Welded conduit intelligent integrated manufacturing method and device

Abstract

The invention relates to the technical field of aviation welding, and discloses an intelligent integrated manufacturing method and device for welding type conduits, which are characterized in that various advanced technologies are connected in series to form an intelligent manufacturing production line by using multiple types of devices, for example, tube blank selection is performed through a digital model of a conduit to be processed; pipe blank blanking, end face forming, positioning detection, welding and the like in the manufacturing process are all controlled by an automatic and intelligent machining device to cooperatively act, different requirements for positioning, detection and welding of the guide pipe can be met, and operation is easy and convenient. According to the invention, the stability of the product quality and the machining precision are improved, the production efficiency of the guide pipe is greatly improved, and the overall manufacturing cost and the production period of the guide pipe are reduced; the problems that the coordinate origin is difficult to find in three-dimensional laser cutting, the fixture remodeling time is long, and a heat affected zone exists on the cutting edge are solved.

Description

Technical Field

[0001] This invention relates to the field of aerospace welding technology, and discloses an intelligent integrated manufacturing method and apparatus for welding conduits. Background Technology

[0002] As a core component of aircraft, the production of aviation ducts differs from that of other sheet metal or machined parts. Other sheet metal or machined parts can be formed using molds or drawings through plastic forming or machine tool processing, easily achieving mechanized and automated processing. However, duct manufacturing typically involves first determining the spatial shape of the duct using a physical sample and fixtures, followed by plastic forming (rolling, flaring, etc.) or welding. To ensure manufacturing precision, current aviation duct production primarily relies on duct fixtures for positioning and inspection, relying mainly on flexible manual operations. However, the following problems exist in the duct manufacturing process: First, the duct fixture manufacturing cycle is long and the interchangeability is poor, failing to meet the needs of urgent production tasks; second, the precision of manual operations during duct end-face forming is low, resulting in unstable welding quality, affecting part accuracy and weld strength. Furthermore, due to the long duct sampling and assembly cycle, in the face of urgent flight missions, it is impossible to effectively transfer the physical sample in a timely manner. Therefore, this seriously affects the engineering application of ducts in aircraft, becoming a bottleneck restricting the engineering application of duct processing technology. With the development of intelligent manufacturing technology, the market has put forward higher requirements for welded conduits, and there is an urgent need for a manufacturing method that integrates automation, digitalization and intelligent technologies to promote the development of welded conduit manufacturing towards intelligence, high precision and green direction. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent integrated manufacturing method and apparatus for welded conduits, which can avoid the problem of uneven material properties caused by insufficient hardenability of aluminum alloys, effectively ensure the quality of the final product, and improve the reliability and service life of the product.

[0004] To achieve the above-mentioned technical effects, the technical solution adopted by the present invention is as follows: An intelligent integrated manufacturing device for welded conduits includes: The intelligent configuration module for the conduit is used to determine the pipe sections and pipe end accessories that form the conduit based on the digital model of the conduit to be processed, and to select the pipe blank to be obtained by end face cutting based on the structural characteristics of each pipe section. The CNC program generation module is used to generate a CNC program in the database based on the pipe segments forming the conduit to be processed, which uses the positioning and welding of each pipe segment to form the conduit to be processed; the CNC program includes a positioning detection program to determine the relative position between each pipe segment in the conduit to be processed, and a welding program between pipe segments and between pipe segments and pipe end fittings; The pipe end face forming module includes a flexible clamping mechanism and a digital attitude-adjusting cutting mechanism. The module uses a robotic arm to transport each segment of the pipe blank to the flexible clamping mechanism. Based on the end angle and placement of the pipe blank on the flexible clamping mechanism, it generates an end face forming program for cutting the end face of the pipe blank to form the corresponding pipe structure. The digital attitude-adjusting cutting mechanism then completes the end face forming of each segment of the pipe blank according to the end face forming program, thus forming the corresponding pipe structure. The attitude adjustment and positioning assembly module is used to automatically transport the pipe with the pipe end formed to the motion module according to the preset execution program using a robotic arm. The motion module automatically assembles and adjusts the attitude and positioning according to the structural characteristics and placement position of the conduit to be processed, and completes the assembly of each pipe. The multiple pipe structures placed on the motion module and assembled are fixed as the pre-fixed structure of the pipe to be processed. The welding forming module is used to transport the pre-fixed structure that has been positioned to the welding device using a robotic arm. The welding device welds each circumferential seam according to the welding program, and then completes the automated welding of the pipe-to-pipe and pipe-to-pipe end fitting connections to form the corresponding conduit structure.

[0005] Furthermore, the digital attitude adjustment cutting mechanism is fixed to the work platform via a walking mechanism. The walking mechanism is equipped with an attitude adjustment mounting seat, and the attitude adjustment mounting seat is equipped with a cutting tool for cutting and shaping the end face of the tube blank to form a corresponding tube structure.

[0006] Furthermore, the motion module includes a fixed platform and multiple movable mounting seats movably disposed on the fixed platform. Each movable mounting seat is equipped with multiple positioning clamps for clamping the pipe through a limiting component.

[0007] Furthermore, the welding device includes a fixing component and a welding component. The fixing component is used to place the pre-fixed structure and limit and fix the pre-fixed structure. The welding component is used to weld each circumferential seam of the pre-fixed structure, thereby completing the automated welding of the connection between pipes and pipes, and between pipes and pipe end fittings.

[0008] To achieve the above-mentioned technical effects, the present invention also provides an intelligent integrated manufacturing method for welded conduits, comprising: Step 1: Based on the digital model of the conduit to be processed, determine the pipe sections and pipe end fittings that will form the conduit to be processed. Based on the structural characteristics of each pipe section, select the end face cutting process to obtain the corresponding pipe blank. Step 2: Based on the pipe segments forming the conduit to be processed, generate a CNC program in the database to use the positioning and welding of each pipe segment to form the conduit to be processed; the CNC program includes a positioning detection program to determine the relative position between each pipe segment in the conduit to be processed, and a welding program between pipe segments and between pipe segments and pipe end fittings; Step 3: Using a robotic arm, transport each segment of the tube blank to a flexible clamping mechanism. Based on the end angle and placement of the tube blank on the flexible clamping mechanism, generate an end-face forming program for cutting the end face of the tube blank to form the corresponding tube structure. Use a digital attitude-adjusting cutting mechanism to complete the end-face forming of each segment of the tube blank according to the end-face forming program of the tube blank, forming the corresponding tube structure. Step 4: The robotic arm automatically transports the pipe with the formed pipe end to the motion module according to the preset execution program. The motion module automatically assembles and adjusts the position based on the structural features and placement of the conduit to be processed, using the positioning detection program to complete the assembly of each pipe. The multiple pipe structures placed on the motion module and assembled are then fixed as the pre-fixed structure of the pipe to be processed. Step 5: The robotic arm transports the pre-fixed structure that has been positioned to the welding device. The welding device welds each circumferential seam according to the welding program, and then completes the automated welding of the pipe-to-pipe and pipe-to-end fitting connections to form the corresponding conduit structure.

[0009] Furthermore, the method for generating an end-face forming program for cutting the end face of the tube blank to form the corresponding tube structure includes: Using an image acquisition device, the tube blank's external dimensions are scanned based on the tube blank's end angle and placement position on the flexible clamping mechanism to obtain multiple feature data points for identifying the tube blank. Using any fixed point in the simulation space where the digital model of the duct is located as the origin, establish a spatial rectangular coordinate system O-XYZ for the spatial location of the digital model. Transform the feature data points to the O-XYZ coordinate system to obtain the feature point coordinates (X0, Y0, Z0) of the corresponding tube embryo. A spatial rectangular coordinate system O1-X1Y1Z1 is established with a point on the telescopic axis of the digital attitude-adjusting cutting mechanism as the origin. Based on the cutting head height L, the direct cutting angle U of the cutting blade, the rotational cutting angle V of the cutting blade, and the initial coordinates (Xd1, Yd1, Zd1) of the cutting tool in O1-X1Y1Z1, the position coordinates (Xq, Yd1, Zd1) of the working point of the cutting tool in the digital attitude-adjusting cutting mechanism are analyzed and obtained. Where Xq=Xd1-L×tanU-K×tanV, U is the direct cutting angle of the cutting blade, that is, the angle between the central axis of the tube blank and the plane where the cutting blade is located when the cutting blade's symmetry axis is perpendicular to the tube blank's central axis; V is the rotational cutting angle of the cutting blade, that is, the angle between the plane where the cutting blade is located and the horizontal plane when the cutting blade's symmetry axis is acute and the tube blank's central axis is acute; K is the vertical distance between the cutting blade's blade surface and the motion module. Based on the coordinates of the feature points (X0, Y0, Z0) and the position coordinates of the working point of the cutting tool (3023) (Xq, Yd1, Zd1), the control commands of each positioner joint of the digital attitude adjustment cutting mechanism (302) are calculated using the coordinate extraction algorithm based on CATIA software and CAA development platform, and the end face forming program of the tube blank is formed.

[0010] Furthermore, the flexible clamping mechanism is disposed on the working platform and includes three modules for clamping and fixing the tube blank: a first module, a second module, and a third module. The third module is located on the working platform near the cutting tool, the first module is located on the working platform away from the cutting tool, and the second module is located between the first and third modules. Each of the first, second, and third modules is provided with a mandrel, and a support clamping assembly for placing the tube blank is rotatably disposed on the mandrel. Before the robotic arm transports each segment of the tube blank to the flexible clamping mechanism, a spatial rectangular coordinate system O2-X2Y2Z2 is established with a point on the mandrel of the second module as the origin. Based on the cutting head height L, the direct cutting angle U of the cutting blade, the rotational cutting angle V of the cutting blade, and the coordinates of each feature data point, the position coordinates (Xm1, Ym1, Zm1) of the first module used for clamping the corresponding tube blank in O2-X2Y2Z2, and the position coordinates (Xm2, Ym2, Zm2) of the third module used for clamping the corresponding tube blank in O2-X2Y2Z2 are obtained; where: Xm1=X0-2L×sinU+L×sinu×cosV Ym1=Y0-L×sinU×sinV Zm1=Z0+LL×cosU Xm2=X0-L×sinU×cosV Ym2=Y0+L×sinU×sinV Zm2 = Z0 + LL × cosU; The spatial position of the first module is adjusted according to the coordinates (Xm1, Ym1, Zm1), and the spatial position of the third module is adjusted according to the coordinates (Xm2, Ym2, Zm2).

[0011] Furthermore, the motion module includes a fixed platform and multiple movable mounting seats movably disposed on the fixed platform. Each movable mounting seat is equipped with multiple positioning fixtures for clamping the pipe material via limiting components. A linear slide rail is provided on the fixed platform, and the motion module is provided with a sliding groove that mates with the linear slide rail. The positioning fixture includes a rotatable shaft hinged to the corresponding motion module and a U-shaped chuck hinged to the rotatable shaft via a pin. Before the robotic arm automatically transports the pipe material with the formed pipe end to the positioning fixture of the motion module, a spatial rectangular coordinate system O3-X3Y3Z3 is established with a point O3 on the linear slide rail as the origin, the X3 axis extending along the linear slide rail as the X3 axis, the vertical direction passing through the origin as the Z3 axis, and the Y3 axis, a straight line perpendicular to the X3O3Z3 plane passing through the origin O3, is established. Based on the pitch angle p of the U-shaped clamp required for limiting and fixing the pipe, the rotation angle r of the rotatable shaft, the distance h between the centroid position of the U-shaped clamp and the center line of the pin, and the centroid coordinates (Xn, Yn, Zn) of the pipe after it is clamped on the corresponding positioning clamp and mapped onto the spatial rectangular coordinate system O-XYZ of the digital model, the coordinates (Xd, Yd, Zd) of the pin center point of each U-shaped clamp during pipe assembly are obtained, where: When the U-shaped chuck rotates around the X3 axis: Xd = Xn + h × sinp - h × sinp × cosr Yd=Yn-h×sinp×sinr-h×sinp Zd = Zn + hh × cosp When the U-shaped chuck rotates around the Y3 axis: Xd = Xn - 2h × sinp + h × sinp × cosr Yd=Yn+h×sinp×sinr Zd = Zn + hh × cosp; Based on the initial position of the pin and the coordinates (Xd, Yd, Zd) of the pin's center point, a corresponding positioning detection program is generated to adjust the pin's position to meet the coordinates (Xd, Yd, Zd) of the pin's center point.

[0012] Compared with the prior art, the beneficial effects of this invention are: 1. This invention uses multiple types of devices to connect various advanced technologies into an intelligent manufacturing production line. For example, tube blanks are selected through digital models of the tubes to be processed. In the manufacturing process, tube blank cutting, end face forming, positioning detection, welding, etc. are all carried out in coordination under the control of automated and intelligent processing devices, which can meet different needs for tube positioning, detection, and welding, and is easy to operate.

[0013] 2. This invention improves the stability of product quality and processing accuracy, and significantly increases the production efficiency of catheters, while reducing the overall manufacturing cost and production cycle of catheters; it also solves problems such as difficulty in finding the coordinate origin in three-dimensional laser cutting, long fixture changeover time, and the presence of a heat-affected zone at the cutting edge. Attached Figure Description

[0014] Figure 1 This is a structural block diagram of the intelligent integrated manufacturing device for welded conduits in Example 1 or 2; Figure 2 This is a flowchart of the intelligent integrated manufacturing method for welded conduits in Example 1 or 2; Figure 3 This is a schematic diagram of the pipe end face forming module in Example 1 or 2; Figure 4 This is a schematic diagram of the flexible clamping mechanism in Example 1 or 2; Figure 5 This is a structural schematic diagram of the attitude adjustment and positioning assembly module in Example 1 or 2; Figure 6 This is a schematic diagram of the positioning fixture structure in the attitude adjustment and positioning assembly module structure in Example 1 or 2; Figure 7 This is a schematic diagram of the welding forming module in Example 1 or 2; The components include: 1. Intelligent conduit configuration module; 2. CNC program generation module; 3. Pipe end face forming module; 301. Flexible clamping mechanism; 3011. First module; 3012. Second module; 3013. Third module; 3014. Mandrel; 3015. Support clamping assembly; 302. Digital attitude adjustment cutting mechanism; 3021. Walking mechanism; 3022. Attitude adjustment mounting base; 3023. Cutting tool; 4. Attitude adjustment positioning assembly module; 401. Fixed platform; 402. Movable mounting base; 403. Limiting assembly; 404. Positioning fixture; 4041. Rotatable shaft; 4042. U-shaped chuck; 5. Welding forming module; 501. Fixed assembly; 502. Welding assembly; 6. Conduit to be processed; 7. Pipe end accessories; 8. Fixture placement platform; 9. Robotic arm. Detailed Implementation

[0015] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0016] Example 1 See Figures 1 to 7 An intelligent integrated manufacturing device for welded conduits, comprising: The intelligent configuration module 1 for the conduit is used to determine the pipe sections and pipe end accessories 7 that form the conduit 6 to be processed based on the digital model of the conduit 6 to be processed, and to select the pipe blank to be obtained by end face cutting based on the structural characteristics of each pipe section. The CNC program generation module 2 is used to generate a CNC program in the database based on the pipe segments forming the conduit 6 to be processed, which uses the positioning and welding of each pipe segment to form the conduit 6 to be processed; the CNC program includes a positioning detection program to determine the relative position between each pipe segment in the conduit 6 to be processed, and a welding program between pipe segments and between pipe segments and pipe end fittings 7; The pipe end face forming module 3 includes a flexible clamping mechanism 301 and a digital attitude adjustment cutting mechanism 302. It is used to transport each segment of the pipe blank to the flexible clamping mechanism 301 using a robotic arm 9. Based on the end angle and placement position of the pipe blank on the flexible clamping mechanism 301, it generates an end face forming program for cutting the end face of the pipe blank to form the corresponding pipe structure. The digital attitude adjustment cutting mechanism 302 completes the end face forming of each segment of the pipe blank according to the end face forming program of the pipe blank, forming the corresponding pipe structure. The attitude adjustment and positioning assembly module 4 is used to automatically transport the pipe with the pipe end formed to the motion module according to the preset execution program by the robotic arm 9. The motion module automatically assembles and adjusts the attitude and positioning according to the structural features and placement position of the conduit 6 to be processed, and completes the assembly of each pipe by using the positioning detection program; and fixes the multiple pipe structures placed on the motion module and assembled into the pre-fixed structure of the pipe to be processed. The welding forming module 5 is used to transport the pre-fixed structure that has been positioned to the welding device using the robotic arm 9. The welding device welds each circumferential seam according to the welding program, and then completes the automated welding of the connection between pipes and pipes and between pipes and pipe end accessories 7 to form the corresponding conduit structure.

[0017] In this embodiment, the intelligent integrated manufacturing method for welded conduits includes: Step 1: Based on the digital model of the conduit 6 to be processed, determine the pipe sections and pipe end fittings 7 that form the conduit 6 to be processed. Based on the structural characteristics of each pipe section, select the pipe blank to be obtained by end face cutting. Step 2: Based on the pipe segments forming the conduit 6 to be processed, generate a CNC program in the database that uses the positioning and welding of each pipe segment to form the conduit 6 to be processed; the CNC program includes a positioning detection program to determine the relative position between each pipe segment in the conduit 6 to be processed, and a welding program between pipe segments and between pipe segments and pipe end fittings 7; Step 3: Using the robotic arm 9, each segment of the tube blank is transported to the flexible clamping mechanism 301. Based on the end angle and placement position of the tube blank on the flexible clamping mechanism 301, the control commands of each locator joint of the digital attitude adjustment cutting mechanism (302) can be calculated using a coordinate extraction algorithm to form an end face forming program for cutting the end face of the tube blank to form the corresponding tube structure. The digital attitude adjustment cutting mechanism 302 completes the end face forming of each segment of the tube blank according to the end face forming program of the tube blank to form the corresponding tube structure. Step 4: The robotic arm 9 automatically transports the pipe with the formed pipe end to the motion module according to the preset execution program. The motion module automatically assembles and adjusts the position based on the structural features and placement of the guide tube 6 to be processed, using the positioning detection program to complete the assembly of each pipe. The multiple pipe structures placed on the motion module and assembled are then fixed as the pre-fixed structure of the pipe to be processed. Step 5: The robotic arm 9 transports the pre-fixed structure that has been positioned to the welding device. The welding device welds each circumferential seam according to the welding procedure, and then completes the automated welding of the connection between pipes and pipes and between pipes and pipe end accessories 7 to form the corresponding conduit structure.

[0018] In this embodiment, various advanced technologies are linked together using multiple types of devices to form an intelligent manufacturing production line. For example, the tube blank is selected based on the digital model of the tube to be processed 6. The tube blank blanking, end face forming, positioning detection, welding and other processes in the manufacturing process are all coordinated under the control of automated and intelligent processing devices. This can meet the different needs of tube positioning, detection and welding. The operation is simple, while improving the stability of product quality and processing accuracy. It also greatly improves the production efficiency of tubes and reduces the overall manufacturing cost and production cycle of tubes. It solves the problems of difficulty in finding the coordinate origin in three-dimensional laser cutting, long fixture change time and heat-affected zone at the cutting edge.

[0019] In some embodiments, the digital attitude adjustment cutting mechanism 302 is fixed to the working platform by a walking mechanism 3021. The walking mechanism 3021 is provided with an attitude adjustment mounting seat 3022, and the attitude adjustment mounting seat 3022 is provided with a cutting tool 3023 for cutting and shaping the end face of the tube blank to form a corresponding tube structure.

[0020] In some embodiments, the welding apparatus includes a fixing component 501 and a welding component 502. The fixing component 501 is used to place the pre-fixed structure and limit and fix the pre-fixed structure. The welding component 502 is used to weld each circumferential seam of the pre-fixed structure, thereby completing the automated welding of the connection between pipes and pipes, and between pipes and pipe end fittings.

[0021] Example 2 See Figures 1 to 7 A method for intelligent integrated manufacturing of welded conduits, comprising: Step 1: Based on the digital model of the conduit 6 to be processed, determine the pipe sections and pipe end fittings 7 that form the conduit 6 to be processed. Based on the structural characteristics of each pipe section, select the pipe blank to be obtained by end face cutting. In this embodiment, the digital model of the conduit 6 to be processed can be reverse-engineered based on the design digital model or 3D scanning. The processing flow of the conduit is selected in the database, the pipe sections and pipe end accessories 7 to be formed into the conduit 6 to be processed are determined, and the raw materials for the corresponding pipe blank processing are selected according to the pipe structure.

[0022] Step 2: Based on the pipe segments forming the conduit 6 to be processed, generate a CNC program in the database that uses the positioning and welding of each pipe segment to form the conduit 6 to be processed; the CNC program includes a positioning detection program to determine the relative position between each pipe segment in the conduit 6 to be processed, and a welding program between pipe segments and between pipe segments and pipe end fittings 7; In this embodiment, the digital model of the conduit 6 to be processed is converted into processing data or processing program, wherein: The positioning and detection program is used to accurately determine the relative position of each pipe in space. Through high-precision sensors and algorithms, it ensures that each pipe segment is accurately connected according to design requirements, thereby guaranteeing welding quality and the overall performance of the conduit. The program can provide real-time positioning data, offering reliable location information for subsequent welding processes.

[0023] The welding program can be automatically generated based on the digital model of the conduit 6 to be processed and the position information provided by the positioning and detection program, so as to control the welding device to automatically weld the connections between various pipes and between pipes and pipe end fittings 7. The welding program has a variety of preset welding parameters, such as welding current, voltage, and welding speed. These parameters can be flexibly adjusted according to the material, thickness and welding requirements of different pipes to ensure that the welded joint has sufficient strength and good sealing performance.

[0024] Step 3: Using the robotic arm 9, each segment of the tube blank is transported to the flexible clamping mechanism 301. Based on the end angle and placement position of the tube blank on the flexible clamping mechanism 301, an end face forming program is generated to cut the end face of the tube blank to form the corresponding tube structure. The digital attitude adjustment cutting mechanism 302 completes the end face forming of each segment of the tube blank according to the end face forming program of the tube blank, forming the corresponding tube structure. In this embodiment, the digital attitude adjustment cutting mechanism 302 automatically adjusts the posture of the cutting blade during the cutting process according to the digital model of the end of the guide tube 6 to be processed. By controlling the spindle motor to drive the cutting blade in the digital attitude adjustment cutting mechanism 302 to rotate, multi-dimensional high-precision cutting and forming of flat end, oblique end, intersection line end, and non-standard shape end of the guide tube can be realized.

[0025] This embodiment can complete the precision forming of the end faces of each section of pipe according to the end face forming program. In this process, the digital model of the guide tube 6 to be processed is converted with the dual coordinates of the digital attitude adjustment and cutting mechanism 302. The coordinate extraction algorithm is used to generate the end face forming program for each pipe structure. The specific generation process is as follows: 3.1 Using an image acquisition device, the tube blank's external dimensions are scanned based on the tube blank end angle and placement position on the flexible clamping mechanism 301 to obtain multiple feature data points for identifying the tube blank; 3.2 Using any fixed point in the simulation space where the digital model of the duct is located as the origin, establish a spatial rectangular coordinate system O-XYZ for the spatial location of the digital model, and transform the feature data points to the O-XYZ coordinate system to obtain the feature point coordinates (X0, Y0, Z0) of the corresponding tube embryo. 3.3 Taking a point on the telescopic axis of the digital attitude-adjusting cutting mechanism 302 as the origin, a spatial rectangular coordinate system O1-X1Y1Z1 is established. Based on the cutting head height L, the direct cutting angle U of the cutting blade, the rotational cutting angle V of the cutting blade, and the initial coordinates (Xd1, Yd1, Zd1) of the cutting tool 3023 in O1-X1Y1Z1, the position coordinates (Xq, Yd1, Zd1) of the working point of the cutting tool 3023 in the digital attitude-adjusting cutting mechanism 302 are analyzed and obtained; where Xq=Xd1-L×tanU-K×tanV, U is the direct cutting angle of the cutting blade, that is, the angle between the central axis of the tube blank and the plane where the cutting blade is located when the cutting blade's symmetry axis is perpendicular to the tube blank's central axis; V is the rotational cutting angle of the cutting blade, that is, the angle between the plane where the cutting blade is located and the horizontal plane when the cutting blade's symmetry axis is acute and the tube blank's central axis is acute; K is the vertical distance between the cutting blade's blade surface and the motion module. 3.4 Based on the feature point coordinates (X0, Y0, Z0) and the position coordinates (Xq, Yd1, Zd1) of the working point of the cutting tool 3023, the control commands of each positioner joint of the digital attitude adjustment cutting mechanism 302 are calculated using the coordinate extraction algorithm based on the CATIA software and the CAA development platform knowledge base, thus forming the end face forming program of the tube blank.

[0026] In this embodiment, the flexible clamping mechanism 301 is disposed on a working platform and includes three modules 3011, 3012, and 3013 for clamping and fixing the tube blank. The third module 3013 is located on the working platform near the cutting tool 3023, the first module 3011 is located on the working platform away from the cutting tool 3023, and the second module 3012 is located between the first module 3011 and the third module 3013. Each of the first module 3011, the second module 3012, and the third module 3013 is provided with a mandrel 3014, and a support clamping assembly 3015 for placing the tube blank is rotatably disposed on the mandrel 3014. Before the robotic arm 9 transports each segment of the tube blank to the flexible clamping mechanism 301, a spatial rectangular coordinate system O2-X2Y2Z2 is established with a point on the mandrel 3014 of the second module 3012 as the origin. Based on the cutting head height L, the direct cutting angle U of the cutting blade, the rotational cutting angle V of the cutting blade, and the coordinates of each feature data point, the position coordinates (Xm1, Ym1, Zm1) of the first module 3011 used for clamping the corresponding tube blank in O2-X2Y2Z2 are analyzed and obtained, as well as the position coordinates (Xm2, Ym2, Zm2) of the third module 3013 used for clamping the corresponding tube blank in O2-X2Y2Z2. Wherein: Xm1=X0-2L×sinU+L×sinu×cosV Ym1=Y0-L×sinU×sinV Zm1=Z0+LL×cosU Xm2=X0-L×sinU×cosV Ym2=Y0+L×sinU×sinV Zm2 = Z0 + LL × cosU; The spatial position of the first module 3011 is adjusted according to coordinates (Xm1, Ym1, Zm1), and the spatial position of the third module 3013 is adjusted according to coordinates (Xm2, Ym2, Zm2). This ensures that the flexible clamping mechanism 301 can better clamp and fix the tube blank during cutting, thus guaranteeing the quality of the end face cutting of the tube.

[0027] Step 4: The robotic arm 9 automatically transports the pipe with formed pipe ends to the motion module according to the preset execution program. The motion module includes a fixed platform 401 and multiple movable mounting seats 402 movably set on the fixed platform 401. Each movable mounting seat 402 is equipped with multiple positioning fixtures 404 that can clamp the pipe through a limiting component 403. The motion module automatically assembles and adjusts the orientation positioning according to the structural features and placement position of the conduit 6 to be processed, and completes the assembly of each pipe by using the positioning detection program. The multiple pipe structures placed on the motion module and assembled are then fixed as the pre-fixed structure of the pipe to be processed. In this embodiment, as Figure 5 As shown, for straight pipes and some simple bends, no positioning is required, and they can be directly transferred to the welding process. However, some complex conduits with various irregular shapes need to be transferred to the positioning fixture 404 on the motion module for positioning.

[0028] The fixed platform 401 is provided with a linear slide rail, and the motion module is provided with a slide groove that cooperates with the linear slide rail; the positioning fixture 404 includes a rotatable shaft 4041 hinged to the corresponding motion module, and a U-shaped chuck 4042 hinged to the rotatable shaft 4041 by a pin; before the robotic arm 9 automatically transports the tube with the tube end formed to the positioning fixture 404 of the motion module, a spatial rectangular coordinate system O3-X3Y3Z3 is established with a point O3 on the linear slide rail as the origin, the extension direction of the linear slide rail as the X3 axis, the vertical direction passing through the origin as the Z3 axis, and the straight line Y3 axis passing through the origin O3 and perpendicular to the X3O3Z3 plane. Based on the pitch angle p of the U-shaped clamp 4042 required by the positioning clamp 404 to limit and fix the pipe, the rotation angle r of the rotatable shaft 4041, the distance h between the centroid position of the U-shaped clamp 4042 and the center line of the pin shaft, and the centroid coordinates (Xn, Yn, Zn) of the pipe after it is clamped on the corresponding positioning clamp 404 and mapped onto the spatial rectangular coordinate system O-XYZ of the digital model, the center point coordinates (Xd, Yd, Zd) of the pin shaft of each U-shaped clamp 4042 during pipe assembly are obtained, where: When the U-shaped chuck 4042 rotates around the X3 axis: Xd = Xn + h × sinp - h × sinp × cosr Yd=Yn-h×sinp×sinr-h×sinp Zd = Zn + hh × cosp When the U-shaped chuck 4042 rotates around the Y3 axis: Xd = Xn - 2h × sinp + h × sinp × cosr Yd=Yn+h×sinp×sinr Zd = Zn + hh × cosp; Based on the initial position of the pin and the coordinates (Xd, Yd, Zd) of the pin's center point, a corresponding positioning detection program is generated to adjust the pin's position to meet the coordinates (Xd, Yd, Zd) of the pin's center point.

[0029] The intelligent integrated manufacturing device for welded conduits in this embodiment also includes a fixture placement platform 8, which is used to position and place multiple positioning fixtures 404 that can clamp the pipe, so that the positioning fixtures 404 on the fixture placement platform 8 can be transported to the corresponding limiting components 403 on the movable mounting base 402 by the robotic arm 9.

[0030] During positioning: S1: The motion module is assembled on the main frame through the horizontal adjustment mechanism and the vertical adjustment mechanism. The motion module is adjusted by the control program so that the position of each motion module is zeroed. S2: Retrieve information about the part to be processed; S3: The robotic arm 9 automatically transports the pipe end formed to the motion module according to the preset execution program. The motion module drives each servo motor according to the generated positioning detection program, adjusts the position of each positioning module in the motion module, and controls the positioning elements (such as pins) to move and offset to the spatial and angular positions required by the program. Multiple sets of positioning fixtures 404 can position various parts with different sizes and structures, and complete the positioning and assembly of each pipe of the conduit 6 to be processed.

[0031] S4: After assembly, the motion module will fix multiple pipe structures as pre-fixed structures for the pipes to be processed, preparing for the subsequent welding process.

[0032] The positioning fixture 404 in this embodiment can be adaptively selected and placed according to the pipe structure, which can reduce the number of special fixtures used in traditional aircraft duct manufacturing and the warehouse area required to store the fixtures, thereby reducing production costs and shortening production preparation time.

[0033] Step 5: The robotic arm 9 transports the pre-fixed structure that has been positioned to the welding device. The welding device welds each circumferential seam according to the welding program, and then completes the automated welding of the connection between pipes and pipes and between pipes and pipe end accessories 7 to form the corresponding conduit structure. In this embodiment, the welding device employs advanced welding technology and an automated control system, enabling efficient and stable welding of each circumferential seam of the pre-fixed structure according to the requirements of the welding program. The welding program can be generated based on a digital model, which falls within the scope of existing technology and will not be elaborated here. During the welding process, the welding device can monitor welding parameters and welding quality in real time, ensuring that the quality and performance of the welded joint meet the standard requirements. Simultaneously, the welding device also has automated welding capabilities, automatically completing the welding work at the connections between pipes and between pipes and pipe end fittings 7, greatly improving welding efficiency and the degree of production automation.

[0034] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A welding catheter intelligent integrated manufacturing device, characterized in that, The application relates to a pipe intelligent configuration module (1) for determining pipe sections and pipe end accessories forming a to-be-processed pipe according to a digital model of the to-be-processed pipe, and selecting a pipe blank corresponding to each pipe section by end face cutting processing according to the structural features of each pipe section; A numerical control program generation module (2) is used for generating a numerical control program for positioning and welding each pipe section to form the to-be-processed pipe in a database according to the pipe sections forming the to-be-processed pipe; the numerical control program comprises a positioning detection program for determining the relative positions of the pipe sections in the to-be-processed pipe, and a welding program for the pipe sections and the pipe end accessories; A pipe end face forming module (3) comprises a flexible clamping mechanism (301) and a digital pose adjustment cutting mechanism (302), which are used for transporting each pipe blank to the flexible clamping mechanism (301) by a mechanical arm, generating an end face forming program for cutting the end face of the pipe blank to form a corresponding pipe section structure according to the end head angle and the placement position of the pipe blank on the flexible clamping mechanism (301), and completing the end face forming of each pipe blank according to the end face forming program of the pipe blank by the digital pose adjustment cutting mechanism (302) to form a corresponding pipe section structure; A pose adjustment positioning and assembling module (4) is used for automatically transporting the pipe end formed pipe section to a motion module according to a preset execution program by a mechanical arm, automatically assembling and pose adjusting the motion module according to the structural features and the placement position of the to-be-processed pipe, and completing the assembling of each pipe section; and fixing the multiple pipe section structures placed on the motion module and assembled to a pre-fixed structure of the to-be-processed pipe; A welding forming module (5) is used for transporting the pre-fixed structure with the completed positioning to a welding device by a mechanical arm, welding each ring gap according to the welding program, and then automatically welding the connecting positions of the pipe sections and the pipe end accessories to form a corresponding pipe structure. The digital pose adjustment cutting mechanism (302) is fixed on a working platform through a walking mechanism (3021), the walking mechanism (3021) is provided with a pose adjustment mounting seat (3022), and the pose adjustment mounting seat (3022) is provided with a cutting tool (3023) for cutting and forming the end face of the pipe blank to form a corresponding pipe section structure.

2. The intelligent integrated manufacturing device for welding catheter according to claim 1, characterized in that, The motion module comprises a fixed table (401) and a plurality of movable mounting seats (402) movably arranged on the fixed table (401), and a plurality of positioning clamps (404) capable of clamping the pipe sections are arranged on each movable mounting seat (402) through a limiting assembly (403).

3. The intelligent integrated manufacturing device for welding catheter according to claim 1, characterized in that, The welding device comprises a fixing assembly (501) and a welding assembly (502), the fixing assembly (501) is used for placing and limiting and fixing the pre-fixed structure, and the welding assembly (502) is used for welding each ring gap of the pre-fixed structure, and then automatically welding the connecting positions of the pipe sections and the pipe end accessories.

4. The intelligent integrated manufacturing device for welding catheter according to claim 1, characterized in that, The application relates to a pipe intelligent configuration module (1) for determining pipe sections and pipe end accessories forming a to-be-processed pipe according to a digital model of the to-be-processed pipe, and selecting a pipe blank corresponding to each pipe section by end face cutting processing according to the structural features of each pipe section; 5. A method for intelligent integrated manufacturing of a welded catheter, the method being based on the apparatus for intelligent integrated manufacturing of a welded catheter according to claim 1, characterized in that, A numerical control program generation module (2) is used for generating a numerical control program for positioning and welding each pipe section to form the to-be-processed pipe in a database according to the pipe sections forming the to-be-processed pipe; the numerical control program comprises a positioning detection program for determining the relative positions of the pipe sections in the to-be-processed pipe, and a welding program for the pipe sections and the pipe end accessories; A pipe end face forming module (3) comprises a flexible clamping mechanism (301) and a digital pose adjustment cutting mechanism (302), which are used for transporting each pipe blank to the flexible clamping mechanism (301) by a mechanical arm, generating an end face forming program for cutting the end face of the pipe blank to form a corresponding pipe section structure according to the end head angle and the placement position of the pipe blank on the flexible clamping mechanism (301), and completing the end face forming of each pipe blank according to the end face forming program of the pipe blank by the digital pose adjustment cutting mechanism (302) to form a corresponding pipe section structure; A pose adjustment positioning and assembling module (4) is used for automatically transporting the pipe end formed pipe section to a motion module according to a preset execution program by a mechanical arm, automatically assembling and pose adjusting the motion module according to the structural features and the placement position of the to-be-processed pipe, and completing the assembling of each pipe section; and fixing the multiple pipe section structures placed on the motion module and assembled to a pre-fixed structure of the to-be-processed pipe; A welding forming module (5) is used for transporting the pre-fixed structure with the completed positioning to a welding device by a mechanical arm, welding each ring gap according to the welding program, and then automatically welding the connecting positions of the pipe sections and the pipe end accessories to form a corresponding pipe structure. The digital pose adjustment cutting mechanism (302) is fixed on a working platform through a walking mechanism (3021), the walking mechanism (3021) is provided with a pose adjustment mounting seat (3022), and the pose adjustment mounting seat (3022) is provided with a cutting tool (3023) for cutting and forming the end face of the pipe blank to form a corresponding pipe section structure. The motion module comprises a fixed table (401) and a plurality of movable mounting seats (402) movably arranged on the fixed table (401), and a plurality of positioning clamps (404) capable of clamping the pipe sections are arranged on each movable mounting seat (402) through a limiting assembly (403). The welding device comprises a fixing assembly (501) and a welding assembly (502), the fixing assembly (501) is used for placing and limiting and fixing the pre-fixed structure, and the welding assembly (502) is used for welding each ring gap of the pre-fixed structure, and then automatically welding the connecting positions of the pipe sections and the pipe end accessories. Step one, according to the digital model of the to-be-processed conduit, determine the pipe sections and pipe end accessories forming the to-be-processed conduit, according to the structural characteristics of each pipe section, select the pipe blank corresponding to the pipe section by end face cutting processing; Step two, according to the pipe sections forming the to-be-processed conduit, generate a numerical control program in the database using the pipe sections to locate and weld to form the to-be-processed conduit; The numerical control program includes a positioning detection program for determining the relative position of each pipe section in the to-be-processed conduit, and a welding program for pipe to pipe and pipe to pipe end accessory; Step three, use the mechanical arm to transport each section of the pipe blank to the flexible clamping mechanism (301), according to the pipe blank end head angle and placement position on the flexible clamping mechanism (301), generate an end face forming program for cutting the end face of the pipe blank to form the corresponding pipe structure; Use the digital pose adjustment cutting mechanism (302) to complete the end face forming of each section of the pipe blank according to the end face forming program of the pipe blank, and form the corresponding pipe structure; Step four, the mechanical arm automatically transports the pipe end formed pipe to the motion module according to the preset execution program, the motion module automatically assembles, adjusts and positions according to the structural characteristics and placement position of the to-be-processed conduit, completes the assembly of each pipe, and fixes the multiple pipe structures placed on the motion module and assembled to the pre-fixed structure of the to-be-processed pipe; Step five, the mechanical arm transports the pre-fixed structure to the welding device, and the welding device welds each ring seam according to the welding program, and then completes the automatic welding of the connection between the pipe and the pipe, and the pipe and the pipe end accessory, to form the corresponding conduit structure.

6. The intelligent integrated manufacturing method of a welding catheter according to claim 5, wherein, The method for generating an end face forming program for cutting the end face of the pipe blank to form the corresponding pipe structure includes: Use an image acquisition device to scan the points of the pipe blank shape size according to the pipe blank end head angle and placement position on the flexible clamping mechanism (301), and obtain a plurality of feature data points for identifying the pipe blank; Take any fixed point on the simulation space of the digital model of the conduit as the origin, establish a space rectangular coordinate system O-XYZ of the space position of the digital model, and convert the feature data points to the O-XYZ coordinate system to obtain the feature point coordinates (X0, Y0, Z0) of the corresponding pipe blank; A space rectangular coordinate system O1-X1Y1Z1 is established with a point on the telescopic shaft of the digital posture-adjusting cutting mechanism (302) as the origin, and the position coordinates (Xq, Yd1, Zd1) of the working point of the cutting tool (3023) in the digital posture-adjusting cutting mechanism (302) are obtained by analyzing the cutting head height L, the direct cutting angle U of the cutting blade, the rotary cutting angle V of the cutting blade, and the initial coordinates (Xd1, Yd1, Zd1) of the cutting tool (3023) in O1-X1Y1Z1; wherein Xq=Xd1-L×tanU-K×tanV, U is the direct cutting angle of the cutting blade, i.e. the included angle between the pipe blank center axis and the plane where the cutting blade is located when the cutting blade face symmetry axis and the pipe blank center axis keep perpendicular cutting mode, V is the rotary cutting angle of the cutting blade, i.e. the included angle between the plane where the cutting blade is located and the horizontal plane when the cutting blade face symmetry axis and the pipe blank center axis are acute angle, and K is the vertical distance between the cutting blade face and the motion module; According to the feature point coordinates (X0, Y0, Z0) and the position coordinates (Xq, Yd1, Zd1) of the working point of the cutting tool (3023), the control commands of the positioners of the digital posture-adjusting cutting mechanism (302) are calculated by using the coordinate extraction algorithm based on the CATIA software and the CAA development platform, and the end face forming program of the pipe blank is formed.

7. The intelligent integrated manufacturing method of a welding catheter according to claim 6, wherein, The flexible clamping mechanism (301) is arranged on the working platform and includes three first modules (3011), second modules (3012) and third modules (3013) for clamping and fixing the pipe blank; the third module (3013) is located on the working platform close to the cutting tool (3023), the first module (3011) is located on the working platform away from the cutting tool (3023), and the second module (3012) is located between the first module (3011) and the third module (3013); the first module (3011), the second module (3012) and the third module (3013) are all provided with a mandrel (3014), and the mandrel (3014) is rotatably provided with a support clamping assembly (3015) for placing the pipe blank; The mechanical arm transports each section of the pipe blank to the flexible clamping mechanism (301), and a space rectangular coordinate system O2-X2Y2Z2 of the space position of the pipe blank is established with a point on the mandrel (3014) of the second module (3012) as the origin; the position coordinates (Xm1, Ym1, Zm1) of the first module (3011) in O2-X2Y2Z2 when clamping the corresponding pipe blank and the position coordinates (Xm2, Ym2, Zm2) of the third module (3013) in O2-X2Y2Z2 when clamping the corresponding pipe blank are obtained by analyzing the cutting head height L, the direct cutting angle U of the cutting blade, the rotary cutting angle V of the cutting blade, and the coordinates of each feature data point; wherein: Xm1=X0-2L×sinU+L×sinu×cosV Ym1=Y0-L×sinU×sinV Zm1=Z0+L-L×cosU Xm2 = X0 - L x sin U x cos V Ym2 = Y0 + L x sin U x sin V Zm2 = Z0 + L - L x cos U The spatial position adjustment of the first module (3011) is performed according to the coordinates (Xm1, Ym1, Zm1), and the spatial position adjustment of the third module (3013) is performed according to the coordinates (Xm2, Ym2, Zm2).

8. The intelligent integrated manufacturing method of a welding catheter according to claim 5, wherein, The movement module comprises a fixed table (401) and a plurality of movable mounting seats (402) movably arranged on the fixed table (401), a plurality of positioning clamps (404) capable of clamping the pipe are arranged on each movable mounting seat (402) through a limiting assembly (403); a linear slide rail is arranged on the fixed table (401), and the movement module is provided with a sliding groove matched with the linear slide rail; the positioning clamp (404) comprises a rotatable shaft (4041) hinged on the corresponding movement module, and a U-shaped chuck (4042) hinged on the rotatable shaft (4041) through a pin shaft; before the pipe material shaped by the pipe end of the mechanical arm is automatically transported to the positioning clamp (404) of the movement module, a point O3 on the linear slide rail is taken as the origin, the extension direction of the linear slide rail is taken as the X3 axis, the vertical direction passing through the origin is taken as the Z3 axis, and a straight line Y3 axis perpendicular to the X3O3Z3 plane passing through the origin O3 is established to form a space rectangular coordinate system O3-X3Y3Z3; According to the pitch angle p of the U-shaped chuck (4042), the rotation angle r of the rotatable shaft (4041), the distance h between the type center position of the U-shaped chuck (4042) and the center line of the pin shaft, and the type center coordinates (Xn, Yn, Zn) of the pipe material on the space rectangular coordinate system O-XYZ in the space position after being clamped on the corresponding positioning clamp (404), the pin shaft center point position coordinates (Xd, Yd, Zd) of each U-shaped chuck (4042) during the assembly of the pipe material are analyzed, wherein: When the U-shaped chuck (4042) rotates around the X3 axis: Xd = Xn + h x sin p - h x sin p x cos r Yd = Yn - h x sin p x sin r - h x sin p Zd = Zn + h - h x cos p When the U-shaped chuck (4042) rotates around the Y3 axis: Xd = Xn - 2h x sin p + h x sin p x cos r Yd = Yn + h x sin p x sin r Zd = Zn + h - h x cos p According to the initial position of the pin shaft and the pin shaft center point position coordinates (Xd, Yd, Zd), a corresponding positioning detection program is generated to adjust the position of the pin shaft to the position satisfying the pin shaft center point position coordinates (Xd, Yd, Zd).

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