An apparatus and method for welding a girth seam of an aircraft tubing component

Abstract

The application relates to an annular seam welding device and method for an aviation pipeline part, and belongs to the field of aviation manufacturing and welding technology. The device comprises a support platform, a positioning assembly, a clamp assembly, a welding assembly and a control assembly. The positioning assembly determines the welding seam position through visual identification and laser alignment. The clamp assembly adopts a flexible clamping module and a clamp body to fix the pipeline to be welded. The welding assembly completes the welding operation through a slide rail and a welding gun module. The control assembly realizes accurate control of the movement track and output power of the welding gun module by using a track control module and a heat affected control module. The application can adaptively adjust the clamping according to the inner diameter of the pipeline to be welded, so that deformation is avoided. The welding gun module power is adjusted through temperature monitoring, heat influence is reduced, welding quality stability is improved, the welding effect is further optimized through a circulating cooling system, and the demand of the aviation pipeline part for high-precision and high-quality welding is met.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of aviation manufacturing and welding technology, and particularly relates to a ring seam welding device and method for an aviation pipeline part. BACKGROUND

[0002] The ring seam welding of an aviation pipeline part is an important process in aerospace manufacturing, and the welding quality directly affects the safety and reliability of the aircraft. The ring seam welding technology plays an important role in the manufacturing of aviation pipeline parts, but the existing ring seam welding device and method have certain improvement space in terms of welding precision and welding quality stability, and are difficult to fully meet the demand of the aviation field for high precision and high reliability. The main problem is that: the current ring seam welding technology is mostly focused on the welding of aluminum alloy tanks, and less optimized design is made for the special material properties and structural characteristics of aviation pipeline parts. For example, the aviation pipeline part is mostly thin-walled structure, which makes it difficult to withstand radial force, and if the clamping pressure is too large, it is easy to cause deformation, and the aviation pipeline part mostly uses elbow pipe, and lacks positioning measures in the welding process. In addition, in the welding process of the aviation pipeline part, the control problem of welding deformation and heat effect is more prominent, especially the lack of feedback control measures in the welding process, which affects the stability of the welding quality, and finally affects the structural integrity and reliability of the aviation pipeline part. Therefore, it is necessary to optimize the ring seam welding of the aviation pipeline part to improve the welding quality and welding precision and reduce the influence of heat effect. SUMMARY

[0003] In order to solve the above problems existing in the prior art, the application provides a ring seam welding device and method for an aviation pipeline part. The technical problem to be solved by the application is realized by the following technical scheme:

[0004] The application provides a kind of aviation pipeline parts ring seam welding device, comprising: positioning assembly, clamp assembly, welding assembly and control assembly being arranged on support platform;Wherein, the center area of the support platform is equipped with welding area;The positioning assembly includes visual identification module, laser alignment module and positioning path module, the positioning path module includes: servo motor, screw, guide rail and sliding block, the output of the servo motor is connected with the screw, the guide rail is arranged along the axial direction of the screw, the sliding block is connected with the screw by thread and is slidably connected with the guide rail, the visual identification module is fixed on the sliding block, and the laser alignment module is installed on the visual identification module;The clamp assembly is arranged in the welding area, including clamp body and flexible clamping module, a plurality of clamp bodies are arranged at intervals and clamp the outer wall of the pipeline to be welded, and two flexible clamping modules are embedded in the two ends of the pipeline to be welded respectively;The flexible clamping module includes a plurality of elastic blocks and pressure sensors, and a plurality of elastic blocks are uniformly distributed in the circumferential direction, and the surface of each elastic block is embedded with a pressure sensor;The welding assembly includes a sliding rail and a welding gun module, the sliding rail is fixedly connected with the support platform, and the welding gun module is suspended above the welding area by the sliding rail;The control assembly includes a trajectory control module and a heat affected zone control module, the trajectory control module is electrically connected with the welding assembly, and the heat affected zone control module is electrically connected with the trajectory control module.

[0005] In an embodiment of the application, the visual identification module includes a camera and an image processing unit, the camera is arranged on the sliding block and is electrically connected with the image processing unit through a signal line, and the image processing unit is electrically connected with the control assembly through a signal line;Wherein, the image processing unit is used to identify the weld position according to the image obtained by the camera, the control assembly drives the welding gun module to approach or move away from the weld position along the sliding rail through the trajectory control module according to the weld position;The positioning path module controls the visual identification module and the laser alignment module to approach or move away from the weld position along the guide rail through the servo motor, so that the weld position is located in the scanning range of the laser alignment module.

[0006] In an embodiment of the application, each clamp body includes a support seat and a supporting part, the support seat is detachably arranged on the support platform by bolts;One side of the supporting part is provided with a slope matched with the angle of the pipeline to be welded, and the supporting part is detachably connected with the support seat through the slope;The other side of the supporting part is provided with an arc-shaped groove, and the pipeline to be welded is placed in the arc-shaped groove.

[0007] In one embodiment of the present application, the flexible clamping module is driven by hydraulic pressure to realize the extension and retraction of the elastic blocks, the pressure sensor is used to monitor the pressure data of the elastic blocks in real time, and is electrically connected to the control assembly through a signal line; wherein the control assembly controls the extension and retraction of the elastic blocks through the trajectory control module according to the pressure data.

[0008] In one embodiment of the present application, each flexible clamping module is further connected to a driving part, the driving part includes a ring-shaped buffer part and a driving motor, the flexible clamping module is arranged in the ring-shaped buffer part, and the ring-shaped buffer part is used to absorb the vibration generated when contacting the pipeline to be welded; the flexible clamping module is driven by the driving motor to extend out of the ring-shaped buffer part and penetrate into the pipeline to be welded.

[0009] In one embodiment of the present application, the welding assembly further comprises an energy distribution unit, the energy distribution unit is connected to the welding gun module through an optical fiber, the energy distribution unit comprises a plurality of optical fiber beam splitters and focusing lenses, the optical fiber beam splitters are connected to the light source of the welding gun module through an optical fiber, and the focusing lenses are installed at the front end of the welding gun module and focus laser beams to the welding point through the optical fiber beam splitters.

[0010] In one embodiment of the present application, the heat affected zone control module comprises a temperature control unit and a power controller, the temperature control unit comprises a temperature sensor, the temperature sensor is embedded in the front end of the welding gun module and is electrically connected to the trajectory control module through a signal line, and the power controller is electrically connected to the welding gun module through a signal line; wherein the temperature control unit is used to monitor the temperature data of the weld in real time, and the power controller is used to adjust the output power of the welding gun module according to the temperature data of the welding area.

[0011] In one embodiment of the present application, the annular seam welding device for the aviation pipeline parts further comprises a circulating cooling assembly, the circulating cooling assembly comprises a cooling box, a radiator and cooling nozzles, the cooling box is wrapped outside the welding area, a cooling channel is arranged around in the cooling box, a cooling liquid flows in the cooling channel, and the radiator is arranged at the bottom of the cooling box; the outlet of the cooling channel is communicated with the inlet of the radiator through a pipeline, the outlet of the radiator is communicated with an external cooling liquid storage tank through a pipeline, and the cooling nozzles are uniformly distributed on the inner side of the cooling box and are communicated with the cooling channel through a pipeline.

[0012] In one embodiment of the present application, the heat-affected control module is electrically connected with the trajectory control module through a signal line, for adjusting the movement trajectory and moving speed of the welding gun module according to the temperature data; the heat-affected control module is also used for controlling the cooling power of the circulating cooling assembly according to the temperature data.

[0013] The present application also provides a method for girth welding of an aviation pipeline part, which adopts the girth welding device for the aviation pipeline part as described above, and comprises the following steps:

[0014] The pipeline to be welded is placed in the welding area, supported by the plurality of clamping bodies, and the flexible clamping module is inserted into the pipeline to be welded to achieve flexible clamping;

[0015] The positioning assembly is started, the weld position is positioned by the visual recognition module and the laser alignment module, and the weld position information is sent to the trajectory control module;

[0016] The trajectory control module is used to control the welding gun module to move to the starting end of the weld position along the slide rail, and the welding is started;

[0017] The heat-affected control module is used to monitor the temperature of the weld in real time, and the output power of the welding gun module is dynamically adjusted, and the trajectory control module is used to adjust the movement trajectory and moving speed of the welding gun module;

[0018] After the welding is completed, the heat-affected control module is used to control the cooling power of the circulating cooling assembly, and the welding area is actively cooled to reduce the heat-affected zone.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The girth welding device for the aviation pipeline part of the present application can accurately position the weld position by the positioning assembly through the visual recognition module and the laser alignment module, and can realize accurate movement of the welding gun module in combination with the trajectory control module, thereby effectively improving the welding precision; the clamping assembly can adjust the clamping force according to the material properties and structural properties of the pipeline to be welded by cooperation of the flexible clamping module and the pressure sensor, thereby avoiding the deformation problem caused by excessive clamping force; the output power of the welding gun module is dynamically adjusted by the heat-affected control module, real-time temperature monitoring and power adjustment are realized, thereby ensuring uniform and consistent weld forming and improving the stability of the welding quality. At the same time, feedback control of the welding process is realized, the automation degree of the welding operation is improved, the welding cycle is shortened, and the demand for high precision and high reliability in the aviation field is met.

[0021] The welding assembly of the present application optimizes the energy distribution of the welding gun module through the energy distribution unit, ensures the uniformity of the welding energy, and thus improves the stability of the welding quality; and the welding area is actively cooled through the circulating cooling assembly, effectively reducing the influence of the welding heat effect.

[0022] The annular seam welding method of the aviation pipeline part of the present application realizes the accurate centering and stress-free clamping of the pipeline by monitoring the pressure value in real time after the pipeline to be welded is placed, and fundamentally avoids the pipeline deformation caused by uneven clamping force. After stable clamping is completed, the positioning assembly is started by the control assembly to drive the slider carrying the visual identification module and the laser alignment module to move to obtain the weld position, and the welding trajectory is generated by the trajectory control module according to the weld position. During the welding process, the trajectory control module controls the welding gun module to move to the starting end of the weld position and starts welding according to the welding trajectory. In this process, the heat-affected control module dynamically adjusts the output power of the laser welding gun module according to the temperature, and at the same time, the trajectory control module also adjusts the movement trajectory and moving speed of the welding gun module according to the temperature. Finally, the cooling power is dynamically adjusted by the circulating cooling assembly during and after the welding process, and the welding area is actively cooled to reduce the heat-affected zone, forming a multi-parameter collaborative control. Through the integrated control of positioning, clamping, welding and cooling processes, collaborative optimization is realized, and the welding efficiency and qualification rate are improved.

[0023] The above description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, and can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a three-dimensional structure schematic diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application;

[0025] Figure 2 is a structure schematic diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application (first view direction);

[0026] Figure 3 is a structure schematic diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application (second view direction);

[0027] Figure 4 is a structure schematic diagram of a positioning assembly provided by an embodiment of the present application;

[0028] Figure 5 is a structure schematic diagram of a clamping body provided by an embodiment of the present application;

[0029] Figure 6is a structural schematic diagram of a flexible clamping module provided by an embodiment of the present application;

[0030] Figure 7 is a structural schematic diagram of a welding assembly provided by an embodiment of the present application;

[0031] Figure 8 is a working principle diagram of a girth seam welding device for an aviation pipeline part provided by an embodiment of the present application;

[0032] Figure 9 is a flowchart of a girth seam welding method for an aviation pipeline part provided by an embodiment of the present application.

[0033] Icon: 1 - support platform; 2 - positioning assembly; 21 - visual identification module; 22 - laser alignment module; 23 - positioning path module; 231 - servo motor; 232 - lead screw; 233 - guide rail; 234 - sliding block; 3 - clamp assembly; 31 - clamping body; 311 - support seat; 312 - bearing part; 32 - flexible clamping module; 321 - elastic pressing block; 322 - pressure sensor; 33 - driving part; 331 - annular buffer part; 332 - driving motor; 4 - welding assembly; 41 - sliding rail; 42 - welding gun module; 43 - energy distribution unit; 431 - light source; 432 - optical fiber beam splitter; 433 - focusing lens; 5 - control assembly; 51 - trajectory control module; 52 - heat affected zone control module; 521 - temperature control unit; 522 - power controller; 6 - circulating cooling assembly; 61 - cooling box; 62 - heat sink; 63 - cooling nozzle. DETAILED DESCRIPTION

[0034] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined object, the following will be described in detail in combination with the drawings and specific embodiments, and a girth seam welding device and method for an aviation pipeline part according to the present application will be described in detail.

[0035] The foregoing and other technical contents, features and effects of the present application can be clearly presented in the following detailed description of specific embodiments in combination with the drawings. Through the description of specific embodiments, the technical means and effects adopted by the present application to achieve the predetermined object can be more deeply and specifically understood. However, the attached drawings are provided for reference and illustration only, and are not used to limit the technical solutions of the present application.

[0036] Embodiment one

[0037] The existing girth seam welding device has problems such as insufficient welding precision when dealing with special materials and structural requirements of aviation pipeline parts. In view of this, the present embodiment provides a girth seam welding device for an aviation pipeline part, which meets the demand of high-performance pipeline part manufacturing in the aviation field. As shown in Figures 1 to 8 Figure 1 ​is a three-dimensional structure schematic diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application; Figure 2 is a structure schematic diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application (first view direction); Figure 3 is a structure schematic diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application (second view direction); Figure 4 is a structure schematic diagram of a positioning assembly provided by an embodiment of the present application; Figure 5 is a structure schematic diagram of a clamp provided by an embodiment of the present application; Figure 6 is a structure schematic diagram of a flexible clamping module provided by an embodiment of the present application; Figure 7 is a structure schematic diagram of a welding assembly provided by an embodiment of the present application; Figure 8 is a working principle diagram of an annular seam welding device for an aviation pipeline part provided by an embodiment of the present application.

[0038] In the embodiment, the annular seam welding device for the aviation pipeline part comprises a positioning assembly 2, a clamp assembly 3, a welding assembly 4 and a control assembly 5 arranged on a support platform 1; wherein a welding area is arranged at the center area of the support platform 1; the clamp assembly 3 is arranged in the welding area and comprises a clamp 31 and a flexible clamping module 32; a plurality of clamps 31 are arranged at intervals and clamp the outer wall of the pipeline to be welded; two flexible clamping modules 32 are respectively embedded in the two ends of the pipeline to be welded; the welding assembly 4 comprises a sliding rail 41 and a welding gun module 42; the sliding rail 41 is fixedly connected with the support platform 1, and the welding gun module 42 is suspended above the welding area through the sliding rail 41; the control assembly 5 comprises a track control module 51 and a heat-affected zone control module 52; the track control module 51 is electrically connected with the welding assembly 4, and the heat-affected zone control module 52 is electrically connected with the track control module 51.

[0039] For example, in order to ensure the activity of the welding gun module 42 to realize the annular seam welding, the sliding rail 41 can be a multi-directional combined sliding rail 41, so that the welding gun module 42 has the freedom of rotational movement. Since the realization of the freedom degree of movement belongs to the existing mature technology, it will not be described again.

[0040] Specifically, the support platform 1 is the basic component of the whole device, and the whole is a rectangular frame structure; the welding area is the core operation area for the annular seam welding of the pipeline part to be welded, and is arranged at the center of the support platform 1, so as to ensure the stability of the welding process through the support platform 1. The four corners of the support platform 1 can be fixed to the ground through bolts to ensure that the device will not be displaced due to vibration during operation. The positioning assembly 2 is arranged on the support platform 1 and located on one side of the welding area, and comprises a visual recognition module 21, a laser alignment module 22 and a positioning path module 23; the laser alignment module 22 is installed on the visual recognition module 21, and both of them are directed towards the welding area.

[0041] The positioning path module 23 comprises a servo motor 231, a screw rod 232, a guide rail 233 and a sliding block 234. The output end of the servo motor 231 is connected with the screw rod 232, the screw rod 232 is arranged in a horizontal direction and is parallel to the support platform 1, the guide rail 233 is arranged on the support platform 1 along the axial direction of the screw rod 232, and the sliding block 234 is connected with the screw rod 232 through screw threads and is in sliding fit with the guide rail 233. The visual recognition module 21 is fixed on the sliding block 234, and the laser alignment module 22 is installed on the visual recognition module 21. For example, the visual recognition module 21 is fixed on the top of the sliding block 234, and the laser alignment module 22 is installed on the front end of the visual recognition module 21.

[0042] Further, the visual recognition module 21 comprises a camera and an image processing unit. The camera is arranged on the sliding block 234 and is electrically connected with the image processing unit through a signal line. The image processing unit is electrically connected with the control assembly 5 through a signal line. The camera is used to acquire the image of the pipe to be welded, and the image processing unit is used to recognize the weld position according to the image acquired by the camera. After the image processing unit analyzes and processes the image and determines the weld position, the weld position is sent to the trajectory control module 51 of the control assembly 5. According to the weld position, the control assembly 5 drives the welding gun module 42 to move towards or away from the weld position along the sliding rail 41 through the trajectory control module 51. The positioning path module 23 controls the visual recognition module 21 and the laser alignment module 22 to move towards or away from the weld position along the guide rail 233 through the servo motor 231, so as to ensure that the weld position is located in the scanning range of the laser alignment module 22.

[0043] Specifically, the visual recognition module 21 acquires the image of the pipe to be welded through the camera. The image processing unit can recognize the contour and position information of the weld through edge detection, feature extraction and other processing of the image. The laser alignment module 22 can scan the weld area through the emitted laser beam and accurately determine the starting end, the ending end and the three-dimensional coordinates of the weld through laser triangulation or reflected light spot positioning technology. In addition, the visual recognition module 21 and the laser alignment module 22 can work cooperatively, that is, the visual recognition module 21 preliminarily locates the approximate area of the weld, the laser alignment module 22 performs micron-level fine scanning, and the data is sent to the trajectory control module 51, so as to realize the accurate tracking and positioning of the welding gun module 42 to the weld.

[0044] In an optional embodiment, the clamp assembly 3 is arranged in the welding area and comprises a plurality of clamp bodies 31 and a flexible clamping module 32. The clamp bodies 31 are arranged at intervals and surround the pipe to be welded. Each clamp body 31 comprises a support base 311 and a supporting part 312. The support base 311 is detachably arranged on the support platform 1 by bolts. The supporting part 312 is detachably connected with the support base 311 through a bevel on one side of the supporting part 312, which is matched with the angle of the pipe to be welded. An arc-shaped groove is arranged on the other side of the supporting part 312. The pipe to be welded is placed in the arc-shaped groove. The curvature radius of the arc-shaped groove is matched with the outer diameter of the pipe to be welded, so as to ensure the stability of the pipe to be welded in the arc-shaped groove. The flexible clamping module 32 is arranged at both ends of the pipe to be welded and comprises a plurality of elastic blocks 321 and pressure sensors 322. The elastic blocks 321 are uniformly distributed along the circumferential direction. The surface of each elastic block 321 is embedded with a pressure sensor 322.

[0045] For example, the clamp assembly 3 can be designed in a modular manner, which realizes the rapid and accurate adaptation to different specifications and shapes of the aviation pipeline parts. Specifically, the clamp body 31 can be adjusted in position through a plurality of bolt sites prearranged on the support platform 1, so as to adapt to pipelines of different lengths. The support base 311 or the supporting part 312 with different bevel angles and arc-shaped groove profiles can be replaced separately, so that the support surface is matched with the outer diameter and angle of the pipe to be welded, and the versatility of the device is enhanced. Through one set of clamp assembly 3, a variety of aviation pipeline welding tasks can be coped with, and the equipment investment cost is reduced. On the other hand, it is also conducive to realizing the stable support of the pipe to be welded, ensuring the accurate positioning of the pipeline during welding, avoiding the deformation or positioning error of the pipeline caused by mismatched clamping, and laying a foundation for subsequent implementation of high-quality girth welding.

[0046] Further, please refer to Figure 5 , Figure 5A plurality of implementations of the clamp body 31 are provided, which can be adapted to various clamping modes according to the shape of the pipe to be welded. One clamp body 31 can include a support seat 311 and a supporting part 312. The support seat 311 is fixed on the support platform 1 by bolts, and the supporting part 312 is provided with an inclined surface and an arc-shaped groove matched with the angle of the pipe, which is suitable for stable supporting of general elbow pipes or straight pipes. For a straight pipe section, another clamp body 31 can only use the supporting part 312, which has a semicircular profile, and is directly fixed on the support platform 1 by bolts, so as to simplify the structure while ensuring the fit degree. For the corner part of the elbow pipe, the supporting part 312 of another clamp body 31 can adopt an incomplete circular arc profile, and a push rod driven by a motor is arranged on the notch side. The end of the push rod is covered with flexible material (such as polyurethane or rubber), and the auxiliary clamping at the corner of the elbow pipe is realized by the extension and retraction of the push rod, so as to avoid stress concentration. Finally, a flexible material layer (such as a silica gel pad or wear-resistant rubber) can be embedded in the arc-shaped groove of each supporting part 312 to increase the friction and buffer of the outer wall of the pipe, and further reduce the damage caused by clamping.

[0047] Specifically, the flexible clamping module 32 realizes the extension and retraction of the plurality of elastic blocks 321 through hydraulic drive, and the pressure sensor 322 is used to monitor the pressure data of the elastic blocks 321 in real time. The pressure sensor 322 is electrically connected to the control assembly 5 through a signal line. The control assembly 5 controls the extension and retraction of the elastic blocks 321 through the trajectory control module 51 according to the pressure data. The pressure sensor 322 monitors the pressure value of the elastic blocks 321 in real time and transmits the pressure data to the control assembly 5. The control assembly 5 adjusts the extension and retraction of each elastic block 321 according to the pressure data and through the trajectory control module 51, so as to avoid deformation of the pipe to be welded caused by excessive clamping force. At the same time, the elastic blocks 321 of the flexible clamping module 32 uniformly apply clamping force in the circumferential direction under the action of hydraulic pressure, so as to ensure that the inner wall of the pipe to be welded is uniformly stressed.

[0048] For example, the elastic blocks 321 are provided with a plurality of hydraulic pumps. The hydraulic pumps drive the support blocks connected at the ends to perform extension and retraction under hydraulic pressure. The outer surface of the support block is arc-shaped to facilitate the fit with the inner wall of the pipe to be welded, and the pressure sensor 322 is partially embedded in the outer surface of the support block. In addition, the plurality of hydraulic pumps can be synchronously controlled or independently controlled through a hydraulic control console.

[0049] Further, each flexible clamping module 32 is also connected with a driving part 33, the driving part 33 comprises a ring-shaped buffering part 331 and a driving motor 332, the flexible clamping module 32 is arranged in the ring-shaped buffering part 331, the ring-shaped buffering part 331 is used for absorbing the vibration generated when contacting with the pipe to be welded and providing buffering; the flexible clamping module 32 is driven by the driving motor 332 to extend out of the ring-shaped buffering part 331 and probe into the inside of the pipe to be welded, that is, the driving motor 332 is used for driving the flexible clamping module 32 to extend out as a whole, and the extension and retraction of each elastic pressing block 321 is realized through hydraulic driving.

[0050] Preferably, the ring-shaped buffering part 331 is used for absorbing the vibration generated when the flexible clamping module 32 contacts with the pipe to be welded, so it can be made of flexible materials with high elasticity and high damping, such as polyurethane elastomer, nitrile rubber or silicone material. These materials have good buffering performance and wear resistance, can effectively reduce the mechanical vibration of the driving part 33 caused by collision or alignment error during contacting with the pipe to be welded, and ensure the stability of the clamping process.

[0051] The positioning assembly 2 of the present application accurately positions the weld position through the visual recognition module 21 and the laser alignment module 22, realizes the accurate movement of the welding gun module 42 in combination with the trajectory control module 51, effectively improves the welding precision; the clamp assembly 3 can adjust the clamping force according to the material properties and structural properties of the pipe to be welded through the cooperation of the flexible clamping module 32 and the pressure sensor 322, avoids the deformation problem caused by excessive clamping force; and then the output power of the welding gun module 42 is dynamically adjusted through the heat affected zone control module 52, realizes real-time temperature monitoring and power adjustment, so as to ensure that the weld forms uniformly and consistently, and improves the stability of the welding quality. At the same time, feedback control of the welding process is realized, the automation degree of the welding operation is improved, the welding cycle is shortened, and the demand for high precision and high reliability in the aviation field is met.

[0052] In an optional embodiment, the welding assembly 4 further comprises an energy distribution unit 43, the energy distribution unit 43 is connected with the welding gun module 42 through an optical fiber, the energy distribution unit 43 comprises a plurality of optical fiber beam splitters 432 and focusing lenses 433, the optical fiber beam splitters 432 are connected with the light source 431 of the welding gun module 42 through an optical fiber, and the focusing lenses 433 are installed at the front end of the welding gun module 42 and focus the laser beam to the welding point through the optical fiber beam splitters 432.

[0053] For example, the number and distribution of the optical fiber beam splitters 432 can be adjusted according to the welding requirements, through beam splitting and focusing, the energy acting on the weld can be more concentrated and uniform, so as to improve the consistency of the weld penetration and forming, avoid the welding defects caused by uneven energy, and improve the stability of the welding quality.

[0054] The welding assembly 4 of the present application can optimize the energy distribution of the welding gun module 42 through the energy distribution unit 43, ensure the uniformity of the welding energy, and thus improve the stability of the welding quality; and the welding area is actively cooled through the circulating cooling assembly 6, effectively reducing the influence of the welding heat effect.

[0055] It can be understood that the embodiment does not limit the specific type of the welding gun module 42, such as a laser welding gun, and other welding forms such as a gas shielded welding gun, a plasma welding gun or an electron beam welding gun can also be used. These welding guns can be integrated through the slide rail 41, and the energy distribution unit 43 can not be used when the above welding guns are used, and the requirements of the aviation pipeline for the welding heat input and the forming quality can also be met.

[0056] In an optional embodiment, the working principle of the trajectory control module 51 is as follows: the trajectory control module 51 generates the movement trajectory of the welding gun module 42 by receiving the welding seam position data from the positioning assembly 2, the temperature data of the heat-affected control module 52 and the pressure data of the clamp assembly 3, and using the built-in algorithm (such as PID control or path planning algorithm); the module drives the welding gun module 42 to move along the welding seam path at a uniform speed or a variable speed by controlling the multi-degree-of-freedom movement of the slide rail 41, and dynamically adjusts the moving speed, the dwell time or the trajectory offset according to the real-time temperature and pressure feedback, to ensure that the welding energy is uniformly applied and the welding seam is uniformly formed.

[0057] In an optional embodiment, the heat-affected control module 52 comprises a temperature control unit 521 and a power controller 522, the temperature control unit 521 comprises a temperature sensor embedded in the front end of the welding gun module 42 and electrically connected to the trajectory control module 51 through a signal line, and the power controller 522 is electrically connected to the welding gun module 42 through a signal line; wherein the temperature control unit 521 monitors the temperature data of the welding seam in real time through the temperature sensor, and the power controller 522 is used to adjust the output power of the welding gun module 42 according to the temperature data of the welding area to reduce the heat effect in the welding process.

[0058] Specifically, the heat-affected control module 52 embeds the temperature sensor (such as an infrared or optical fiber temperature sensor) in the front end of the welding gun module 42 through the temperature sensor in the temperature control unit 521, directly monitors the temperature of the welding seam and the heat-affected zone, and then transmits the collected temperature data to the trajectory control module 51 and the power controller 522 in real time through the signal line, to realize temperature control in the welding process and ensure that the temperature of the welding area is always within the preset range, thereby effectively inhibiting the expansion of the heat-affected zone.

[0059] In an optional embodiment, the annular seam welding device for the aviation pipeline component further comprises a circulating cooling assembly 6, which comprises a cooling box 61, a radiator 62 and cooling nozzles 63. The cooling box 61 is arranged outside the welding area, and a cooling channel is arranged around the inside of the cooling box 61, in which a cooling liquid flows. The radiator 62 is arranged at the bottom of the cooling box 61. The outlet of the cooling channel is connected to the inlet of the radiator 62 through a pipeline. The pipeline can be a flexible hose. The outlet of the radiator 62 is connected to an external cooling liquid tank through a pipeline. The cooling nozzles 63 are uniformly distributed on the inside of the cooling box 61. The cooling nozzles 63 can be conical and connected to the cooling channel through a pipeline. The heat of the welding area is removed by the cooling liquid flowing in the cooling channel, the radiator 62 and the cooling nozzles 63, so as to reduce the heat affected zone of the welding area.

[0060] Specifically, the heat affected zone control module 52 is electrically connected to the trajectory control module 51 through a signal line, and is used to adjust the movement trajectory and moving speed of the welding gun module 42 according to the temperature data. Meanwhile, the heat affected zone control module 52 is also used to control the cooling power of the circulating cooling assembly 6 according to the temperature data. For example, a flow regulating valve is arranged on the pipeline. The cooling power and the flow rate of the cooling liquid can be adjusted according to the temperature data of the welding area through the flow regulating valve, so as to realize active cooling of the welding area, effectively inhibit the expansion of the welding heat affected zone, and help reduce the welding residual stress and deformation, thereby further ensuring the geometric precision and mechanical performance reliability of the annular seam welding of the aviation pipeline component.

[0061] Further, the heat affected zone control module 52 can monitor the welding seam temperature data in real time through the temperature sensor embedded in the front end of the welding gun module 42. When the temperature is too high, the output power of the welding gun can be reduced through the power controller 522, and the moving speed of the welding gun module 42 or the trajectory thereof (such as increasing the oscillation amplitude to disperse heat input) can be adjusted through the trajectory control module 51 to prevent local overheating. During the welding process, the flow regulating valve can be adjusted according to the temperature data to increase the flow rate of the cooling liquid, so as to realize dynamic heat dissipation through the cooling nozzles 63. After the welding is completed, the heat affected zone control module 52 can also maintain the cooling power to continuously circulate the cooling liquid in the cooling channel of the cooling box 61, so as to actively cool the welding area to reduce the residual stress and the heat affected zone. In addition, in order to ensure the uniformity of temperature monitoring, the temperature sensor can also be uniformly arranged on the inside of the cooling box to monitor the temperature at multiple points.

[0062] In order to better enable the relevant personnel in the technical field to fully understand and implement the present application, the specific implementation principles of the present application are further described below in conjunction with a specific application scenario.

[0063] In the process of ring seam welding of aviation pipeline parts, first, the pipeline to be welded is placed in the welding area, supported by multiple clamping bodies 31 in the clamp assembly 3 to ensure its stability during welding; at the same time, the flexible clamping module 32 extends out from the annular buffer part 331 by the driving motor 332 and probes into the inside of the pipeline to be welded. The flexible clamping module 32 is composed of multiple elastic pressing blocks 321, which are evenly distributed in the circumferential direction to ensure that the inner wall of the pipeline to be welded is uniformly stressed. The pressure sensor 322 is embedded on the surface of each elastic pressing block 321 to monitor the size of the clamping force in real time and transmit the data to the control assembly 5; if the monitored pressure value exceeds the preset range, the control assembly 5 adjusts the extension and retraction action of the elastic pressing block 321 through hydraulic drive to avoid pipeline deformation caused by excessive clamping force.

[0064] After the fixation of the pipeline to be welded is completed, the positioning assembly 2 starts, and the visual recognition module 21 obtains the image information of the pipeline to be welded through the camera; the image processing unit analyzes and processes the received image, extracts the position information of the weld, and sends the information to the trajectory control module 51. At the same time, the laser alignment module 22 accurately scans the weld position to further confirm the starting end and the ending end of the weld. The servo motor 231 drives the lead screw 232 to rotate, driving the sliding block 234 to move along the guide rail 233, thereby adjusting the position of the visual recognition module 21 and the laser alignment module 22 to ensure that the weld is always within the scanning range of the laser alignment module 22.

[0065] After the weld position is accurately positioned, the trajectory control module 51 controls the welding gun module 42 to move to the starting end of the weld along the slide rail 41 according to the received weld position information. After the welding gun module 42 starts, the heat affected control module 52 begins to work, and the temperature sensor in the temperature control unit 521 monitors the temperature data of the welding point in real time and transmits the data to the trajectory control module 51; the power controller 522 dynamically adjusts the output power of the welding gun module 42 according to the temperature data of the welding area, thereby reducing the heat effect in the welding process. At the same time, the trajectory control module 51 adjusts the movement trajectory and moving speed of the welding gun module 42 according to the temperature data to further realize effective control of the heat effect.

[0066] During the welding process, the circulating cooling assembly 6 works to reduce the heat affected zone of the welding area. The cooling box 61 is wrapped outside the welding area, and the heat is removed through the heat sink 62 and the flow of cooling liquid in the cooling channel. The flow regulating valve can adjust the flow rate or flow of the cooling liquid according to the temperature data of the welding area, and control the cooling power to ensure that the cooling effect matches the welding demand. Multiple cooling nozzles 63 are evenly distributed on the inside of the cooling box 61 and are connected to the cooling channel through pipes, and the cooling nozzles 63 directly spray cooling liquid to the welding area to further reduce the temperature of the heat affected zone.

[0067] After the welding is completed, the heat-affected control module 52 controls the cooling power of the circulating cooling assembly 6 according to the temperature data of the welding area to actively cool the welding area, so as to further reduce the temperature and residual stress of the heat-affected zone and ensure the stability of the welding quality.

[0068] It is worth noting that the annular seam welding device of the aviation pipeline part in the embodiment realizes the automation and precision control of annular seam welding by integrating the positioning assembly 2, the clamp assembly 3, the welding assembly 4 and the control assembly 5, and solves the problems of welding precision and clamping stability. Further, the precise positioning of the visual recognition module 21 and the laser alignment module 22 is introduced, and the dynamic temperature control is realized through the heat-affected control module 52, and the active cooling is realized in combination with the circulating cooling assembly 6. Through the synergistic effect of the above structure, the stability of the welding process is first ensured, and then the multi-parameter control is realized through the control assembly by acquiring the weld position, temperature data and pressure data, thereby comprehensively solving the deformation problem caused by the thin-walled and elbow structure of the aviation pipeline in welding, and the influence of the heat-affected zone on the welding reliability.

[0069] Specifically, the flexible clamping and multi-point clamping are realized through the elastic pressing block 321, and the deformation caused by excessive clamping force is avoided through the pressure sensor 322; the weld recognition accuracy is improved through visual and laser positioning; the heat effect is reduced through the circulating cooling assembly 6 in combination with the heat-affected control module 52; at the same time, based on multiple sensors, the cooperation of welding power, trajectory and cooling is realized in combination with the control assembly 5, and the real-time adjustment of welding power, welding trajectory and cooling power is realized. This multi-level cooperation meets the demand of aviation pipeline parts for high-precision and high-quality welding, ensures the positioning accuracy, takes into account the comprehensive demand of clamping stress and heat-affected, and avoids the welding deformation of the aviation pipeline part through flexible clamping positioning, welding power control and active cooling after welding.

[0070] Embodiment two

[0071] As shown in Figure 9 , the flow chart of the annular seam welding method of the aviation pipeline part provided by the embodiment of the present application is shown in Figure 9

[0072] The embodiment provides an annular seam welding method of an aviation pipeline part, which adopts the annular seam welding device of the aviation pipeline part in the embodiment one, and comprises the following steps:

[0073] Step 1: placing the pipeline to be welded in the welding area, supporting the pipeline to be welded by the plurality of clamping bodies, and making the flexible clamping module probe into the pipeline to be welded to realize flexible fixed clamping;

[0074] ​Step 2: Start the positioning assembly, locate the weld position through the visual recognition module and the laser alignment module, and send the weld position information to the trajectory control module;

[0075] Step 3: Control the welding gun module to move to the starting end of the weld position along the slide rail through the trajectory control module, and start welding;

[0076] Step 4: Real-time monitor the temperature of the weld through the heat-affected control module, and dynamically adjust the output power of the welding gun module, while adjusting the movement trajectory and moving speed of the welding gun module through the trajectory control module;

[0077] Step 5: After the welding is completed, control the cooling power of the circulating cooling assembly through the heat-affected control module to actively cool the welding area to reduce the heat-affected zone.

[0078] Specifically, the ring seam welding process of the aviation pipeline part in the embodiment is as follows: first, place the to-be-welded pipeline in the welding area, support the to-be-welded pipeline through a plurality of clamping bodies, and make the flexible clamping module probe into the to-be-welded pipeline to realize flexible fixed clamping; start the positioning assembly, locate the weld position through the visual recognition module and the laser alignment module, and send the weld position information to the trajectory control module; control the welding gun module to move to the starting end of the weld position along the slide rail through the trajectory control module and start welding; real-time monitor the temperature of the welding point through the heat-affected control module and dynamically adjust the output power of the welding gun module, while adjusting the movement trajectory and moving speed of the welding gun module through the trajectory control module; after the welding is completed, control the cooling power of the circulating cooling assembly through the heat-affected control module to actively cool the welding area to reduce the heat-affected zone.

[0079] It should be noted that the visual recognition, laser alignment, temperature sensing, motor driving, trajectory control and related feedback control used in the ring seam welding process of the aviation pipeline part in the embodiment are all mature technologies, and the related settings can be realized by referring to the existing related technologies.

[0080] The welding method provided in the second embodiment of the present application can be realized based on the ring seam welding device for aviation pipeline parts provided in the first embodiment, and therefore has similar beneficial effects as the device embodiment of the first embodiment. For technical details not disclosed in the method embodiment of the present application, reference can be made to the description of the device embodiment for understanding.

[0081] The annular seam welding method of the aviation pipeline part of the application places the pipeline to be welded, and then realizes accurate centering and stress-free clamping of the pipeline by monitoring the pressure value in real time, thereby fundamentally avoiding pipeline deformation caused by uneven clamping force. After stable clamping is completed, the control assembly starts the positioning assembly to drive the slider carrying the visual identification module and the laser alignment module to move to obtain the weld position, and the trajectory control module generates a welding trajectory according to the weld position. During the welding process, the trajectory control module controls the welding gun module to move to the starting end of the weld position and starts welding according to the welding trajectory. In this process, the heat-affected control module dynamically adjusts the output power of the laser welding gun module according to the temperature, and at the same time, the trajectory control module also adjusts the movement trajectory and moving speed of the welding gun module according to the temperature. Finally, the cooling power is dynamically adjusted by the circulating cooling assembly during and after the welding process, and the welding area is actively cooled to reduce the heat-affected zone, forming a multi-parameter collaborative control. By integrating the positioning, clamping, welding and cooling processes for integrated control, collaborative optimization is realized, and the welding efficiency and qualification rate are improved.

[0082] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "include", "contain" or any other variants are intended to cover non-exclusive inclusion, so that the article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the article or device including the element. The terms "connected" or "connected" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0083] The above is a further detailed description of the application in combination with specific preferred embodiments, and the specific implementation of the application cannot be limited to these descriptions. For ordinary skilled persons in the technical field to which the application belongs, without departing from the concept of the application, a number of simple deductions or substitutions can be made, which should be regarded as falling within the protection scope of the application.

Claims

1. A circumferential weldment device for aviation pipeline components, characterized in that, include: Positioning components, clamping components, welding components, and control components are mounted on the support platform; among them... The support platform has a welding area in its central region; the positioning component includes a vision recognition module, a laser alignment module, and a positioning path module. The positioning path module includes a servo motor, a lead screw, a guide rail, and a slider. The output end of the servo motor is connected to the lead screw. The guide rail is arranged along the axial direction of the lead screw. The slider is connected to the lead screw by a thread and slides with the guide rail. The vision recognition module is fixed on the slider, and the laser alignment module is mounted on the vision recognition module. The clamping assembly is disposed in the welding area and includes a clamping body and a flexible clamping module. Multiple clamping bodies are spaced apart and clamp the outer wall of the pipeline to be welded. Two flexible clamping modules are respectively embedded at both ends of the pipeline to be welded. The flexible clamping module includes multiple elastic blocks and pressure sensors. The multiple elastic blocks are evenly distributed along the circumferential direction, and the pressure sensor is embedded on the surface of each elastic block. The welding assembly includes a slide rail and a welding torch module. The slide rail is fixedly connected to the support platform, and the welding torch module is suspended above the welding area via the slide rail. The control component includes a trajectory control module and a heat-affected zone control module. The trajectory control module is electrically connected to the welding component, and the heat-affected zone control module is electrically connected to the trajectory control module. The heat-affected zone control module includes a temperature control unit and a power controller. The temperature control unit includes a temperature sensor, which is embedded in the front end of the welding torch module and electrically connected to the trajectory control module via a signal line. The power controller is electrically connected to the welding torch module via a signal line. The temperature control unit is used to monitor the temperature data of the weld in real time, and the power controller is used to adjust the output power of the welding torch module according to the temperature data of the welding area. The circumferential welding device further includes: a circulating cooling assembly, which comprises a cooling tank, a radiator, and cooling nozzles. The cooling tank covers the welding area, and a cooling channel is arranged around the inside of the cooling tank. Cooling liquid flows in the cooling channel, and the radiator is located at the bottom of the cooling tank. The outlet of the cooling channel is connected to the inlet of the radiator through a pipe, and the outlet of the radiator is connected to an external coolant storage tank through a pipe. Multiple cooling nozzles are evenly distributed on the inner side of the cooling tank and are connected to the cooling channel through pipes. Flow regulating valves are provided on the pipes. The heat-affected zone control module is electrically connected to the trajectory control module via a signal line, and is used to adjust the movement trajectory and moving speed of the welding torch module according to the temperature data; the heat-affected zone control module is also used to control the cooling power of the circulating cooling component according to the temperature data.

2. The circumferential weldment apparatus for aviation pipeline components according to claim 1, characterized in that, The visual recognition module includes a camera and an image processing unit. The camera is mounted on the slider and electrically connected to the image processing unit via a signal line. The image processing unit is electrically connected to the control component via a signal line. The image processing unit is used to identify the weld position based on the image acquired by the camera, and the control component drives the welding gun module to move closer to or away from the weld position along the slide rail according to the weld position through the trajectory control module. The positioning path module controls the vision recognition module and the laser alignment module to move closer to or further away from the weld position along the guide rail via the servo motor, so that the weld position is within the scanning range of the laser alignment module.

3. The circumferential weldment apparatus for aviation pipeline components according to claim 1, characterized in that, Each clamp includes a support base and a support portion. The support base is detachably mounted on the support platform by bolts. One side of the support portion has an inclined surface that matches the angle of the pipe to be welded, and is detachably connected to the support base through the inclined surface. The other side of the support portion has an arc-shaped groove, in which the pipe to be welded is placed.

4. The circumferential weldment apparatus for aviation pipeline components according to claim 3, characterized in that, The flexible clamping module achieves the extension and retraction of multiple elastic blocks through hydraulic drive. The pressure sensor is used to monitor the pressure data of the elastic blocks in real time and is electrically connected to the control component through a signal line. The control component controls the extension and retraction of the elastic blocks through the trajectory control module based on the pressure data.

5. The circumferential weldment apparatus for aviation pipeline components according to claim 4, characterized in that, Each of the flexible clamping modules is also connected to a drive unit, which includes an annular buffer and a drive motor. The flexible clamping module is disposed within the annular buffer, which is used to absorb vibrations generated when in contact with the pipe to be welded. Driven by the drive motor, the flexible clamping module extends out from the annular buffer and enters the pipe to be welded.

6. The circumferential weldment apparatus for aviation pipeline components according to claim 1, characterized in that, The welding assembly further includes an energy distribution unit, which is connected to the welding torch module via an optical fiber. The energy distribution unit includes multiple fiber beam splitters and a focusing lens. The fiber beam splitters are connected to the light source of the welding torch module via optical fibers. The focusing lens is installed at the front end of the welding torch module and focuses the laser beam to the welding point through the fiber beam splitters.

7. A method for circumferential welding of aircraft piping components, employing the circumferential welding apparatus for aircraft piping components as described in any one of claims 1 to 6, characterized in that, include: The pipe to be welded is placed in the welding area, supported by multiple clamps, and a flexible clamping module is inserted into the pipe to achieve flexible fixing and clamping. The positioning component is activated, and the weld position is located through the visual recognition module and the laser alignment module. The weld position information is then sent to the trajectory control module. The trajectory control module controls the welding torch module to move along the slide rail to the starting end of the weld position and starts welding. The temperature of the weld is monitored in real time by the heat-affected zone control module, and the output power of the welding torch module is dynamically adjusted. At the same time, the movement trajectory and moving speed of the welding torch module are adjusted by the trajectory control module. After welding is completed, the cooling power of the circulating cooling component is controlled by the heat-affected zone control module to actively cool the welding area and reduce the heat-affected zone.

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