CN115319290B - Automatic laser welding device for large-size metal sandwich structure - Google Patents
Automatic laser welding device for large-size metal sandwich structure Download PDFInfo
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- CN115319290B CN115319290B CN202211082184.1A CN202211082184A CN115319290B CN 115319290 B CN115319290 B CN 115319290B CN 202211082184 A CN202211082184 A CN 202211082184A CN 115319290 B CN115319290 B CN 115319290B
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- 238000003466 welding Methods 0.000 title claims abstract description 139
- 239000002184 metal Substances 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 239000000523 sample Substances 0.000 claims description 69
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 21
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000007664 blowing Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000005219 brazing Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000005495 investment casting Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention belongs to the technical field of laser welding, and particularly relates to an automatic laser welding device of a large-size metal sandwich structure, which comprises a bottom tool and a robot rocker arm, wherein a lower panel is arranged on the top surface of the bottom tool, a first limiting mechanism is arranged on the top surface of the bottom tool, two opposite sides of the lower panel are limited by the first limiting mechanism, a second limiting mechanism, an upper panel and a third limiting mechanism are sequentially arranged on the top surface of the bottom tool from bottom to top, a plurality of cores are clamped in the second limiting mechanism, the cores are in contact with the top surface of the lower panel through the second limiting mechanism in a limiting manner, the upper panel is limited on the cores through the third limiting mechanism, the third limiting mechanism is connected above the second limiting mechanism, the robot rocker arm is positioned on one side of the bottom tool, one end of the robot rocker arm is connected with a welding mechanism, the welding end of the welding mechanism penetrates through the third limiting mechanism and is correspondingly arranged on the top surface of the upper panel, and the welding end of the welding mechanism can be adjusted automatically according to the flatness of the upper panel.
Description
Technical Field
The invention belongs to the technical field of laser welding, and particularly relates to an automatic laser welding device for a large-size metal sandwich structure.
Background
The metal sandwich structure consists of two high-strength upper and lower skins and a sandwich structure filled in the upper and lower skins, when the sandwich plate is bent, the upper and lower skins bear tensile load and compressive load respectively, and the core transmits shear load at the moment. Compared with a solid structure, the high-strength composite material can achieve higher specific stiffness and specific strength under the same mass, can meet the mechanical property requirement under the lower mass cost, and is an efficient structural material. Has wide application prospect in a plurality of military and civil fields such as aerospace, ships, high-speed rails, buildings, automobiles and the like.
The existing metal structure preparation methods comprise brazing, investment casting, extrusion forming, cutting and the like, the manufacturing methods have strong dependence on equipment, and the manufacturing of large-size complex lattice sandwich structures is difficult to realize. The laser welding has excellent penetrability, and is an ideal manufacturing process method for realizing a large-size complex lattice sandwich structure.
The laser welding robot has the advantages of high automation degree, simple welding process, convenient operation, small focusing light spot, high welding seam positioning precision, convenient beam transmission and operation, no need of frequently replacing a welding gun and a nozzle, and greatly reduced time. The non-contact operation mode meets the requirements of clean and environmental protection. The energy comes from the laser and does not physically contact the workpiece and therefore does not exert a force on the workpiece. The production efficiency is high, the appearance of the finished workpiece is attractive, the welding seam is small, the welding depth is large, and the welding quality is high.
There are a number of problems with current laser welded metal sandwich structures:
1. the scribing operation is performed by manual operation, errors are easily caused by manual judgment, and the scribing position and the core position have errors, so that the accuracy is low;
2. the gap between the panel and the core cannot be judged, so that gaps exist in welding;
3. the bending condition of the core cannot be judged, so that welding leakage exists in welding;
4. some large-size materials cannot realize omnibearing fixed welding, so that the effect of the large-size materials is poor when the large-size materials are subjected to laser welding, and high-efficiency and accurate welding cannot be performed when the large-size materials are subjected to welding due to the defect, so that the actual machining reliability and accuracy are reduced. These problems tend to cause gaps and missing welds between the core and the face plate, and cannot guarantee the processing reliability and strength requirements of the sandwich structure.
Disclosure of Invention
The invention aims to provide an automatic laser welding device for a large-size metal sandwich structure, so as to solve the problems and achieve the aim of effectively improving welding precision and quality.
In order to achieve the above object, the present invention provides the following solutions: the utility model provides an automatic laser welding device of jumbo size metal sandwich structure, includes bottom frock and robot rocking arm, the bottom panel has been placed to the top surface of bottom frock, the top surface of bottom frock is provided with first stop gear, the relative both sides of bottom panel pass through first stop gear is spacing, the top surface of bottom frock has set gradually second stop gear, top panel and third stop gear from supreme down, the centre gripping has a plurality of cores in the second stop gear, through the spacing a plurality of core contact setting of second stop gear is in the top surface of bottom panel, the top panel passes through the third stop gear is spacing a plurality of on the core, the third stop gear is connected second stop gear top, the robot rocking arm is located one side of bottom frock, the one end of robot rocking arm is connected with welding mechanism, welding mechanism's welding end passes third stop gear with the top surface of top panel corresponds the setting, welding mechanism's welding end can be according to the roughness self-adjusting of top panel.
Preferably, the first stop gear includes a plurality of magnetism and inhale base, a plurality of triaxial pneumatic cylinder and two sets of side limit piece, and a plurality of magnetism is inhaled base and a plurality of triaxial pneumatic cylinder respectively fixed connection be in the top surface of bottom frock, two sets of side limit piece respectively fixed connection be in a plurality of magnetism inhale base and a plurality of opposite sides of triaxial pneumatic cylinder, two sets of side limit piece butt is in on the opposite side of lower panel.
Preferably, the second stop mechanism comprises two groups of core stopper brackets, a plurality of hydraulic ejector rods symmetrically arranged on the deviating sides of the two groups of core stopper brackets, and a distance adjusting unit arranged on the opposite sides of the two groups of core stopper brackets, wherein the distance adjusting unit clamps a plurality of cores, the fixed ends of the hydraulic ejector rods are respectively and fixedly connected with the top surface of the bottom tool, and the deviating sides of the two groups of core stopper brackets are respectively and fixedly connected with the telescopic ends of the hydraulic ejector rods.
Preferably, the distance adjusting unit comprises two groups of first strip-shaped through grooves of a plurality of core limiting blocks and a plurality of fastening bolts, the two groups of first strip-shaped through grooves are respectively correspondingly formed in the two groups of core limiting block supports, the plurality of core limiting blocks are respectively connected to the two groups of opposite sides of the core limiting block supports in a sliding mode along the first strip-shaped through grooves, the screw rods of the fastening bolts penetrate through the first strip-shaped through grooves and are further connected with the plurality of core limiting blocks in a threaded mode, and the core is clamped between the adjacent core limiting blocks.
Preferably, grooves are formed between adjacent core limiting blocks, the adjacent grooves are symmetrically arranged relative to the core limiting blocks, and a plurality of grooves on two groups of core limiting block supports are correspondingly arranged.
Preferably, the third stop gear includes two sets of U-shaped channel-section steel and a plurality of multi-point restraint frame of group, two sets of U-shaped channel-section steel are fixed connection respectively in a plurality of hydraulic ram's top, two sets of U-shaped channel-section steel is located the both sides of top panel, a plurality of multi-point restraint frame fixed connection is in two sets of between the U-shaped channel-section steel, one of them set of be connected with on the U-shaped channel-section steel and blow water installation, blow water installation's export with the top panel top surface corresponds the setting, each multi-point restraint fixed slot has been seted up respectively to the opposite side in the multi-point restraint frame, every group equidistant fixedly connected with a plurality of multi-point restraint pneumatic cylinders on the diapire of multi-point restraint fixed slot, a plurality of multi-point restraint pneumatic cylinder ram's passes the multi-point restraint fixed slot with the top panel top surface corresponds the setting, welding mechanism's welding end is located two sets of between the multi-point restraint frame and with the top surface corresponds the setting of top surface of top panel.
Preferably, a plurality of second strip-shaped through grooves are formed in the bottom of the multipoint restraint frame, a plurality of second strip-shaped through grooves are formed in the side edges of the cores correspondingly, and the welding end of the welding mechanism penetrates through any one of the second strip-shaped through grooves to be arranged corresponding to the upper panel.
Preferably, the welding mechanism comprises a bracket assembly, the bracket assembly is fixedly connected with a welding end of the robot rocker arm, the bracket assembly is fixedly connected with an ultrasonic probe assembly and two groups of laser welding heads, the two groups of laser welding heads are positioned on two sides of the ultrasonic probe assembly, and the welding ends of the two groups of laser welding heads are close to the ultrasonic probe assembly in an inclined mode.
Preferably, the support assembly comprises a multi-station headstock, the multi-station headstock is fixedly connected with a welding end of the robot rocker arm, a lead screw is rotationally connected to the multi-station headstock, a multi-station frame fixing plate is fixedly connected to the multi-station headstock, the ultrasonic probe assembly is fixedly connected to the multi-station frame fixing plate, two groups of sliding blocks are connected to the multi-station headstock in a sliding manner, the two groups of sliding blocks are located on two sides of the multi-station frame fixing plate, the lead screw penetrates through the two groups of sliding blocks, and the two groups of laser welding heads are respectively fixedly connected to the two groups of sliding blocks through steering wheels.
Preferably, the ultrasonic probe assembly comprises an ultrasonic probe moving cylinder which is vertically arranged, one end of the ultrasonic probe moving cylinder is fixedly connected with the multi-station frame fixing plate through the ultrasonic probe fixing frame, the ultrasonic probe is vertically and slidingly connected with the ultrasonic probe at the bottom end of the ultrasonic probe moving cylinder, a spring is fixedly connected between the top end of the ultrasonic probe and the bottom end of the ultrasonic probe moving cylinder, the bottom end of the ultrasonic probe is in rolling fit with a rubber roller, one side of the ultrasonic probe moving cylinder is connected with a water dropping pipe, and an outlet of the water dropping pipe is correspondingly arranged with the bottom end of the ultrasonic probe.
The invention has the following technology: the first limiting mechanism has the main function of limiting the lower panel on the bottom tool, the second limiting mechanism has the main function of clamping a plurality of cores to enable the cores to correspond to the lower panel, and the third limiting mechanism has the main function of limiting the upper panel and further adjusting the gap between the upper panel and the cores so as to meet the welding quality and requirements; the welding mechanism detects the position of the core under the upper panel, a path is formed through algorithm calculation, the path adjustment can be carried out on the bent part, the manual scribing operation is replaced, the formed path and the position of the core are free from errors, and the welding leakage is reduced. After the third limiting mechanism limits the upper panel, the holographic C scanning technology is utilized to adjust the third limiting mechanism according to the gap amount between the core and the upper panel detected by the welding mechanism, so that the gap between the upper panel and the core is reduced, and the problem of insufficient strength caused by the gap is solved. The first, second and third limiting mechanisms perform omnibearing fixed welding on the material with larger volume, so that the stability of the whole structure during welding is enhanced, and the requirements on the actual processing reliability and accuracy are met; the welding end of the welding mechanism can be automatically adjusted according to the concave-convex condition of the top surface of the upper panel, and the welding end and the top surface of the upper panel are effectively prevented from being interfered by movement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the overall axial measurement of the present invention;
FIG. 3 is an enlarged view of part A of FIG. 2;
FIG. 4 is a schematic view of a bracket structure of a core stopper according to the present invention;
FIG. 5 is a schematic view showing the mounting state of the lower panel of the present invention;
FIG. 6 is a schematic top view of the pre-clip structure of the present invention;
FIG. 7 is a schematic cross-sectional view of a pre-clip of the present invention;
FIG. 8 is a schematic view of a multi-station headstock structure of the present invention;
FIG. 9 is a schematic view of an ultrasonic probe assembly according to the present invention;
FIG. 10 is a schematic diagram of a multi-station headstock welding structure of the present invention;
FIG. 11 is a route diagram of a welding process of the present invention;
1, a robot rocker arm; 2. multi-station headstock; 3. a laser welding head; 4. an ultrasonic probe assembly; 5. a bottom tool; 6. a hydraulic ejector rod; 7. u-shaped channel steel; 8. a core limiting block bracket; 9. a core limiting block; 10. a multi-point constraining frame; 11. a multi-point constraint fixed slot; 12. a multi-point constraining hydraulic cylinder; 13. a multi-point constraint hydraulic cylinder ejector rod; 14. an upper panel; 15. a core; 16. a lower panel; 17. a triaxial hydraulic cylinder; 18. a side limit block; 19. a multi-station frame fixing plate; 20. a screw rod; 21. a slide block; 22. a steering wheel; 23. an ultrasonic probe moving cylinder; 24. an ultrasonic probe fixing frame; 25. a spring; 26. an ultrasonic probe; 27. a drip tube; 28. a rubber roller; 29. a water blowing device; 30. and a magnetic base.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-11, the invention provides an automatic laser welding device of a large-size metal sandwich structure, which comprises a bottom tool 5 and a robot rocker arm 1, wherein a lower panel 16 is arranged on the top surface of the bottom tool 5, a first limiting mechanism is arranged on the top surface of the bottom tool 5, two opposite sides of the lower panel 16 are limited by the first limiting mechanism, a second limiting mechanism, an upper panel 14 and a third limiting mechanism are sequentially arranged on the top surface of the bottom tool 5 from bottom to top, a plurality of cores 15 are clamped in the second limiting mechanism, the cores 15 are in contact with the top surface of the lower panel 16 through the second limiting mechanism, the upper panel 14 is limited on the cores 15 through the third limiting mechanism, the third limiting mechanism is connected above the second limiting mechanism, the robot rocker arm 1 is positioned on one side of the bottom tool 5, one end of the robot rocker arm 1 is connected with a welding mechanism, the welding end of the welding mechanism passes through the third limiting mechanism and is correspondingly arranged on the top surface of the upper panel 14, and the welding end of the welding mechanism can be adjusted by itself according to the flatness of the upper panel 14.
The primary function of the first limiting mechanism is to limit the lower panel 16 on the bottom tool 5, the primary function of the second limiting mechanism is to clamp a plurality of cores 15, so that the cores 15 correspond to the lower panel 16, the primary function of the third limiting mechanism is to limit the upper panel 14, and the gap between the upper panel 14 and the cores 15 is further adjusted, so that the welding quality and requirements are met; the welding mechanism detects the position of the core 15 under the upper panel 14, forms a path through algorithm calculation, can also carry out path adjustment on the bent part, replaces manual scribing operation, has no error with the position of the core 15, and reduces welding leakage. After the third limiting mechanism limits the upper panel 14, the gap between the core 15 and the upper panel 14 detected by the welding mechanism is adjusted by utilizing the holographic C scanning technology, so that the gap between the upper panel 14 and the core 15 is reduced, and the problem of insufficient strength caused by the gap is solved. The first, second and third limiting mechanisms are used for carrying out omnibearing fixed welding on the material with larger volume, so that the stability of the whole structure during welding is enhanced, and the requirements on the actual processing reliability and accuracy are met.
The welding end of the welding mechanism can be automatically adjusted according to the concave-convex condition of the top surface of the upper panel 14, and the welding end and the top surface of the upper panel 14 are effectively prevented from being interfered by movement.
Further optimizing scheme, first stop gear includes that a plurality of magnetism inhale base 30, a plurality of triaxial pneumatic cylinder 17 and two sets of side limit piece 18, and a plurality of magnetism inhale base 30 and a plurality of triaxial pneumatic cylinder 17 respectively fixed connection at the top surface of bottom frock 5, two sets of side limit piece 18 respectively fixed connection inhale the opposite side of base 30 and a plurality of triaxial pneumatic cylinder 17 at a plurality of magnetism, two sets of side limit piece 18 butt are on the opposite side of lower faceplate 16.
Further optimizing scheme, second stop gear includes two sets of core stopper support 8, symmetry set up a plurality of hydraulic ejector pins 6 at the side that deviates from of two sets of core stopper support 8, set up the distance adjustment unit on the opposite side of two sets of core stopper support 8, distance adjustment unit centre gripping a plurality of cores 15, the stiff end of a plurality of hydraulic ejector pins 6 is fixed connection respectively at the top surface of bottom frock 5, the side that deviates from of two sets of core stopper support 8 is fixed connection respectively at the flexible end of a plurality of hydraulic ejector pins 6.
Further optimizing scheme, the distance adjusting unit includes two sets of first bar through grooves of a plurality of core stopper 9 and a plurality of fastening bolt, and two sets of first bar through grooves are seted up on two sets of core stopper supports 8 respectively corresponding, and a plurality of core stopper 9 are on the opposite side of two sets of core stopper supports 8 along first bar through groove sliding connection respectively, and the screw rod of a plurality of fastening bolt passes first bar through groove and still with a plurality of core stopper 9 threaded connection, core 15 centre gripping is between adjacent core stopper 9.
Further optimizing scheme forms the recess between the adjacent core stopper 9, and adjacent recess sets up about core stopper 9 symmetry, and a plurality of recesses on two groups of core stopper supports 8 correspond the setting.
Further optimizing scheme, third stop gear includes two sets of U-shaped channel-section steel 7 and a plurality of multi-point restraint frame 10, two sets of U-shaped channel-section steel 7 are fixed connection respectively in the top of a plurality of hydraulic ram 6, two sets of U-shaped channel-section steel 7 are located the both sides of top panel 14, a plurality of multi-point restraint frame 10 fixed connection is between two sets of U-shaped channel-section steel 7, be connected with on one set of U-shaped channel-section steel 7 and blow water installation 29, the export of blowing water installation 29 sets up with the top surface correspondence of top panel 14, multi-point restraint fixed slot 11 has been seted up respectively to the opposite side in each multi-point restraint frame 10, equidistant fixedly connected with a plurality of multi-point restraint pneumatic cylinders 12 on the diapire of each multi-point restraint fixed slot 11, the multi-point restraint pneumatic cylinder ram 13 of a plurality of multi-point restraint pneumatic cylinders 12 passes multi-point restraint fixed slot 11 and corresponds the setting with the top surface of top panel 14, welding mechanism's welding end is located between two sets of multi-point restraint frame 10 and corresponds the setting with the top surface of top panel 14.
Further optimizing scheme, a plurality of second bar-shaped through grooves are formed in the bottom of the multipoint restraint frame 10, the second bar-shaped through grooves are correspondingly formed in the side edges of the cores 15, and the welding end of the welding mechanism penetrates through any second bar-shaped through groove to be correspondingly arranged with the upper panel 14.
Further optimizing scheme, welding mechanism includes the support assembly, fixed connection on the support assembly is at the welding end of robot rocking arm 1, fixedly connected with ultrasonic probe subassembly 4 and two sets of laser welding head 3 on the support assembly, and two sets of laser welding head 3 are located ultrasonic probe subassembly 4's both sides, and the welding end of two sets of laser welding head 3 is close to ultrasonic probe subassembly 4 slope setting.
The ultrasonic probe assembly 4 detects the position of the core 15 under the upper panel 14, forms a path through algorithm calculation, can also carry out path adjustment on the bent part, replaces manual scribing operation, has no error with the position of the core 15, and reduces welding leakage.
After the third limiting mechanism limits the upper panel 14, the holographic C scanning technology is utilized to adjust the length of the extending end of the multipoint restraint hydraulic cylinder 12 according to the gap between the core 15 and the upper panel 14 detected by the ultrasonic probe assembly 4, so that the gap between the upper panel 14 and the core 15 is reduced, and the problem of insufficient strength caused by the gap is solved.
Further optimizing scheme, the support assembly includes multistation headstock 2, multistation headstock 2 fixed connection is at the welding end of robot rocking arm 1, rotate on the multistation headstock 2 and be connected with lead screw 20, fixedly connected with multistation frame fixed plate 19 on the multistation headstock 2, ultrasonic probe subassembly 4 fixed connection is on multistation frame fixed plate 19, sliding connection has two sets of sliders 21 on the multistation headstock 2, two sets of sliders 21 are located the both sides of multistation frame fixed plate 19, lead screw 20 passes two sets of sliders 21, two sets of laser welding heads 3 pass through steering wheel 22 fixed connection respectively on two sets of sliders 21.
Further optimizing scheme, ultrasonic probe subassembly 4 includes the ultrasonic probe that vertical set up and removes cylinder 23, ultrasonic probe removes the one end of cylinder 23 and passes through ultrasonic probe mount 24 fixed connection on multistation frame fixed plate 19, ultrasonic probe removes the vertical sliding connection in bottom of cylinder 23 and has ultrasonic probe 26, the fixed spring 25 that has connected between the top of ultrasonic probe 26 and the bottom of ultrasonic probe removal cylinder 23, ultrasonic probe 26's bottom rolling fit has rubber roller 28, ultrasonic probe removes cylinder 23 one side and is connected with drip pipe 27, the export of drip pipe 27 corresponds the setting with ultrasonic probe 26's bottom.
The spring 25 has the function of flexible compensation, and the spring 25 is compressed when the ultrasonic probe 26 moves too low, so that the ultrasonic probe 26 can be prevented from being damaged; when the upper panel 14 is uneven, the spring 25 can apply a certain force to enable the probe 26 to be always clung to the upper panel 14, so that a good detection effect is obtained; the rubber roller 28 is mounted on the tip of the ultrasonic probe 26 instead of the conventional ceramic to increase transmission of ultrasonic waves; the U-shaped channel steel 7 is provided with a water blowing device 29, and after the detection is finished, water is blown out, so that the influence of rust on the upper panel 14 on the strength of the whole structure is avoided. After the detection is finished, the detection result is analyzed through an algorithm, and the force distributed by the multi-point constraint hydraulic cylinder 12 through the algorithm detection result applies different hydraulic pressures to drive the multi-point constraint hydraulic cylinder ejector rods 13 at different positions to move and compress the upper panel 14, as shown in fig. 6. As shown in fig. 10, the steering wheel 22 of the multi-station headstock 2 can drive the laser welding head 3 to rotate by an angle so as to achieve the purpose of simultaneous welding of double light paths, and when welding is to be performed by a single light path, the lead screw 20 drives the sliding block 21 to translate so that the laser welding head 3 moves to the position of the ultrasonic probe 26, and the steering wheel 22 rotates so as to drive the laser welding head 3 to rotate vertically downwards. One side of the multi-station headstock 2 is fixedly connected with a motor (not shown in the figure), an output shaft of the motor is fixedly connected with a screw rod 20 coaxially, and the motor drives the screw rod 20.
Further optimizing scheme, the robot rocker arm 1 adopts the existing robot structure, running system and control process, and detailed description is omitted here.
The working procedure of this embodiment is as follows: the installation schematic diagram of the core 15 is shown in fig. 5, the bottom tool 5 is fixed through bolts, and a lock catch at the lower part of the hydraulic ejector rod 6 is locked. The lower panel 16 is placed on the bottom tool 5, the side limiting blocks 18 are attached to the edge of the lower panel 16, the longitudinal position of one side is fixed by the magnetic base 30, and then the triaxial hydraulic cylinder 17 is fixed on the other side of the lower panel 16 by using a lock catch. The hydraulic ejector rod 6 is moved to the core stopper 9, and the core stopper bracket 8 is placed on the lower panel 16. As the first strip-shaped through groove is formed in the core limiting block bracket 8 as shown in fig. 4, bolts for movably connecting the core limiting block 9 can be adapted to cores 15 with different thicknesses, and the core limiting block 9 with different shapes can be replaced to adjust the angle of the cores 15 so as to weld sandwich structures with different sizes. After fixing the position of the core stopper 9, the core 15 is put in the corresponding groove of the core stopper 9. The preliminary pre-tightening schematic diagram is shown in fig. 6, the upper panel 14 is covered after the core 15 is placed in the corresponding groove of the core limiting block 9, hydraulic pressure is applied to the hydraulic ejector rod 6 through the operation program, and when the core limiting block support 8 contacts the edge of the upper panel 14, the pressure sensor sends a signal to stop the movement of the hydraulic ejector rod 6 when the multipoint constraint frame 10 contacts the upper panel 14. The program applies pressure to the multi-point constraining cylinder 12 until the multi-point constraining cylinder ram 13 contacts the upper panel 14. The primary pretension of the whole tool is realized as shown in fig. 6.
After preliminary pre-tightening, the multi-station headstock 2 is switched into the ultrasonic probe 26 as shown in fig. 8, and the robot rocker arm 1 is moved by the operating program to enable the ultrasonic probe 26 to be in contact with the upper panel 14, and as the ultrasonic probe 26 is connected with the spring 25 as shown in fig. 9, the spring 25 is compressed when the distance is moved too low, so that the ultrasonic probe 26 can be prevented from being damaged. When the upper panel 14 is rugged, the spring 25 can apply a certain force to make the probe closely contact with the upper panel 14, so that a good detection effect is obtained. The operator opens the valve of the drip tube 27 when detecting, causing water to drip through the water tube onto the upper panel 14. The ultrasonic probe 26 moves when the robot rocker arm 1 moves for detection, the rubber roller 28 is driven to rotate, water is uniformly smeared on the moving path of the ultrasonic probe 26, then the water blowing device 29 is started after the detection is finished, the water on the surface of the upper panel 14 is blown out, and the upper panel 14 is prevented from rusting to influence the strength of the whole structure. Because the invention adopts the holographic C scanning technology, the projection surface condition of the checked workpiece with any depth can be generated. The ultrasonic probe 26 can scan the edge position of the core 15 and the amount of gap between the core 15 and the panel as it moves, and then algorithmically calculate the gap and also the offset image that creates the complete path in the system.
After the initial pre-detection scanning is finished, the gap amount between the upper panel 14 and the core 15 and the edge position obtained through pre-detection are analyzed through an algorithm, different pressures are respectively applied to the multi-point hydraulic cylinders 12 on the multi-point restraint frame 10 as shown in fig. 3, and the ejector rods 13 of the multi-point restraint hydraulic cylinders apply different forces to different positions of the upper panel 14 to compensate the detected gap amount.
After the load is applied to the multi-point constraint hydraulic cylinder ejector rod 13, holographic C scanning is performed on the welding area again, and the gap between the upper panel 14 and the core 15 after the multi-point constraint tooling is corrected is obtained. And judging whether the gap threshold value required by welding the large-size sandwich structure is met or not according to the result obtained by the algorithm. If the requirements are not met, the pretightening force of the multi-point constraint tool is redistributed and loaded on the upper panel 14 again through an algorithm, and then detection and judgment are carried out again. If the requirement of the gap threshold is met, the ultrasonic probe 26 is retracted by the ultrasonic probe moving cylinder 23, meanwhile, the valve of the water dripping pipe 27 is closed, and the multi-station frame 2 is switched to be the laser welding head 3.
When welding, as shown in fig. 10, if the laser welding head 3 adopts two-way laser welding, according to the edge position information of the core 15 obtained by holographic C scanning, a program operates a motor to rotate a steering wheel 22, so that the rotation angle of the laser welding head 3 is automatically adjusted to be point to point and the height of the welding head is adjusted to reach the defocus amount, and after welding is started, the welding path is continuously optimized according to the edge information obtained by holographic C scanning, so that the welding position moves along with the position change of the core, and no welding leakage is generated.
If single-path laser welding is adopted, a program operating motor drives a screw rod 20 to rotate, the screw rod 20 drives a sliding block 21 to translate so that the laser welding head 3 moves to the position of an ultrasonic probe 26, then a steering wheel 22 is rotated so that the laser welding head 3 is vertically downward, the edge information position of a core 15 obtained through holographic C scanning is automatically point-to-point, the height of the laser welding head 3 is adjusted to reach the defocus amount, the welding path is continuously optimized according to the edge information obtained through holographic C scanning after welding is started, and the welding position moves along with the position change of the core 15, so that welding leakage is avoided.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (8)
1. An automatic laser welding device of large-size metal sandwich structure, which is characterized in that: the welding device comprises a bottom tool (5) and a robot rocker arm (1), wherein a lower panel (16) is arranged on the top surface of the bottom tool (5), a first limiting mechanism is arranged on the top surface of the bottom tool (5), two opposite sides of the lower panel (16) are limited by the first limiting mechanism, a second limiting mechanism, an upper panel (14) and a third limiting mechanism are sequentially arranged on the top surface of the bottom tool (5) from bottom to top, a plurality of cores (15) are clamped in the second limiting mechanism, the cores (15) are in contact with the top surface of the lower panel (16) through the limiting mechanisms of the second limiting mechanism, the upper panel (14) is limited on the cores (15) through the third limiting mechanism, the third limiting mechanism is connected to the upper side of the second limiting mechanism, the robot rocker arm (1) is positioned on one side of the bottom tool (5), one end of the robot rocker arm (1) is connected with a welding mechanism, and the welding end of the welding mechanism penetrates through the third limiting mechanism and the corresponding welding end of the upper panel (14), and the welding end of the welding mechanism can be adjusted according to the welding degree;
the first limiting mechanism comprises a plurality of magnetic bases (30), a plurality of triaxial hydraulic cylinders (17) and two groups of side limiting blocks (18), wherein the magnetic bases (30) and the triaxial hydraulic cylinders (17) are respectively and fixedly connected to the top surface of the bottom tool (5), the two groups of side limiting blocks (18) are respectively and fixedly connected to opposite sides of the magnetic bases (30) and the triaxial hydraulic cylinders (17), and the two groups of side limiting blocks (18) are abutted to opposite sides of the lower panel (16);
the second limiting mechanism comprises two groups of core limiting block supports (8), a plurality of hydraulic ejector rods (6) symmetrically arranged on the deviating sides of the two groups of core limiting block supports (8), and distance adjusting units arranged on the opposite sides of the two groups of core limiting block supports (8), wherein the distance adjusting units clamp a plurality of cores (15), fixed ends of the hydraulic ejector rods (6) are respectively and fixedly connected to the top surface of the bottom tool (5), and the deviating sides of the two groups of core limiting block supports (8) are respectively and fixedly connected to telescopic ends of the hydraulic ejector rods (6);
the third stop gear includes two sets of U-shaped channel-section steel (7) and a plurality of multi-point restraint frame (10), and two sets of U-shaped channel-section steel (7) are respectively fixed connection in a plurality of the top of hydraulic ram (6), two sets of U-shaped channel-section steel (7) are located the both sides of top panel (14), a plurality of multi-point restraint frame (10) fixed connection is two sets of between U-shaped channel-section steel (7), wherein a set of be connected with on U-shaped channel-section steel (7) blow water device (29), blow the export of water device (29) with top surface corresponding the setting of top panel (14), every multi-point restraint fixed slot (11) have been seted up respectively to the opposite side in multi-point restraint frame (10), and every set of equidistant fixedly connected with a plurality of multi-point restraint pneumatic cylinders (12) on the diapire of multi-point restraint pneumatic cylinder (12), a plurality of multi-point restraint pneumatic cylinder (13) pass multi-point restraint fixed slot (11) with top panel (14) correspond top surface setting and two sets up between multi-point restraint frame (14) and the welding mechanism.
2. The automated laser welding apparatus for large-scale metal sandwich structures of claim 1, wherein: the distance adjusting unit comprises a plurality of first strip-shaped through grooves of the core limiting blocks (9) and a plurality of fastening bolts, wherein the two first strip-shaped through grooves are respectively correspondingly formed in the two groups of core limiting block supports (8), the core limiting blocks (9) are respectively connected to the two groups of opposite sides of the core limiting block supports (8) in a sliding mode along the first strip-shaped through grooves, the fastening bolts penetrate through the first strip-shaped through grooves and are further connected with the core limiting blocks (9) in a threaded mode, and the cores (15) are clamped between the adjacent core limiting blocks (9).
3. The automated laser welding apparatus for large-scale metal sandwich structures of claim 2, wherein: grooves are formed between the adjacent core limiting blocks (9), the adjacent grooves are symmetrically arranged relative to the core limiting blocks (9), and a plurality of grooves on the two groups of core limiting block supports (8) are correspondingly arranged.
4. An automated laser welding apparatus for large scale metal sandwich structures according to claim 3 wherein: the third stop gear includes two sets of U-shaped channel-section steel (7) and a plurality of multi-point restraint frame (10), and two sets of U-shaped channel-section steel (7) are respectively fixed connection in a plurality of the top of hydraulic ram (6), two sets of U-shaped channel-section steel (7) are located the both sides of top panel (14), a plurality of multi-point restraint frame (10) fixed connection is two sets of between U-shaped channel-section steel (7), wherein a set of be connected with on U-shaped channel-section steel (7) blow water device (29), blow the export of water device (29) with top surface corresponding the setting of top panel (14), every multi-point restraint fixed slot (11) have been seted up respectively to the opposite side in multi-point restraint frame (10), and every set of equidistant fixedly connected with a plurality of multi-point restraint pneumatic cylinders (12) on the diapire of multi-point restraint pneumatic cylinder (12), a plurality of multi-point restraint pneumatic cylinder (13) pass multi-point restraint fixed slot (11) with top panel (14) correspond top surface setting and two sets up between multi-point restraint frame (14) and the welding mechanism.
5. The automated laser welding apparatus for large scale metal sandwich structures of claim 4 wherein: a plurality of second strip-shaped through grooves are formed in the bottom of the multipoint restraint frame (10), the second strip-shaped through grooves are correspondingly formed in the side edges of the cores (15), and the welding end of the welding mechanism penetrates through any one of the second strip-shaped through grooves to be correspondingly arranged on the upper panel (14).
6. The automated laser welding apparatus for large scale metal sandwich structures of claim 5 wherein: the welding mechanism comprises a support assembly, the support assembly is fixedly connected with the welding end of the robot rocker arm (1), the support assembly is fixedly connected with an ultrasonic probe assembly (4) and two groups of laser welding heads (3), the two groups of laser welding heads (3) are positioned on two sides of the ultrasonic probe assembly (4), and the welding ends of the two groups of laser welding heads (3) are close to the ultrasonic probe assembly (4) in an inclined mode.
7. The automated laser welding apparatus for large-scale metal sandwich structures of claim 6, wherein: the support assembly comprises a multi-station headstock (2), the multi-station headstock (2) is fixedly connected with the welding end of the robot rocker arm (1), a lead screw (20) is rotationally connected to the multi-station headstock (2), a multi-station frame fixing plate (19) is fixedly connected to the multi-station headstock (2), an ultrasonic probe assembly (4) is fixedly connected to the multi-station frame fixing plate (19), two groups of sliding blocks (21) are slidingly connected to the multi-station headstock (2), the two groups of sliding blocks (21) are located on two sides of the multi-station frame fixing plate (19), the lead screw (20) penetrates through the two groups of sliding blocks (21), and the two groups of laser welding heads (3) are fixedly connected to the two groups of sliding blocks (21) through steering wheels (22) respectively.
8. The automated laser welding apparatus for large-scale metal sandwich structures of claim 7, wherein: the ultrasonic probe assembly (4) comprises an ultrasonic probe moving cylinder (23) which is vertically arranged, one end of the ultrasonic probe moving cylinder (23) is fixedly connected to the multi-station frame fixing plate (19) through an ultrasonic probe fixing frame (24), an ultrasonic probe (26) is vertically and slidingly connected to the bottom end of the ultrasonic probe moving cylinder (23), a spring (25) is fixedly connected between the top end of the ultrasonic probe (26) and the bottom end of the ultrasonic probe moving cylinder (23), a rubber roller (28) is in rolling fit with the bottom end of the ultrasonic probe (26), a water dripping pipe (27) is connected to one side of the ultrasonic probe moving cylinder (23), and an outlet of the water dripping pipe (27) is correspondingly arranged with the bottom end of the ultrasonic probe (26).
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| CN202211082184.1A CN115319290B (en) | 2022-09-06 | 2022-09-06 | Automatic laser welding device for large-size metal sandwich structure |
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| CN103692093A (en) * | 2013-12-19 | 2014-04-02 | 华中科技大学 | Laser welding clamp for metal sandwich plate |
| DE102019200758A1 (en) * | 2018-10-22 | 2020-04-23 | Hegla Gmbh & Co. Kg | Method and device for separating at least one laminated safety glass panel |
| CN212704976U (en) * | 2020-06-10 | 2021-03-16 | 东莞市通和机电科技有限公司 | Laser welding device for stainless steel composite board |
| CN113351994A (en) * | 2021-04-28 | 2021-09-07 | 丹阳超锐工业智能科技有限公司 | Follow-up type laser welding tool with metal sandwich structure and automatic pressing force adjusting function |
| CN216264179U (en) * | 2021-10-13 | 2022-04-12 | 江苏元祐新型复合材料有限公司 | Composite sheet welding frock |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692093A (en) * | 2013-12-19 | 2014-04-02 | 华中科技大学 | Laser welding clamp for metal sandwich plate |
| DE102019200758A1 (en) * | 2018-10-22 | 2020-04-23 | Hegla Gmbh & Co. Kg | Method and device for separating at least one laminated safety glass panel |
| CN212704976U (en) * | 2020-06-10 | 2021-03-16 | 东莞市通和机电科技有限公司 | Laser welding device for stainless steel composite board |
| CN113351994A (en) * | 2021-04-28 | 2021-09-07 | 丹阳超锐工业智能科技有限公司 | Follow-up type laser welding tool with metal sandwich structure and automatic pressing force adjusting function |
| CN216264179U (en) * | 2021-10-13 | 2022-04-12 | 江苏元祐新型复合材料有限公司 | Composite sheet welding frock |
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