser triangulation. The weld seam tracking sensor is used to detect weld seam position deviation. The environmental sensor is used to monitor interference factors such as temperature and vibration. The embedded controller is used for path planning and control algorithms. The communication interface is used to realize real-time data interaction between the sensors and the actuator. The sensor module 3 matches the actual workpiece with the CAD model using the ICP algorithm to compensate for... The positioning error is continuously scanned during the welding process to identify surface changes caused by thermal deformation, update the path model, and simultaneously adopt a real-time operating system and FPGA hardware acceleration algorithm. The control model is simplified to reduce computational latency, thereby enabling real-time calling of the model to predict current and wire feed speed. The model parameters are updated based on the weld morphology detection results, and the welding mechanism 2 is controlled to perform corresponding operations, which helps to ensure the welding quality of curved workpiece products. The upper surface of the worktable 1 is fixedly connected to the mounting bracket 101. 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 set as follows:

[0057] The xy-axis moving platform 201 is mounted on the mounting bracket 101. The xy-axis moving platform 201 has a cross slide structure and consists of two sets of transmission mechanisms, a guiding system, a drive unit, a control system, a cooling system, and a torque monitoring system.

[0058] Cylinder 202 is mounted on the xy-axis moving platform 201. A first bracket 203 is fixedly connected to the output end of cylinder 202. A first motor 204 is fixedly mounted on the first bracket 203. A connecting column 205 is rotatably mounted on the first bracket 203 and is driven to rotate by the first motor 204. A 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-shaped on the vertical axis. A second motor 207 is fixedly mounted on the second bracket 206. A mounting column 208 is rotatably mounted on the second bracket 201. On the 06, the mounting column 208 is driven to rotate by the second motor 207. The sensor module 3 is fixedly installed on 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 on the bottom end of the mounting column 208 and electrically connected to the power supply system 209. The posture of the welding gun 210 is adjusted in multiple dimensions through the xy axis moving platform 201, cylinder 202, first motor 204 and second motor 207. With the cooperation of the sensor module 3, the welding gun 210 can adjust the corresponding working path according to the actual situation of the curved workpiece.

[0059] A bidirectional sliding slide 4 is installed on the worktable 1. The bidirectional sliding slide 4 consists of a bidirectional transmission mechanism, a guiding system, a drive unit, a control system, a cooling system, and a torque monitoring system. A limit seat 5 is installed on the bidirectional sliding slide 4. A mounting bracket 101 is fixedly connected to the upper surface of the worktable 1. Two sets of symmetrically arranged movable blocks 102 are slidably installed on the worktable 1 via a slide groove. A mounting plate 103 is fixedly connected to each set of movable blocks 102. Multiple electric cylinders 104 and a light rangefinder 105 are installed on the upper surface of the mounting plate 103 via a groove. An infrared heater 106 is fixedly connected to the output end of the electric cylinder 104. It should be noted that the output endpoint of the infrared heater 106 is near the output endpoint of the light rangefinder 105. The light emitted by the light rangefinder 105 is tilted towards the limiting seat 5. The specific tilt angle needs to be adjusted according to the actual specifications of the curved workpiece being targeted by the device during actual implementation. At the same time, the electric cylinder 104 receives the height data of the bottom curved surface of the curved workpiece measured by the light rangefinder 105, and uses the electric cylinder 104 to control the infrared heater 106 to adjust its height position, so that the heating degree of each infrared heater 106 on the curved workpiece is similar, which helps to avoid excessive temperature difference on the lower surface of the curved workpiece. Figure 4As shown, the installation position and structural appearance of the infrared heater 106 output endpoint to the light rangefinder 105 are only schematic diagrams. In actual implementation, the position needs to be adjusted according to the actual specifications of the curved workpiece to which the device is applied. The infrared heater 106 heats the curved workpiece to be welded with infrared rays, causing the temperature of the curved workpiece to be welded to rise rapidly. Preheating to 100°C can reduce the porosity from 5% to 0.5%. At the same time, preheating improves the uniformity of the fusion zone structure and increases the tensile strength by 10-20%. Preheating to 100-200°C can allow hydrogen to diffuse out, which helps to reduce the risk of cold cracking. At the same time, preheating can reduce the temperature difference between the molten pool and the base material, avoiding the formation of brittle phases.

[0060] A sensing plate 107 for controlling the opening and closing of the infrared heater 106 is fixedly installed on the mounting plate 103. A drive spring 108 is fixedly connected between the mounting plate 103 and the limiting seat 5. The limiting seat 5 has a placement opening 501 for movably placing curved workpieces. The first slider 502 and the second slider 503 are slidably mounted on both sides of the lower end of the limiting seat 5 through sliding grooves, thereby limiting the movement trajectory of the first slider 502 and the second slider 503, thereby ensuring the unidirectionality of the first slider 502 and the second slider 503.

[0061] The lower end of the limit seat 5 is provided with mounting shafts 504 located between the first slider 502 and the second slider 503 on both sides. The mounting shafts 504 are equipped with rotating plates 505 through damping bearings, so that the rotating plates 505 remain stable when not affected by external forces.

[0062] A first sliding plate 506 and a second sliding plate 507 are fixedly connected to the first slider 502 and the second slider 503, respectively. The first sliding plate 506 is equipped with a second guide post 509 connected to the lower end pin of the rotating plate 505 via a sliding groove. The second sliding plate 507 is equipped with a first guide post 508 connected to the upper end pin of the rotating plate 505 via a sliding groove. A sealing plate 510 for shielding the infrared heater 106 is fixedly connected to the first slider 502. Liquid metal in the molten pool is scattered due to arc force, surface tension or airflow, forming tiny particles. These tiny particles are easily attached to the infrared heater 106 and the light rangefinder 105 under the action of gravity, causing damage to their performance. Therefore, the sealing plate 510 can effectively prevent these tiny particles from damaging the infrared heater 106 and the light rangefinder 105. A connecting plate 511 fixedly connected to the second slider 503 is fixedly connected to the mounting plate 103. Both the sealing plate 510 and the connecting plate 511 are of the C-shape structure.

[0063] The clamping working area on the limiting seat 5 is equipped with multiple corresponding upper and lower abutment rods 6 for contacting the curved surface of the workpiece and an airbag clamp 7 for adapting to the curved surface of the workpiece. The top of the abutment rod 6 is a cemented carbide ball head. The hardness of cemented carbide is much higher than that of ordinary tool steel, and its wear resistance is improved by 5-10 times. In high-frequency clamping machining, the ball head can have a life of more than 100,000 cycles, reducing the replacement frequency. At the same time, cemented carbide still maintains high hardness at 800℃, avoiding positioning inaccuracies caused by thermal softening during welding or high-temperature processing. The spherical contact reduces stress concentration. The contact stress formula is as follows:

[0064]

[0065] Increasing the ball head radius R can reduce the maximum contact stress (e.g., when R=5mm, the stress is reduced by 60% compared to the flat head). The carbide ball head is connected to the abutment rod 6 through a universal joint, allowing the carbide ball head to automatically adjust the contact point normal (±15° tilt angle) to adapt to sudden changes in surface curvature. Theoretically, the carbide ball head and the curved workpiece are in point contact, eliminating positioning interference caused by manufacturing errors in surface contact.

[0066] Multiple contact rods 6 are arranged in a rectangular equidistant pattern on the bottom of the placement port 501. They contact the lower surface of the curved workpiece through the carbide ball head, establishing a high-precision geometric reference and ensuring the initial position determination of the curved workpiece in the limit seat 5.

[0067] The lower end of the limiting seat 5 has an active cavity 601 for sliding the abutment rod 6. The lower end of the limiting seat 5 also has a hydraulic cavity 602 that is filled with hydraulic oil and connected to the active cavity 601. The bottom end of the abutment rod 6 is fixedly connected to a piston 603. It should be noted that there is a certain space between the piston 603 and the hydraulic oil at the initial position. Therefore, the piston 603 does not contact the hydraulic oil at the initial position. The abutment rod 6 moves downward under the influence of the weight of the curved workpiece after contacting it. However, since the curved workpiece has a relatively complex surface, the stroke of each abutment rod 6 is different. By leaving a certain amount of space between the piston 603 and the hydraulic oil, the spatial influence caused by the different strokes of each abutment rod 6 is compensated. The abutment rod 6 achieves a sliding seal with the active cavity 601 through the piston 603. At the same time, by utilizing the incompressibility of the hydraulic oil, the abutment rod 6 cannot continue to move downward after each piston 603 has contacted the hydraulic oil, thereby ensuring the positional stability of the abutment rod 6 after positioning.

[0068] 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 abutment rod 6 drives the piston 603 to move towards the initial state until it is reset when it is not affected by external force.

[0069] The airbag clamp 7 consists of an airbag body 701 and an air supply system 702. The airbag body 701 is made of rubber and has embedded nylon fibers to improve tear resistance. Silicone is used as an elastic coating to avoid direct contact between the airbag body 701 and the curved workpiece, which helps to extend the service life of the airbag body 701. The airbag body 701 and the air supply system 702 are connected by a telescopic air tube. The air supply system 702 consists of an air pump, a pressure regulating valve, a solenoid valve, an air 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 deflation, the air tank is used to stabilize air pressure fluctuations and improve system response speed, and the controller adopts a PLC system and adjusts the air pressure through a PID algorithm.

[0070] An airbag support 703 is fixedly connected to the top of the placement port 501 to limit excessive inflation of the airbag body 701. The airbag support 703 is a rectangular structure with multiple rectangular slots inside, each slot extending through the front and rear ends. The airbag body 701 is provided with multiple independent air chambers corresponding to the airbag support 703. Each independent air chamber is equipped with a solenoid valve. A pressure sensor for detecting air pressure is embedded inside each independent air chamber. A flexible pressure distribution sensor for monitoring the uniformity of contact pressure is attached to the surface of each independent air chamber. When one of the independent air chambers cannot move further due to the height limitation of the curved surface of the workpiece, the flexible pressure distribution sensor of that independent air chamber... If an abnormal pressure change is detected, the solenoid valve will control the independent air chamber to close and stop expanding. The air supply system 702 will continue to supply gas to other independent air chambers, causing them to continue to expand. Since one less independent air chamber needs to be supplied with gas, but the gas supply speed remains unchanged, the expansion speed of the other independent air chambers will be accelerated until all independent air chambers are closed. Furthermore, by using multiple independent air chambers to provide corresponding contact and limit for different curved heights of the curved workpiece, the airbag clamp 7 can adapt to more complex curved workpieces. At the same time, the flexible contact of the airbag body 701 helps to improve the fit between the airbag body 701 and the curved workpiece.

[0071] When using this welding device, follow these steps:

[0072] Step S1: Place the curved workpiece in the placement port 501, so that the curved workpiece is placed on the abutment rod 6. The abutment rod 6 moves downward due to the weight of the curved workpiece. The abutment rod 6 drives the return spring 604 to extend the structure. The abutment 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 abutment 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 abutment rod 6, so that the abutment rod 6 achieves the initial rigid positioning of the curved workpiece through the hard alloy ball head. Start the air source system 702 to inflate the airbag body 701, so that the airbag body 701 expands downward under the restriction of the airbag bracket 703. The airbag body 701 inflates and expands to fit against the back of the curved workpiece, applying a uniform normal clamping force pressure range of 0.1-0.8MPa to compensate for the curved surface shape error, thereby avoiding hard contact impact.

[0073] Step S2: The bidirectional moving slide 4 is activated, driving the limiting seat 5 to move horizontally towards each other. The limiting seat 5, via the drive spring 108, drives the mounting plate 103 to move horizontally. The light rangefinder 105 is activated, emitting 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 and adjusts the height position of the infrared heater 106. The infrared heater 106 is activated, and the light rangefinder 105 is turned off. The infrared heater 106 heats the curved workpiece to evaporate the water droplets on it. When the two sensing plates 107 move and abut against each other, the infrared heater 106 is turned off. At this time, the drive spring 108 can no longer drive the mounting plate 103 to move, but the limiting seat 5 is still moving. Therefore, the mounting plate 103 will generate a reaction force, causing... When the drive spring 108 contracts, the mounting plate 103 drives 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 via 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 via the second sliding plate 507. The first slider 502 drives the closing plate 510 to move horizontally, so that the closing plate 510 and the sensing plate 107 move against each other, so as to block the infrared heater 106 through the closing plate 510. At this time, the two curved workpieces abut against each other.

[0074] Step S3: The sensor module 3 is activated to analyze the surface deformation data of the area to be welded on the curved workpiece below, and generates a real-time compensation path through an algorithm to adjust the welding parameters. At the same time, the xy-axis moving platform 201 is activated to adjust the horizontal position of the welding gun 210 in the xy-axis direction. The first motor 204 is activated to drive the connecting column 205 to rotate, thereby driving the welding gun 210 to rotate in the y-axis. The second motor 207 is activated to drive the mounting column 208, thereby driving the welding gun 210 to rotate in the x-axis, thereby adjusting the posture of the welding gun 210, so as to ensure that the welding gun 210 can perform targeted welding on the curved workpiece. Example 2

[0075] refer to Figures 1 to 9 As shown, this embodiment has a basically the same structure as Embodiment 1, except that sensor module 3 uses a 3D vision sensor as the technical means to acquire curved surface point cloud data. The specific implementation is as follows: the 3D vision sensor acquires curved surface point cloud data using structured light. The 3D vision sensor projects an coded grating onto the object, and at least two cameras capture the deformed grating. A three-dimensional model is generated by combining triangulation and phase calculation. Its accuracy can reach the micrometer level, but the measurement range is relatively small. Therefore, this embodiment is more suitable for welding curved surface workpieces with smaller dimensions than Embodiment 1.

[0076] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A complex curved surface welding device with adaptive adjustment, characterized in that, The welding apparatus includes: Workbench (1), on which a bidirectional movable slide (4) is installed. The limiting seat (5) is installed on the bidirectional moving slide (4). The working area of ​​the limiting seat (5) is provided with multiple abutting rods (6) and an airbag clamp (7) for adaptive curved surface workpiece. The airbag clamp (7) is located above the abutting rods (6). A welding mechanism (2) is installed above the welding area of ​​the workbench (1), and the welding mechanism (2) is used to perform welding operations; A sensor module (3) connected to the welding mechanism (2) is configured to feed back data to the welding mechanism (2) to dynamically adjust the welding path and parameters; The welding mechanism (2) includes: The xy-axis moving platform (201) is mounted on the mounting bracket (101); Cylinder (202) mounted on the xy-axis moving platform (201); A first bracket (203) is fixedly connected to the output end of the cylinder (202); A first motor (204) is mounted on the first bracket (203) and a connecting column (205) is driven to rotate by the first motor (204); A second bracket (206) is fixedly connected to the bottom end of the connecting column (205); A second motor (207) is mounted on the second bracket (206) and a mounting column (208) is driven to rotate by the second motor (207). A power supply system (209) is fixedly installed on the top of the first bracket (203); A welding gun (210) is fixedly installed on the bottom end of the mounting post (208) and electrically connected to the power supply system (209); A mounting bracket (101) is fixedly connected to the upper surface of the workbench (1). Two sets of symmetrically arranged movable blocks (102) are slidably mounted on the workbench (1) via a slide groove. A mounting plate (103) is fixedly connected to each set of movable blocks (102). Multiple electric cylinders (104) and a light rangefinder (105) are mounted on the upper surface of the mounting plate (103) via a groove. An infrared heater (106) is fixedly connected to the output end of the electric cylinder (104). A sensing plate (107) for controlling the opening and closing of the infrared heater (106) is fixedly installed on the mounting plate (103). A drive spring (108) is fixedly connected between the mounting plate (103) and the limiting seat (5). The limiting seat (5) has a placement opening (501) for movably placing curved workpieces. A first slider (502) and a second slider (503) are slidably mounted on both sides of the lower end of the limiting seat (5) via sliding grooves. Mounting shafts (504) are provided on both sides of the lower end of the limiting seat (5) between the first slider (502) and the second slider (503). Rotating plates (505) are mounted on the mounting shafts (504) via damping bearings. The first slider (502) and the second slider (503) are respectively fixed... A first sliding plate (506) and a second sliding plate (507) are fixedly connected. The first sliding plate (506) and the second sliding plate (507) are respectively equipped with a second guide post (509) and a first guide post (508) connected to the pins at both ends of the rotating plate (505) via a sliding groove. A sealing plate (510) for shielding the infrared heater (106) is fixedly connected to the first slider (502). A connecting plate (511) fixedly connected to the mounting plate (103) is fixedly connected to the second slider (503). The lower end of the limiting seat (5) is provided with an active cavity (601) for slidingly mounting the abutment 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 abutment rod (6) is fixedly connected to a piston (603) away from the hydraulic oil. The abutment rod (6) achieves a sliding seal with the active cavity (601) through the piston (603). A return spring (604) is fixedly connected between the piston (603) and the top end of the active cavity (601).

2. The adaptive adjustment complex curved surface welding device according to claim 1, characterized in that, The first bracket (203) and the second bracket (206) are arranged in an orthogonal cross on the vertical axis, and the sensor module (3) is fixedly installed on the bottom of the mounting column (208).

3. The adaptive adjustment complex curved surface welding device according to claim 2, characterized in that, Both the sealing plate (510) and the connecting plate (511) are of the cubital structure.

4. The adaptive adjustment complex curved surface welding device according to claim 3, characterized in that, The top of the abutment rod (6) is a hard alloy ball head, and multiple abutment rods (6) are arranged in a rectangular equidistant pattern on the bottom of the placement port (501).

5. The adaptive adjustment complex curved surface welding device according to claim 4, characterized in that, The airbag clamp (7) consists of an airbag body (701) and an air source system (702). The airbag body (701) and the air source system (702) are connected by a telescopic air tube. The air source system (702) consists of an air pump, a pressure regulating valve, a solenoid valve, an air tank, and a controller. An airbag support (703) for limiting the excessive expansion of the airbag body (701) is fixedly connected to the top of the placement port (501). The airbag support (703) is a rectangular structure with multiple rectangular slots inside, each slot penetrating the front and rear ends. The airbag body (701) is provided with multiple independent air chambers corresponding to the airbag support (703). Each independent air chamber is equipped with a solenoid valve. At the same time, a pressure sensor for detecting air pressure is embedded inside each independent air chamber. A flexible pressure distribution sensor for monitoring the uniformity of contact pressure is attached to the surface of each independent air chamber.

6. The method of using the adaptive adjustment complex curved surface welding device according to claim 5, characterized in that, The method comprises the following steps: Step S1: Place the curved workpiece in the placement opening (501), so that the curved workpiece rests on the abutment rod (6). The abutment rod (6) moves downward due to the weight of the curved workpiece. The abutment rod (6) drives the return spring (604) to extend its structure. The abutment 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 abutment rod (6) is different. The initial distance between the piston (603) and the hydraulic oil is used to determine the deformation. The different deformation distances generated by each abutment rod (6) are compensated so that the abutment rod (6) achieves initial rigid positioning of the curved workpiece through the hard alloy ball head. The air source system (702) is activated to inflate the airbag body (701), so that the airbag body (701) expands downward under the restriction of the airbag bracket (703). The airbag body (701) expands and fits against the back of the curved workpiece, applying a uniform normal clamping force pressure range of 0.1-0.8MPa to compensate for the 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 drive spring (108). Start the light rangefinder (105) to emit light to measure the height of the bottom surface of the curved workpiece. The electric cylinder (104) receives the height data of the bottom surface of the curved workpiece and adjusts the height position of the infrared heater (106) through the electric cylinder (104). Start the infrared heater (106) and turn off the light rangefinder (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) move against each other, the infrared heater (106) turns off. At this time, the drive 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 drive spring to... (108) Structural shrinkage occurs, and at the same time, the mounting plate (103) will drive the connecting plate (511) to move horizontally. The connecting plate (511) will drive the second slider (503) to move horizontally. The second slider (503) will drive 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) will drive the second guide post (509) to move vertically downward on the first sliding plate (506). The upper end of the rotating plate (505) will drive the first guide post (508) to move vertically upward on the second sliding plate (507). The rotating plate (505) will drive the first slider (502) to move horizontally through the second sliding plate (507). The first slider (502) will drive the closing plate (510) to move horizontally, so that the closing plate (510) and the sensing plate (107) will move against each other, so as to block the infrared heater (106) through the closing plate (510). At this time, the two curved workpieces will abut against 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, 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 (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 in the y-axis. Start the second motor (207) to drive the mounting column (208), thereby driving the welding gun (210) to rotate in the x-axis, thereby adjusting the posture of the welding gun (210) and ensuring that the welding gun (210) can perform targeted welding on the curved workpiece.

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