Intelligent integrated welding platform and welding method

Abstract

An intelligent integrated welding platform and a welding method, the intelligent integrated welding platform comprising a stretching unit, a welding unit, and a control unit. The stretching unit comprises a flatness monitoring member and a stretching member. The flatness monitoring member is used for acquiring flatness information, and the stretching member is used for receiving a stretching control signal and applying a stretching force to flexible electronic skin. The welding unit comprises a welding monitoring member and a lifting member. The welding monitoring member is used for acquiring welding information. The lifting member is used for receiving a welding control signal and applying a pressing force to the flexible electronic skin. The control unit comprises a first control member and a second control member. The first control member is separately electrically connected to the flatness monitoring member and the stretching member, and is used for receiving the flatness information and sending the stretching control signal. The second control member is separately electrically connected to the welding monitoring member and the lifting member, and is used for receiving the welding information and sending the welding control signal. According to the present invention, high welding quality for flexible electronic skin can be ensured.

Description

Intelligent welding integrated platform and welding method Technical Field

[0001] This invention relates to the field of intelligent welding platform technology, and more particularly to an integrated intelligent welding platform and welding method. Background Technology

[0002] Flexible electronic skin, as a novel smart material, is widely used in robotics, medical devices, and wearable devices. However, due to its thin and flexible properties, it is extremely prone to deformation during manufacturing and processing.

[0003] Taking a certain product as an example, it includes a first flexible electronic skin and a second flexible electronic skin, which need to be stacked and welded together. In existing technology, the flexible electronic skin is usually first fixed by a clamp, and then the two are welded together using welding equipment. Due to the thin and flexible nature of the flexible electronic skin, it is prone to uneven stretching or torsional deformation, whether the two are fixed by clamps or welded together, ultimately leading to defects at the weld joints. Defects include weak weld joints, discontinuous welds, or cracks in the welded area. These defects not only affect the quality of the skin but may also cause malfunctions in practical applications, reducing the product's reliability and lifespan.

[0004] In summary, overcoming the dynamic deformation of flexible electronic skin during the welding process to ensure the welding quality and consistency of flexible electronic skin has become an urgent problem to be solved. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the difficulty of ensuring welding quality when welding flexible electronic skin with existing welding equipment, and to provide an intelligent integrated welding platform and welding method, which ensures high welding quality by setting up a stretching unit, a welding unit and a control unit.

[0006] In a first aspect, the present invention provides an integrated intelligent welding platform for welding flexible electronic skin. The flexible electronic skin includes a first flexible electronic skin and a second flexible electronic skin stacked along a first direction. The integrated intelligent welding platform includes a stretching unit, which includes a flatness monitoring component and a stretching component. The flatness monitoring component is used to acquire flatness information of the stretched flexible electronic skin. The stretching component is used to receive a stretching control signal and apply a stretching force perpendicular to the first direction to the flexible electronic skin. A welding unit includes a welding monitoring component and a lifting component. The welding monitoring component is used to acquire welding information of the welded flexible electronic skin. The lifting component is used to receive a welding control signal and apply a pressing force parallel to the first direction to the flexible electronic skin. A control unit includes a first control component and a second control component. The first control component is electrically connected to the flatness monitoring component and the stretching component, respectively, and is used to receive the flatness information and transmit the stretching control signal. The second control component is electrically connected to the welding monitoring component and the lifting component, respectively, and is used to receive the welding information and transmit the welding control signal.

[0007] In one embodiment of the present invention, the stretching control signal includes a first control signal; the stretching member includes a first stretching assembly, the first stretching assembly being disposed on one side of the flexible electronic skin along a second direction, the first stretching assembly including a stretching actuator, a first slide, a second slide, a first clamp, and a tension / compression sensor; the stretching actuator, the first slide, and the second slide are sequentially arranged along the second direction, the first slide being fixedly disposed relative to the stretching actuator, the first slide having a through hole, the driving end of the stretching actuator passing through the through hole of the first slide and being drively connected to the second slide, the stretching actuator being electrically connected to the first control member, the stretching actuator... The device is used to receive the first control signal and drive the second slide to move along the second direction; the first clamp is disposed on the second slide, and the first clamp clamps the first flexible electronic skin and the second flexible electronic skin respectively; the two detection ends of the tension and compression sensor are respectively connected to the first slide and the second slide, and the tension and compression sensor is used to obtain the tension information of the flexible electronic skin; and a second tensioning component, the second tensioning component and the first tensioning component are respectively disposed on both sides of the flexible electronic skin along the second direction, the second tensioning component includes a second clamp, and the second clamp clamps the first flexible electronic skin and the second flexible electronic skin respectively.

[0008] In one embodiment of the present invention, the first control element includes a first comparator electrically connected to the flatness monitoring element, the first comparator being used to compare a first expected flatness information with the flatness information; a second comparator electrically connected to the tension sensor, the second comparator being used to compare expected tension information with the tension information; and a first regulator electrically connected to the first comparator, the second comparator, and the tension actuator, the first regulator transmitting a first control signal based on a PID control algorithm to dynamically adjust the tensile force on the flexible electronic skin; wherein, when the flatness information matches the first expected flatness information and the tension information matches the expected tension information, the first regulator transmitting a first stop signal; the tension actuator is used to receive the first stop signal and stop moving the second slide.

[0009] In one embodiment of the present invention, the stretching control signal includes a second control signal; the second clamp includes a first clamping member and a second clamping member, the first clamping member being connected to the first flexible electronic skin, and the second clamping member being connected to the second flexible electronic skin; the second stretching assembly further includes a first three-axis driver and a second three-axis driver arranged sequentially at intervals along the second direction; the driving end of the first three-axis driver is connected to the first clamping member, and the first three-axis driver is used to receive the second control signal and drive the first clamping member to move; the driving end of the second three-axis driver is connected to the second clamping member, and the second three-axis driver is used to receive the second control signal and drive the second clamping member to move.

[0010] In one embodiment of the present invention, the first control element further includes a third comparator electrically connected to the flatness monitoring element, the third comparator being used to compare the second expected flatness information with the flatness information; and a second adjuster electrically connected to the second comparator, the third comparator, the first three-axis driver, and the second three-axis driver, the second adjuster being used to transmit the second control signal to dynamically adjust the flatness information; wherein, when the flatness information matches the second expected flatness information and the tension information matches the expected tension information, the second adjuster transmits a second stop signal; the first three-axis driver is used to receive the second stop signal and stop moving the first clamping element, and the second three-axis driver is used to receive the second stop signal and stop moving the second clamping element.

[0011] In one embodiment of the present invention, the flatness monitoring device includes a stripe light emitter for emitting stripe light to the flexible electronic skin; an image acquisition device for acquiring a reflection image of the stripe light on the surface of the flexible electronic skin; and an image processor electrically connected to the image acquisition device and the first control device, respectively, and the image processor for acquiring the flatness information based on the reflection image.

[0012] In one embodiment of the present invention, the lifting component includes two sets of lifting assemblies, which are sequentially arranged on both sides of the flexible electronic skin along a second direction. Each set of lifting assemblies includes a clamp and two clamping actuators. The two clamping actuators are respectively arranged on both sides of the flexible electronic skin along a third direction. The driving ends of the two clamping actuators are connected to the clamp. The clamping actuators are electrically connected to the second control component. The clamping actuators are used to receive the welding control signal and drive the clamp to move along the first direction.

[0013] In one embodiment of the present invention, the welding unit further includes a welding component for receiving the welding control signal and welding the first flexible electronic skin and the second flexible electronic skin.

[0014] In one embodiment of the present invention, the second controller transmits the welding control signal based on an artificial neural network model that combines the crow and wolf optimization algorithm.

[0015] Secondly, the present invention also provides a welding method based on the intelligent welding integrated platform as described in any one of the above claims, comprising the following steps:

[0016] S1. Apply a tensile force perpendicular to the first direction to the flexible electronic skin through the stretching unit;

[0017] S2. Welding the flexible electronic skin; wherein, a clamping force parallel to the first direction is applied to the flexible electronic skin by the welding unit.

[0018] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0019] The intelligent welding integrated platform described in this invention, on the one hand, achieves flat stretching of the flexible electronic skin before welding by combining a flatness monitoring component and a stretching component. During the stretching process, the flatness information of the flexible electronic skin is acquired through the flatness monitoring component to monitor and adjust the tensile force on the flexible electronic skin. Compared with traditional tensile force monitoring, its accuracy and frequency are higher. This ensures that the stretched flexible electronic skin has high-precision flatness for subsequent welding, preparing it for high-quality welding. On the other hand, by combining a welding monitoring component and a lifting component, the weld width and the gap between the two skins of the flexible electronic skin are adjusted during the welding process. During the welding process, the weld width and the gap between the two skins are acquired through the welding monitoring component, allowing the lifting component to adjust in real time. This ensures stability during the welding process and the quality of the welded product, reduces the occurrence of welding defects, and guarantees the reliability and durability of the product. In addition, it avoids the need to spend extra time and money to correct or remake affected products, reducing production cycle and cost. Attached Figure Description

[0020] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0021] Figure 1 is a first-view structural schematic diagram of the intelligent welding integrated platform in a preferred embodiment of the present invention;

[0022] Figure 2 is a second-view structural schematic diagram of the intelligent welding integrated platform in a preferred embodiment of the present invention;

[0023] Figure 3 is a third-view structural diagram of the intelligent welding integrated platform in a preferred embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of the structure of the first tensioning component in a preferred embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of the structure of the second stretching component in a preferred embodiment of the present invention;

[0026] Figure 6 is a structural schematic diagram of the lifting component in a preferred embodiment of the present invention.

[0027] Explanation of reference numerals in the accompanying drawings: D1, First direction; D2, Second direction; D3, Third direction; 11, First flexible electronic skin; 12, Second flexible electronic skin; 21, First image acquisition device; 22, Second image acquisition device; 23, Tensioning component; 231, First tensioning assembly; 2311, Tensioning actuator; 2312, First slide; 2313, Second slide; 2314, First clamp; 2315, Tension / compression sensor; 232, Second tensioning assembly; 2321, First clamping component; 2322, Second clamping component; 2323, First three-axis actuator; 2324, Second three-axis actuator; 30, Lifting component; 31, Lifting assembly; 311, Pressure device; 312, Pressure actuator. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0029] Referring to Figures 1 to 3, this invention discloses an integrated intelligent welding platform for welding flexible electronic skin. The flexible electronic skin includes a first flexible electronic skin 11 and a second flexible electronic skin 12 stacked along a first direction D1. In this embodiment, the first direction D1 is parallel to the thickness direction of the flexible electronic skin. The integrated intelligent welding platform includes a stretching unit, a welding unit, and a control unit.

[0030] Specifically, the stretching unit includes a flatness monitoring component and a stretching component 23. The flatness monitoring component is used to acquire the flatness information of the stretched flexible electronic skin; those skilled in the art can set the flatness monitoring component according to actual needs, as long as it can acquire flatness information. In this embodiment, the flatness information of the flexible electronic skin is its surface flatness, expressed by waviness (PV) accuracy. By setting the flatness monitoring component, the flatness information of the flexible electronic skin during the stretching process can be obtained, so as to realize the monitoring of the stretching force on the flexible electronic skin, thereby facilitating the corresponding force adjustment, with high accuracy and high frequency.

[0031] The tensioning member 23 is used to receive the tensioning control signal and apply a tensioning force perpendicular to the first direction D1 to the flexible electronic skin. Those skilled in the art can configure the specific tensioning member 23 according to actual needs to adapt to the stacked first flexible electronic skin 11 and second flexible electronic skin 12. The control unit includes a first control member, which is electrically connected to both the flatness monitoring member and the tensioning member 23. The first control member is used to receive flatness information and transmit the tensioning control signal.

[0032] Before welding, the stacked first flexible electronic skin 11 and second flexible electronic skin 12 are stretched by the stretching member 23 to ensure stable and uniform stretching. This ensures that the stretched flexible electronic skin has high-precision flatness, which is necessary for subsequent welding and prepares it for high-quality welding.

[0033] The welding unit includes a welding monitoring component and a lifting component 30. The welding monitoring component is used to acquire welding information of the flexible electronic skin being welded; those skilled in the art can set the welding monitoring component according to actual needs, as long as it can acquire welding information. In this embodiment, the welding information includes at least the weld width and the gap size between the two skins. By setting the welding monitoring component, the weld width of the flexible electronic skin and the gap size between the two skins can be obtained during the welding process, which facilitates the adjustment of the corresponding clamping force, thereby adjusting the weld width and the gap size between the skins with high precision and good effect.

[0034] The lifting component 30 is used to receive welding control signals and apply a clamping force parallel to the first direction D1 to the flexible electronic skin. Those skilled in the art can configure the lifting component 30 according to actual needs to adapt to the stacked first flexible electronic skin 11 and second flexible electronic skin 12. The control unit includes a second control component, which is electrically connected to both the welding monitoring component and the lifting component 30. The second control component is used to receive welding information and transmit welding control signals.

[0035] After stretching and during welding, the welding monitoring component, in conjunction with the lifting component 30, presses the stacked first flexible electronic skin 11 and second flexible electronic skin 12 together, adjusting the weld width and gap between them in real time. This effectively reduces deformation during the flexible electronic skin welding process and improves welding quality.

[0036] The intelligent welding integrated platform of this invention, on the one hand, achieves flat stretching of the flexible electronic skin before welding by combining a flatness monitoring component and a stretching component 23. During the stretching process, the flatness information of the flexible electronic skin is acquired through the flatness monitoring component to monitor and adjust the tensile force on the flexible electronic skin. Compared with traditional tensile force monitoring, its accuracy and frequency are higher. This ensures that the stretched flexible electronic skin has high-precision flatness for subsequent welding, preparing it for high-quality welding. On the other hand, by combining a welding monitoring component and a lifting component 30, the welding process achieves compression adjustment of the weld width and the gap between the two skins of the flexible electronic skin. During the welding process, the weld width and the gap between the two skins are acquired through the welding monitoring component so that the lifting component 30 can be adjusted in real time. This ensures the stability of the welding process and the quality of the welded product, reduces the occurrence of welding defects, and guarantees the reliability and durability of the product. In addition, it avoids the need to spend extra time and costs to correct or remake affected products, reducing production cycle and costs.

[0037] Referring to FIG1, in some embodiments of the intelligent welding integrated platform of the present invention, the flatness monitoring component includes a stripe light emitter, an image acquisition unit, and an image processor.

[0038] Specifically, the stripe light emitter is used to emit stripe light onto the flexible electronic skin. Preferably, the stripe light emitter is configured as a laser interferometer capable of emitting parallel stripe beams. Laser interferometers are existing technology and utilize a laser source and a grating to generate stripe patterns on the surface of the flexible electronic skin. Preferably, two stripe light emitters are provided to emit stripe light onto the first flexible electronic skin 11 and the second flexible electronic skin 12, respectively.

[0039] An image acquisition device is used to acquire the reflected image of striped light on the surface of the flexible electronic skin. Preferably, the image acquisition device includes a first image acquisition device 21 and a second image acquisition device 22. The first image acquisition device 21 is used to acquire the reflected image of the surface of the first flexible electronic skin 11 away from the second flexible electronic skin 12 along the first direction D1, and the second image acquisition device 22 is used to acquire the reflected image of the surface of the second flexible electronic skin 12 away from the first flexible electronic skin 11 along the first direction D1. Preferably, both the first image acquisition device 21 and the second image acquisition device 22 are configured as 10-megapixel cameras and are fixed by a bracket.

[0040] The image processor is electrically connected to both the image acquisition unit and the first control unit to transmit data. The image processor acquires flatness information based on the reflected image. After the image acquisition unit acquires the image, the image processor processes and analyzes the stripe deformation to calculate the flatness information of the corresponding flexible electronic skin surface. Subsequently, the flatness information is input to the first control unit so that the first control unit can adjust the tensile force perpendicular to the first direction D1 applied to the flexible electronic skin based on the flatness information. Preferably, the waviness accuracy during monitoring is set to 50 nm. By setting this structure, both the magnitude of the tensile force and the surface flatness are ensured, thereby improving the accuracy and consistency of the stretching process.

[0041] Referring to Figures 1 and 4, in some embodiments of the intelligent welding integrated platform of the present invention, the stretching control signal includes a first control signal. The stretching member 23 includes a first stretching component 231 and a second stretching component 232 to achieve fixing and stretching of the flexible electronic skin.

[0042] Specifically, the first stretching component 231 is disposed on one side of the flexible electronic skin along the second direction D2; the second direction D2 is perpendicular to the first direction D1. The first stretching component 231 includes a stretching actuator 2311, a first slide 2312, a second slide 2313, a first clamp 2314, and a tension / compression sensor 2315. The stretching actuator 2311, the first slide 2312, and the second slide 2313 are arranged sequentially along the second direction D2. The first slide 2312 is fixedly disposed relative to the stretching actuator 2311; preferably, when not stretching, the relative positional relationship between the two can be adjusted to perform different product stretching; when stretching, the two are fixed relative to each other, with the first slide 2312 serving as a fixed reference. Those skilled in the art can set specific ways to implement this structure according to actual needs, such as setting a strip hole to cooperate with nuts or bolts to lock or loosen the first slide 2312, etc. A through hole is provided on the first slide 2312, which is not shown in the figure.

[0043] The drive end of the stretch actuator 2311 passes through the through hole of the first slide 2312 and is connected to the second slide 2313. The stretch actuator 2311 is electrically connected to the first control component and is used to receive the first control signal and drive the second slide 2313 to move along the second direction D2. The first clamp 2314 is disposed on the second slide 2313 and clamps the first flexible electronic skin 11 and the second flexible electronic skin 12 respectively.

[0044] Those skilled in the art can configure a specific tension driver 2311 according to actual needs. Preferably, it is configured as a combination of a servo motor and a ball screw. In use, the servo motor drives the ball screw to rotate, thereby causing the second slide 2313 to slide relative to the servo motor. Preferably, the adjustable speed range of the servo motor is set to 5mm / s to 20mm / s, and the rotational accuracy is set to 0.01° to 0.1° to ensure smooth stretching and avoid uneven force on the product or unnecessary stress caused by excessively fast or slow start-up speeds. This ensures a good stretching effect, avoids product damage, and lays a good foundation for subsequent operations. Compared with other transmission methods, such as belt drive or chain drive, ball screw drive has higher precision and stability, and can accurately control the moving speed and position of the second slide 2313, thereby ensuring uniform tension applied to the flexible electronic skin. The tension applied to the flexible electronic skin during the stretching process needs to be kept uniform to ensure that the stress distribution on the product is uniform throughout the stretching process, avoiding product damage or poor stretching effect caused by uneven tension. The ball screw drive precisely controls the movement of the second slide 2313 and the first clamp 2314, ensuring that the applied tension remains at a stable and uniform level during the stretching process. This allows the entire platform to maintain a stable and reliable working state during stretching, ensuring accurate control of the position and speed of the second slide 2313. The ball screw drive offers advantages such as high transmission efficiency, long service life, and high feedback accuracy, maintaining the stability and reliability of the system during the stretching process. By improving the control precision and stability during stretching, the ball screw drive helps improve production efficiency and stretching quality, ensuring that the flexible electronic skin meets the expected stretching requirements and maintains good product quality.

[0045] The two detection terminals of the tension / compression sensor 2315 are respectively connected to the first slide 2312 and the second slide 2313. The tension / compression sensor 2315 is used to acquire the tensile force information of the flexible electronic skin. Preferably, the tension / compression sensor 2315 is S-shaped, and its sensitivity meets the requirement of 1.0±2.0MV / V; the tensile force information includes the tension, compression, or strain of the flexible electronic skin. By setting this structure, on the one hand, tensile force testing can be realized; on the other hand, the tension / compression sensor 2315 can be brought as close as possible to the object being measured, reducing interference from external factors, thereby accurately sensing the tensile force change of the flexible electronic skin during the stretching process, improving the accuracy and precision of monitoring.

[0046] The second stretching component 232 and the first stretching component 231 are respectively disposed on both sides of the flexible electronic skin along the second direction D2. The second stretching component 232 includes a second clamp, which clamps the first flexible electronic skin 11 and the second flexible electronic skin 12 respectively. During the stretching process, the first clamp 2314 and the second clamp cooperate with each other to clamp and fix the flexible electronic skin, ensuring that the skin maintains a stable position and posture during the overall stretching process, and avoiding the impact of movement or shaking on the accuracy and consistency of stretching. In addition, fixing the skin can reduce the difficulty of operation for operators and improve work efficiency. Those skilled in the art can set the second stretching component 232 according to actual needs, such as fixing the second clamp, or using a three-axis driver to drive the corresponding second clamp to move, etc.

[0047] Furthermore, in some embodiments of the intelligent welding integrated platform described in this invention, the first control component includes a first comparator, a second comparator, and a first regulator.

[0048] The first comparator is electrically connected to the flatness monitoring device. The first comparator is used to compare the first expected flatness information with the actual flatness information. The first expected flatness information is a preset known quantity, which can be set by those skilled in the art according to actual needs. For example, the first expected flatness information is set to a surface waviness value of less than 20 μm. The flatness information is acquired through the flatness monitoring device.

[0049] The second comparator is electrically connected to the tension / compression sensor 2315 and is used to compare the expected tension information with the actual tension information. The expected tension information is also a preset known quantity, which can be set by those skilled in the art according to actual needs; for example, the expected tension information can be set to a tension greater than or equal to 50N. Preferably, the second comparator is connected to the tension / compression sensor 2315 via a data acquisition unit. The data acquisition unit converts the acquired analog signal into a digital signal and transmits it to the second comparator, ensuring the stability and reliability of the acquired data transmission. Digital signal transmission is less susceptible to interference, and this conversion and transmission process ensures that the tension information data acquired by the tension / compression sensor 2315 is accurately transmitted to the second comparator, providing a reliable data foundation for subsequent data processing and analysis. By setting the tension / compression sensor 2315 to monitor the tension changes of the flexible electronic skin in real time during the stretching process and promptly transmit the acquired data to the second comparator, real-time control and adjustment of the stretching process can be achieved. This real-time feedback mechanism allows the first control component to promptly understand the changes in tension, thereby enabling timely adjustments and control based on the actual situation. This ensures that the flexible electronic skin remains within the predetermined tension range during the stretching process, avoiding product damage or poor stretching effect due to excessive or insufficient tension, thus improving the stretching quality and stability of the product and reducing waste and losses in the production process.

[0050] The first regulator is electrically connected to the first comparator, the second comparator, and the stretching driver 2311. Based on a PID (Proportional, Integral, Differential) control algorithm, the first regulator transmits a first control signal to dynamically adjust the stretching force on the flexible electronic skin, ensuring sufficient tension and achieving the best stretching effect on the skin. The PID control algorithm includes a proportional term, an integral term, and a derivative term. These three terms are responsible for dynamically adjusting the first stretching component 231 based on the current and historical states, respectively, to achieve precise control and stable adjustment of the stretching process. Specifically, the proportional term adjusts its output based on the difference between the current tension information and the expected tension information. When the tension value deviates from the expected tension value, the proportional term generates a correction amount proportional to the deviation, thereby causing the first stretching component 231 to adjust towards the expected tension value, achieving precise tension control. The integral term is responsible for accumulating historical deviations and eliminating steady-state errors by adjusting the response speed of the first stretching component 231. The integral term adjusts the output of the first tension component 231 by accumulating deviations over a period of time, eliminating persistent deviations caused by the inherent characteristics of the first tension component 231 or external disturbances, ensuring that the first tension component 231 remains stable near the expected tension value. The derivative term predicts future error trends based on the rate of error change, further improving the dynamic response characteristics of the first tension component 231. By adjusting the rate of error change, the derivative term reduces overshoot and oscillation phenomena in the first tension component 231, improving its response speed and stability.

[0051] By setting up this structure, the first control component can continuously compare the actual values ​​of flatness and tension with the expected values. If a deviation from the expected value in flatness or tension is detected, a PID control algorithm will make real-time corrections based on the adjustment results of the proportional, integral, and derivative terms. For example, when increased tension leads to a decrease in product flatness, the first control component will reduce the speed of the servo motor to lower the tension; conversely, when flatness improves but tension is insufficient, the speed of the servo motor will increase to increase the tension. This helps improve the stretching quality of the skin and ensures that the skin meets design requirements. This dynamic adjustment can effectively cope with changes in the external environment and internal fluctuations, ensuring the stability and controllability of the stretching process. Preferably, the first control component is electrically connected to a display to display the processed data on the display's operating interface for operator monitoring and analysis. Preferably, by displaying the real-time collected tension data on the interface in the form of charts, curves, etc., the operator can clearly understand the trend of tension changes and the platform's working status, promptly identify and resolve potential problems, and ensure the smooth progress of the stretching process.

[0052] Specifically, when the flatness information matches the first expected flatness information and the tension information matches the expected tension information, the first regulator emits a first stop signal; the tension driver 2311 receives the first stop signal and stops moving the second slide 2313. For example, when the flatness information is 18μm and the expected tension information is 51N, the flatness information matches the first expected flatness information and the tension information matches the expected tension information, and the first regulator emits a first stop signal to stop the stretching. By setting this structure, it is possible to ensure that the skin stops immediately after reaching the required stretching degree, avoiding overstretching that could lead to product damage or performance degradation. This improves the accuracy and reliability of the stretching process, effectively protects the flexible electronic skin from damage caused by excessive stress, extends the product's lifespan, and ensures the product's reliability and stability. In addition, it saves resources and costs, minimizes scrap rates, and improves production efficiency and production line operational stability.

[0053] Further, referring to Figures 1 and 5, in some embodiments of the intelligent welding integrated platform of the present invention, the stretching control signal includes a second control signal. The second clamp includes a first clamping member 2321 and a second clamping member 2322. The first clamping member 2321 is connected to the first flexible electronic skin 11, and the second clamping member 2322 is connected to the second flexible electronic skin 12. The second stretching assembly 232 also includes a first three-axis driver 2323 and a second three-axis driver 2324 arranged sequentially at intervals along the second direction D2. The driving end of the first three-axis driver 2323 is connected to the first clamping member 2321, and the first three-axis driver 2323 is used to receive the second control signal and drive the first clamping member 2321 to move; the driving end of the second three-axis driver 2324 is connected to the second clamping member 2322, and the second three-axis driver 2324 is used to receive the second control signal and drive the second clamping member 2322 to move. The drive ends of the first three-axis driver 2323 and the second three-axis driver 2324 are both capable of moving along a first direction D1, a second direction D2, and a third direction D3, wherein the third direction D3 is perpendicular to the first direction D1 and the second direction D2, respectively. Preferably, the accuracy of the two three-axis drivers is set to 0.02 mm.

[0054] By designing this structure, compared to the combination of a servo motor and a lead screw, the three-axis driver offers higher precision, stability, and more degrees of freedom, enabling it to adapt to the complex and varied curling forms of flexible electronic skin. It ensures stable and uniform stretching of the flexible electronic skin by accurately controlling the movement speed and position of the three-axis driver. This ensures uniform stress distribution throughout the stretching process, preventing product damage or poor stretching results due to uneven stretching. It also allows the platform to maintain a stable and reliable operating state during the stretching process, ensuring accurate control of the position and speed of the second stretching component 232.

[0055] Furthermore, in some embodiments of the intelligent welding integrated platform described in this invention, the first control component further includes a third comparator and a second regulator.

[0056] The third comparator is electrically connected to the flatness monitoring device and is used to compare the second expected flatness information with the actual flatness information. The second expected flatness information is a preset known quantity, and its range is smaller than that of the first expected flatness information; those skilled in the art can set it according to actual needs, for example, the second expected flatness information is set to a surface waviness value of less than 10 μm. The flatness information is obtained through the flatness monitoring device.

[0057] The second regulator is electrically connected to the second comparator, the third comparator, the first three-axis driver 2323, and the second three-axis driver 2324, respectively. The second regulator is used to transmit a second control signal to dynamically adjust the flatness information. Preferably, the second regulator uses a deep learning model, employing a convolutional neural network (CNN) and a long short-term memory network (LSTM) to process the flatness information transmitted by the image processor, in order to plan the optimal motion path of the three-axis driver and evaluate the flatness of the current surface, thereby further finely stretching the flexible electronic skin to ensure high-quality flatness and improve production efficiency.

[0058] Specifically, after receiving the flatness information from the image processor, the first control component dynamically adjusts itself according to a pre-set control algorithm. A deep learning model using a convolutional neural network (CNN) and a long short-term memory network (LSTM) is constructed to achieve precise control and stable adjustment of the second stretching component 232. The flatness information of the flexible electronic skin is input into the CNN in a time sequence to extract feature information, which is achieved through multiple convolutional layers, pooling layers, and fully connected layers. The time-series feature information extracted by the CNN is then input into the LSTM to generate corresponding stretching process control parameters, i.e., the second control signal. The three-axis actuator moves according to the second control signal.

[0059] Preferably, before use, the model should be trained and evaluated by collecting a certain amount of image data and corresponding control parameters to train and evaluate the deep learning model. During use, the stretching of the product is monitored in real time, and the difference between the actual and predicted effects is measured. When the difference exceeds a threshold, new flatness information and corresponding control parameters are added as data to train the deep learning model, and retraining is performed to improve the system's response speed and stability. A virtual model of the stretching process is created using digital twin technology. The motion predicted by the deep learning model is first tested in simulation. After confirming its accuracy, the predicted motion is implemented on the physical object. During implementation, the new flatness information is used as the judgment basis. When the difference between the motion effect and the expected effect exceeds a threshold, the first control component stops in time, and the deep learning model is relearned based on the current flatness information to provide new control parameters.

[0060] Specifically, when the flatness information matches the second expected flatness information and the tension information matches the expected tension information, the second regulator emits a second stop signal. The first three-axis driver 2323 receives the second stop signal and stops moving the first clamping member 2321, and the second three-axis driver 2324 receives the second stop signal and stops moving the second clamping member 2322. For example, when the flatness information is 9μm and the second expected tension information is 51N, the flatness information matches the second expected flatness information and the tension information matches the expected tension information, and the second regulator emits a second stop signal to stop stretching. By setting this structure, it is possible to ensure that the skin stops immediately after reaching the required stretching degree, avoiding overstretching that could lead to product damage or performance degradation. This improves the accuracy and reliability of the stretching process, effectively protects the flexible electronic skin from damage caused by excessive stress, extends the product's lifespan, and ensures the product's reliability and stability. In addition, it saves resources and costs, minimizes scrap rates, and improves production efficiency and production line operational stability.

[0061] Before actual welding, the first flexible electronic skin 11 and the second flexible electronic skin 12 are first fixed with corresponding clamps. Next, the tension / compression sensor 2315, the tension actuator 2311, the triaxial actuator, and other components are calibrated. After calibration, stripe light is emitted onto the flexible electronic skin via a stripe light emitter. The image acquisition unit acquires the reflected image of the corresponding skin, which is then processed by the image processor. The first regulator emits a first control signal. Upon receiving the first control signal, the tension actuator 2311 moves the second slide 2313 to stretch the flexible electronic skin. During the stretching process, the image acquisition unit, the tension / compression sensor 2315, the first control unit, and other components work together to detect and adjust the skin's flatness and tension in real time. When the flatness information matches the expected flatness information and the tension information matches the expected tension information, the first regulator emits a first stop signal, and the tension actuator 2311 stops stretching.

[0062] Subsequently, the second regulator sends a second control signal, causing the two three-axis actuators to move the corresponding clamping components, achieving further fine stretching of the two flexible electronic skins. During the stretching process, the image acquisition unit, the first control unit, and other components work together to detect and adjust the flatness and tension of the skin. When the flatness information matches the second expected flatness information and the tension information matches the expected tension information, the second regulator sends a second stop signal, and the three-axis actuators stop stretching. Through step-by-step stretching, the flexible electronic skin can be guaranteed to have high-precision flatness before and after stretching, laying a good foundation for welding.

[0063] Referring to Figures 1 and 6, in some embodiments of the intelligent welding integrated platform of the present invention, the welding control signal includes a third control signal. The lifting component 30 includes two sets of lifting assemblies 31, which are sequentially arranged on both sides of the flexible electronic skin along a second direction D2. Each set of lifting assemblies 31 includes a clamping device 311 and two clamping actuators 312, which are respectively arranged on both sides of the flexible electronic skin along a third direction D3. Those skilled in the art can configure specific clamping actuators 312 according to actual needs; preferably, they are a combination of a bracket, a lead screw, and a motor. The driving ends of both clamping actuators 312 are connected to the clamping device 311. The clamping actuators 312 are electrically connected to a second control component. The clamping actuators 312 receive the third control signal and drive the clamping device 311 to move along a first direction D1, so that the clamping device 311 is relatively closer to or relatively farther from the flexible electronic skin, thereby adjusting the clamping force applied to the flexible electronic skin and realizing the adjustment of the weld width of the flexible electronic skin and the gap size between the two skins. Those skilled in the art can configure specific welding monitoring components according to actual needs to obtain the weld width and the gap size between the two skins of the flexible electronic skin; preferably, the image acquisition device of the flatness monitoring component is used as the welding monitoring component to obtain the weld width and the gap size between the two skins, so as to balance cost and space utilization. Subsequently, the corresponding images are processed by the image processor to obtain the weld width and gap size, and the second control component emits a third control signal.

[0064] In some embodiments of the intelligent welding integrated platform described in this invention, the welding control signal includes a fourth control signal. The welding unit also includes a welding component, which receives the fourth control signal and welds the first flexible electronic skin 11 and the second flexible electronic skin 12. The welding information also includes the welding power, welding speed, and temperature at the weld joint. Those skilled in the art can set specific methods for acquiring the above welding information according to actual needs. For example, an infrared thermal imager can be used to acquire the temperature information at the weld joint; the infrared thermal imager is not shown in the figure. After acquiring the above welding information, the second control component emits the fourth control signal to adjust the corresponding welding power, welding speed, and temperature at the weld joint, thereby ensuring weld quality.

[0065] The second control unit transmits welding control signals based on an artificial neural network model combining the Crow and Wolf optimization algorithm (CWO). The CWO algorithm, combined with an artificial neural network (ANN), constructs a deep learning model to achieve precise control and stable adjustment of the lifting component 30. The CWO algorithm is an improved version of the Gray Wolf optimization algorithm (GWO) for welding conditions, which enhances the accuracy of the artificial neural network model. In some embodiments, the Gray Wolf optimization algorithm (GWO) combined with an artificial neural network (ANN) can also be used to construct a deep learning model to achieve an approximate effect, thereby transmitting the welding control signals. The welding power and speed of the welded component, the temperature at the weld, and the gap size between the weld seams are input into the model to obtain the predicted weld width. The nonlinear relationship between welding power, welding speed, temperature, gap size, and weld width is obtained, and then the current welding power, welding speed, gap size, and temperature are adjusted according to the target weld width. This includes the following steps:

[0066] Initialize the parameters of the crow and wolf optimization algorithm; these parameters include the number of iterations, population size, and the dimension of the optimization variables.

[0067] Measure the current welding information, including welding power, welding speed, weld width, temperature, and gap size, to obtain the first welding information.

[0068] Initialize the positions of the crows and wolves, put the dataset of the first welding information into the model for training, and obtain the artificial neural network model that combines the crow and wolf algorithm with the best prediction accuracy.

[0069] The welding power, welding speed, temperature, and gap size are initialized, and the ideal weld width is defined. An artificial neural network model incorporating the Crow and Wolf algorithm is used to adjust the initialized parameters based on the ideal weld width to obtain the actual weld width. The ideal weld width and the actual weld width are compared. If the error meets a threshold, the operation is considered successful, and actual welding information is obtained. If the error exceeds the threshold, the model is retrained based on the current initialized parameters to obtain a new artificial neural network model with optimal prediction accuracy, improving the system's response speed and stability. This process is repeated until the error meets the threshold, at which point the second control component transmits a welding control signal based on the actual welding information.

[0070] For example, during the control process, excessive laser power or excessively slow welding speed may cause product ablation. To avoid this, a welding temperature threshold is set. When the welding temperature measured by the infrared thermal imager reaches the welding temperature threshold, the welding power is reduced and the welding speed is increased to reduce laser energy deposition per unit area. At this time, the weld width can be further increased by adjusting the gap size.

[0071] When the weld seam is narrow, the weld seam width can be increased by increasing the welding power, decreasing the welding speed, or reducing the gap size. When the weld seam is too wide, the weld seam width can be reduced by decreasing the welding power, increasing the welding speed, or increasing the gap size. This ensures welding quality, stability during the welding process, allows for visual inspection of the weld seam width and automatic adjustment of corresponding welding parameters, and reduces the risk of welding defects.

[0072] This invention discloses a welding method based on the intelligent welding integrated platform described in any of the above embodiments. The welding method includes the following steps:

[0073] S1. Apply a tensile force perpendicular to the first direction D1 to the flexible electronic skin through the stretching unit;

[0074] S2, Welding flexible electronic skin; wherein, a clamping force parallel to the first direction D1 is applied to the flexible electronic skin through the welding unit.

[0075] Working principle:

[0076] Before actual welding, the first flexible electronic skin 11 and the second flexible electronic skin 12 are first fixed with corresponding clamps. Next, components such as the tension / compression sensor 2315, the tension actuator 2311, and the triaxial actuator are calibrated, and the image acquisition device and infrared thermal imager are aligned with the corresponding areas of the skin. The deep learning model is then trained and evaluated before use.

[0077] Subsequently, striped light is emitted onto the flexible electronic skin via a striped light emitter. The image acquisition unit acquires the reflected image of the corresponding skin, which is then processed by an image processor. The first regulator emits a first control signal. Upon receiving the first control signal, the stretching actuator 2311 moves the second slide 2313 to stretch the flexible electronic skin. During the stretching process, the image acquisition unit, the tension sensor 2315, the first control unit, and other components work together to detect and adjust the smoothness and tension of the skin in real time. When the smoothness information matches the first expected smoothness information and the tension information matches the expected tension information, the first regulator emits a first stop signal, and the stretching actuator 2311 stops stretching.

[0078] Next, the second regulator sends a second control signal, causing the two triaxial actuators to move the corresponding clamping components, achieving further fine stretching of the two flexible electronic skins. During the stretching process, the image acquisition unit, the first control unit, and other components work together to detect and adjust the smoothness and tension of the skin. When the smoothness information matches the second expected smoothness information and the tension information matches the expected tension information, the second regulator sends a second stop signal, and the triaxial actuators stop stretching.

[0079] After stretching is completed, welding is performed. Welding information is measured using an image acquisition device and an infrared thermal imager, and then input into a deep learning model constructed by combining the Raven and Wolf optimization algorithm with an artificial neural network. This causes the second control component to emit welding control signals, and the lifting component 30 and the welding component receive the signals and adjust parameters such as welding power, welding speed, and weld temperature to achieve welding and reduce the risk of welding defects.

[0080] Welding is stopped once it is completed or an irreversible defect, such as ablation or breakage, is detected.

[0081] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An integrated intelligent welding platform for welding flexible electronic skin, wherein the flexible electronic skin comprises a first flexible electronic skin and a second flexible electronic skin stacked along a first direction, characterized in that, The intelligent welding integrated platform includes: A stretching unit, comprising a flatness monitoring component and a stretching component; the flatness monitoring component is used to acquire flatness information of the stretched flexible electronic skin; the stretching component is used to receive a stretching control signal and apply a stretching force perpendicular to the first direction to the flexible electronic skin. A welding unit, comprising a welding monitoring component and a lifting component; the welding monitoring component is used to acquire welding information of the flexible electronic skin being welded; the lifting component is used to receive welding control signals and apply a clamping force parallel to the first direction to the flexible electronic skin; and The control unit includes a first control element and a second control element; the first control element is electrically connected to the flatness monitoring element and the tensioning element respectively, and the first control element is used to receive the flatness information and transmit the tensioning control signal; the second control element is electrically connected to the welding monitoring element and the lifting element respectively, and the second control element is used to receive the welding information and transmit the welding control signal.

2. The intelligent welding integrated platform according to claim 1, characterized in that: The stretching control signal includes a first control signal; The tensioning member includes: A first stretching assembly is disposed on one side of the flexible electronic skin along a second direction. The first stretching assembly includes a stretching actuator, a first slide, a second slide, a first clamp, and a tension / compression sensor. The stretching actuator, the first slide, and the second slide are sequentially arranged along the second direction. The first slide is fixed relative to the stretching actuator and has a through hole. The driving end of the stretching actuator passes through the through hole of the first slide and is connected to the second slide. The stretching actuator is electrically connected to a first control component and is used to receive a first control signal and drive the second slide to move along the second direction. The first clamp is disposed on the second slide and clamps the first and second flexible electronic skins respectively. The two detection ends of the tension / compression sensor are connected to the first and second slides respectively, and the tension / compression sensor is used to acquire the tension information of the flexible electronic skin. The second stretching component is disposed on both sides of the flexible electronic skin along the second direction, and the second stretching component includes a second clamp that clamps the first flexible electronic skin and the second flexible electronic skin respectively.

3. The intelligent welding integrated platform according to claim 2, characterized in that, The first control element includes: A first comparator is electrically connected to the flatness monitoring device, and the first comparator is used to compare the first expected flatness information with the flatness information. A second comparator, electrically connected to the tension / compression sensor, is used to compare the expected tension information with the tension information; and A first regulator is electrically connected to the first comparator, the second comparator, and the stretching driver, respectively. The first regulator transmits the first control signal based on a PID control algorithm to dynamically adjust the stretching force on the flexible electronic skin. When the flatness information matches the first expected flatness information and the tension information matches the expected tension information, the first regulator sends a first stop signal; the tension driver receives the first stop signal and stops moving the second slide.

4. The intelligent welding integrated platform according to claim 3, characterized in that: The stretching control signal includes a second control signal; The second clamp includes a first clamping member and a second clamping member, wherein the first clamping member is connected to the first flexible electronic skin and the second clamping member is connected to the second flexible electronic skin; The second tensioning assembly further includes a first three-axis driver and a second three-axis driver that are sequentially spaced apart along the second direction; The drive end of the first three-axis driver is connected to the first clamping member, and the first three-axis driver is used to receive the second control signal and drive the first clamping member to move; the drive end of the second three-axis driver is connected to the second clamping member, and the second three-axis driver is used to receive the second control signal and drive the second clamping member to move.

5. The intelligent welding integrated platform according to claim 4, characterized in that, The first control element further includes: A third comparator, electrically connected to the flatness monitoring device, is used to compare the second expected flatness information with the flatness information; and The second regulator is electrically connected to the second comparator, the third comparator, the first three-axis driver and the second three-axis driver respectively. The second regulator is used to transmit the second control signal to dynamically adjust the flatness information. Specifically, when the flatness information matches the second expected flatness information and the tension information matches the expected tension information, the second regulator sends a second stop signal; the first three-axis driver is used to receive the second stop signal and stop driving the first clamping member to move, and the second three-axis driver is used to receive the second stop signal and stop driving the second clamping member to move.

6. The intelligent welding integrated platform according to any one of claims 1 to 5, characterized in that, The flatness monitoring component includes: A stripe light emitter for emitting stripe light toward the flexible electronic skin; An image acquisition device, wherein the image acquisition device is used to acquire an image of the reflection of the striped light on the surface of the flexible electronic skin; and An image processor is electrically connected to the image acquisition unit and the first control unit, respectively, and the image processor is used to obtain the flatness information based on the reflected image.

7. The intelligent welding integrated platform according to claim 1, characterized in that: The lifting component includes two sets of lifting assemblies, which are sequentially arranged on both sides of the flexible electronic skin along the second direction. Each set of lifting assemblies includes a clamp and two clamping actuators. The two clamping actuators are respectively arranged on both sides of the flexible electronic skin along the third direction. The driving ends of the two clamping actuators are connected to the clamp. The clamping actuators are electrically connected to the second control component. The clamping actuators are used to receive the welding control signal and drive the clamp to move along the first direction.

8. The intelligent welding integrated platform according to claim 1, characterized in that: The welding unit further includes a welding component, which is used to receive the welding control signal and weld the first flexible electronic skin and the second flexible electronic skin.

9. The intelligent welding integrated platform according to claim 1, 7, or 8, characterized in that: The second control unit transmits the welding control signal based on an artificial neural network model that combines the crow and wolf optimization algorithm.

10. A welding method based on the intelligent welding integrated platform as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Apply a tensile force perpendicular to the first direction to the flexible electronic skin through the stretching unit; S2. Welding the flexible electronic skin; wherein, a clamping force parallel to the first direction is applied to the flexible electronic skin by the welding unit.

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