CN115319290A - Automatic laser welding device of jumbo size metal sandwich structure - Google Patents
Automatic laser welding device of jumbo size metal sandwich structure Download PDFInfo
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- CN115319290A CN115319290A CN202211082184.1A CN202211082184A CN115319290A CN 115319290 A CN115319290 A CN 115319290A CN 202211082184 A CN202211082184 A CN 202211082184A CN 115319290 A CN115319290 A CN 115319290A
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- 238000003466 welding Methods 0.000 title claims abstract description 136
- 239000002184 metal Substances 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 239000000523 sample Substances 0.000 claims description 35
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 11
- 238000007664 blowing Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 230000003287 optical effect 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
- 230000009977 dual effect Effects 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
- 238000012986 modification Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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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
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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
- B23K26/70—Auxiliary operations or equipment
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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
- B23K26/70—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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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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, wherein a lower panel is placed 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 plurality of cores are arranged on the top surface of the lower panel in a contact manner through the limitation of the second limiting mechanism, the upper panel is limited on the plurality of cores through the third limiting mechanism, the third limiting mechanism is connected above the second limiting mechanism, the robot rocker is positioned on one side of the bottom tool, one end of the robot rocker is connected with a welding mechanism, the welding end of the welding mechanism is arranged corresponding to the top surface of the upper panel through the third limiting mechanism, and the welding end of the welding mechanism can be automatically adjusted 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 at the moment, the core transfers shear load. Compared with a solid structure, the composite material can reach higher specific stiffness and specific strength under the same mass, can meet the requirement of mechanical property under smaller mass cost, and is a high-efficiency structural material. The method 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, and the manufacturing methods have strong dependence on equipment and are difficult to realize the manufacturing of large-size complex lattice sandwich structures. 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 and convenient operation, and because the focusing light spot is small, the welding seam positioning precision is high, the light beam transmission and the operation are convenient, the welding gun and the nozzle do not need to be frequently replaced, and the time is greatly reduced. The non-contact operation mode meets the requirements of cleanness 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 product 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 marking operation is carried out by manual operation, the manual judgment is easy to make mistakes, the marking position has errors with the position of the core, and the accuracy is low;
2. the gap between the panel and the core cannot be judged, so that a gap exists in welding;
3. the bending condition of the core cannot be judged, so that welding leakage exists;
4. some materials with large volume can not realize omnibearing fixed welding, the effect of the materials with large volume during laser welding is poor, and due to the defect, the welding of the materials with large volume can not be efficiently and accurately performed during welding, so that the actual processing reliability and accuracy are reduced. These problems easily cause the core and the panel between the gap and the welding, can not guarantee the sandwich structure processing reliability and the strength requirement.
Disclosure of Invention
The invention aims to provide an automatic laser welding device for a large-size metal sandwich structure, which aims to solve the problems and achieve the aim of effectively improving the welding precision and quality.
In order to achieve the purpose, the invention provides the following scheme: the utility model provides a jumbo size metal sandwich structure's automatic laser welding device, includes bottom frock and robot rocking arm, the panel has been placed down to the top surface of bottom frock, the top surface of bottom frock is provided with first stop gear, the relative both sides of panel are passed through down first stop gear is spacing, the top surface of bottom frock is from supreme second stop gear, top panel and the third stop gear of having set gradually down, the second stop gear is interior to be held a plurality of cores, through the second stop gear is spacing with a plurality of the core contact sets up the top surface of panel down, the top panel passes through the third stop gear is spacing in a plurality of on the core, the third stop gear is connected in 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 the third stop gear with the top surface of top panel corresponds the setting, welding mechanism's welding end can be according to the roughness of top panel is adjusted by oneself.
Preferably, the first limiting mechanism comprises a plurality of magnetic suction bases, a plurality of three-axis hydraulic cylinders and two sets of side limiting blocks, the magnetic suction bases and the three-axis hydraulic cylinders are fixedly connected to the top surface of the bottom tool respectively, the side limiting blocks are fixedly connected to the opposite sides of the magnetic suction bases and the three-axis hydraulic cylinders respectively, and the side limiting blocks are abutted to the opposite sides of the lower panel.
Preferably, the second stop gear includes that two sets of core stopper supports, symmetry set up two sets of a plurality of hydraulic ram that the core stopper support deviates from the side, set up two sets of distance adjustment unit on the core stopper support opposite side, it is a plurality of apart from the adjustment unit centre gripping the core, it is a plurality of the stiff end difference fixed connection of hydraulic ram is in the top surface of bottom frock, two sets of the side that deviates from of core stopper support is fixed connection respectively a plurality of the flexible end of hydraulic ram.
Preferably, the distance adjusting unit includes that two sets of first bar of a plurality of core stoppers lead to groove and a plurality of fastening bolt, and is two sets of the first bar leads to the groove and corresponds respectively to set up two sets of on the core stopper support, it is a plurality of the core stopper follows respectively first bar leads to groove sliding connection and is two sets of on the opposite side of core stopper support, it is a plurality of fastening bolt's screw rod passes first bar lead to the groove and still with a plurality of core stopper threaded connection, the core centre gripping is adjacent between the core stopper.
Preferably, a groove is formed between the adjacent core limiting blocks, the adjacent grooves are symmetrically arranged relative to the core limiting blocks, and the grooves on the two groups of core limiting block supports are correspondingly arranged.
Preferably, third stop gear includes two sets of U-shaped channel-section steels and a plurality of groups multiple spot restraint frame, and two sets of U-shaped channel-section steels are fixed connection respectively and are a plurality of the top of hydraulic ram, and are two sets of the U-shaped channel-section steel is located the both sides of top panel, and is a plurality of multiple spot restraint frame fixed connection is two sets of between the U-shaped channel-section steel, and is a set of be connected with the device of blowing on the U-shaped channel-section steel, the export of the device of blowing with the top surface of top panel corresponds the setting, each multiple spot restraint fixed slot has been seted up respectively to the opposite side in the multiple spot restraint frame, and each group equidistant fixed connection has a plurality of multiple spot restraint pneumatic cylinders, and is a plurality of multiple spot restraint pneumatic cylinder ejector pins of multiple spot restraint pneumatic cylinder pass multiple spot restraint fixed slot with the top surface of top panel corresponds the setting, welding mechanism's welding end is located two sets of between the multiple spot restraint frame and with the top surface of top panel corresponds the setting.
Preferably, a plurality of second strip-shaped through grooves are formed in the bottom of the multipoint constraint frame, the second strip-shaped through grooves correspond to the side edges of the cores, and the welding end of the welding mechanism penetrates through any one of the second strip-shaped through grooves to correspond to the upper panel.
Preferably, the welding mechanism comprises a support assembly, the support assembly is fixedly connected to the welding end of the robot rocker arm, the support assembly is fixedly connected with an ultrasonic probe assembly and two groups of laser welding heads, the two groups of laser welding heads are located 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 and are obliquely arranged.
Preferably, the support assembly includes the multistation headstock, multistation headstock fixed connection be in the welding end of robot rocking arm, the last swivelling joint of multistation headstock has the lead screw, the last fixedly connected with multistation frame fixed plate of multistation headstock, ultrasonic probe subassembly fixed connection be in on the multistation frame fixed plate, sliding connection has two sets of sliders on the multistation headstock, and is two sets of the slider is located the both sides of multistation frame fixed plate, the lead screw passes two sets of the slider, two sets of the laser welding head is respectively through steering wheel fixed connection two sets of on the slider.
Preferably, the ultrasonic transducer subassembly includes the ultrasonic transducer moving cylinder of vertical setting, the one end that the ultrasonic transducer moving cylinder passes through ultrasonic transducer mount fixed connection be in on the multiplex position frame fixed plate, the vertical sliding connection in bottom that the ultrasonic transducer moved the cylinder has ultrasonic transducer, ultrasonic transducer's top with fixed connection has the spring between the bottom that the ultrasonic transducer moved the cylinder, the bottom roll cooperation of ultrasonic transducer has rubber roller, ultrasonic transducer moves cylinder one side and is connected with the drip, the export of drip with ultrasonic transducer's bottom corresponds the setting.
The invention has the following technology: the first limiting mechanism is mainly used for limiting the lower panel on the bottom tool, the second limiting mechanism is mainly used for clamping a plurality of cores so that the cores correspond to the lower panel, and the third limiting mechanism is mainly used for limiting the upper panel and further adjusting gaps 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 of the bent part can be adjusted, manual marking operation is replaced, the formed path and the position of the core are free from error, and welding missing is reduced. After the third limiting mechanism limits the upper panel, the third limiting mechanism is adjusted according to the gap amount between the core and the upper panel, which is detected by the welding mechanism, by utilizing the holographic C scanning technology, 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 a material with a larger volume, so that the stability of the whole structure during welding is enhanced, and the requirements on the reliability degree and the accuracy of actual processing are met; welding mechanism's welding end can be adjusted by oneself according to the unsmooth condition of top surface of the panel, effectively avoids welding end and top surface of the panel to take place the motion and interferes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention showing the overall axis;
FIG. 3 is an enlarged view of a portion A of FIG. 2;
FIG. 4 is a schematic view of a core limiting block bracket structure of the present invention;
FIG. 5 is a schematic view showing the installation state of the lower panel according to the present invention;
FIG. 6 is a schematic top view of a pre-clamping arrangement according to the present invention;
FIG. 7 is a cross-sectional view of a pre-clip of the present invention;
FIG. 8 is a schematic view of a multi-station headstock configuration according to the present invention;
FIG. 9 is a schematic view of an ultrasonic probe assembly of the present invention;
FIG. 10 is a schematic view of a multi-station headstock welding configuration of the present invention;
FIG. 11 is a weld process route diagram of the present invention;
wherein, 1, a robot rocker arm; 2. a multi-station headstock; 3. a laser welding head; 4. an ultrasonic probe assembly; 5. bottom tooling; 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 restraint frame; 11. a multi-point constraint fixing groove; 12. a multi-point restraint hydraulic cylinder; 13. a multi-point constraint hydraulic cylinder ejector rod; 14. an upper panel; 15. a core; 16. a lower panel; 17. a three-axis hydraulic cylinder; 18. a side limiting block; 19. a multi-station frame fixing plate; 20. a lead screw; 21. a slider; 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 pipe; 28. a rubber roller; 29. a water blowing device; 30. the base is magnetically attracted.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
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 placed 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 plurality of cores 15 are in contact arrangement on the top surface of the lower panel 16 through the limitation of the second limiting mechanism, the upper panel 14 is limited on the plurality of 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 penetrates through the third limiting mechanism and is arranged corresponding to the top surface of the upper panel 14, and the welding end of the welding mechanism can be adjusted according to the flatness of the upper panel 14.
The first limiting mechanism is mainly used for limiting the lower panel 16 on the bottom tool 5, the second limiting mechanism is mainly used for clamping the cores 15, so that the cores 15 correspond to the lower panel 16, the third limiting mechanism is mainly used for limiting the upper panel 14, and further adjusting the gap between the upper panel 14 and the cores 15, so that the welding quality and requirements are met; the welding mechanism detects the position of the core 15 under the upper panel 14, a path is formed through algorithm calculation, the path of the bent part can be adjusted, manual scribing operation is replaced, the formed path has no error with the position of the core 15, and welding missing is reduced. After the third limiting mechanism limits the upper panel 14, the third limiting mechanism is adjusted according to the gap amount between the core 15 and the upper panel 14 detected by the welding mechanism 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. First, second, third stop gear carry out all-round fixed welding to the great material of volume, have strengthened overall structure stability when the welding, have satisfied actual processing reliability and accuracy requirement.
Welding mechanism's welding end can be adjusted according to the unsmooth condition of upper panel 14 top surface by oneself, effectively avoids welding end and 14 top surfaces of upper panel to take place the motion and interferes.
Further optimize the scheme, first stop gear includes that a plurality of magnetism inhale base 30, a plurality of triaxial pneumatic cylinders 17 and two sets of side spacing pieces 18, and a plurality of magnetism inhale base 30 and a plurality of triaxial pneumatic cylinders 17 fixed connection respectively at the top surface of bottom frock 5, and two sets of side spacing pieces 18 are fixed connection respectively at a plurality of magnetism inhale the opposite sides of base 30 and a plurality of triaxial pneumatic cylinders 17, and two sets of side spacing pieces 18 butt is on the opposite side of panel 16 down.
Further optimize the scheme, the second stop gear includes two sets of core stopper supports 8, the symmetry sets up a plurality of hydraulic ram 6 that deviate from the side at two sets of core stopper supports 8, set up the distance adjusting unit on two sets of core stopper supports 8 opposite sides, a plurality of cores 15 of distance adjusting unit centre gripping, the stiff end of a plurality of hydraulic ram 6 is fixed connection respectively at the top surface of bottom frock 5, the side that deviates from of two sets of core stopper supports 8 is fixed connection respectively at the flexible end of a plurality of hydraulic ram 6.
Further optimize the scheme, apart from the regulating unit and include two sets of first bar through grooves of a plurality of core stopper 9 and a plurality of fastening bolt, two sets of first bar through grooves correspond respectively and set up on two sets of core stopper supports 8, a plurality of core stopper 9 are followed first bar through groove sliding connection respectively and are being put on the opposite side of two sets of core stopper supports 8, a plurality of fastening bolt's screw rod passes first bar through groove and still with a plurality of core stopper 9 threaded connection, the core 15 centre gripping is between adjacent core stopper 9.
According to the further optimized scheme, grooves are formed between adjacent core limiting blocks 9, the adjacent grooves are symmetrically arranged relative to the core limiting blocks 9, and a plurality of grooves in the two groups of core limiting block supports 8 are correspondingly arranged.
Further optimize the scheme, third stop gear includes two sets of U-shaped channel-section steel 7 and a plurality of groups multiple spot 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 multiple spot restraint frame 10 fixed connection are between two sets of U-shaped channel-section steel 7, wherein be connected with water blowing device 29 on a set of U-shaped channel-section steel 7, water blowing device 29's export corresponds the setting with top surface of top panel 14, multiple spot restraint fixed slot 11 has been seted up respectively to the opposite side in each multiple spot restraint frame 10, equidistant fixed connection has a plurality of multiple spot restraint pneumatic cylinders 12 on the diapire of each group multiple spot restraint fixed slot 11, multiple spot restraint pneumatic cylinder ejector pin 13 of a plurality of multiple spot restraint pneumatic cylinders 12 passes multiple spot restraint fixed slot 11 and corresponds the setting with top surface of top panel 14, welding mechanism's welding end is located between two sets of multiple spot restraint frames 10 and corresponds the setting with top surface of top panel 14.
According to the further optimized scheme, a plurality of second strip-shaped through grooves are formed in the bottom of the multipoint constraint frame 10, the second strip-shaped through grooves correspond to the side edges of the cores 15, and the welding end of the welding mechanism penetrates through any second strip-shaped through groove to correspond to the upper panel 14.
According to the further optimized scheme, the welding mechanism comprises a support assembly, the support assembly is fixedly connected to 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 located on two sides of the ultrasonic probe assembly 4, and the welding end of the two groups of laser welding heads 3 is obliquely arranged close to the ultrasonic probe assembly 4.
The ultrasonic probe assembly 4 detects the position of the core 15 under the upper panel 14, forms a path through algorithm calculation, can adjust the path of the bent part, replaces the manual marking operation, and has no error between the formed path and the position of the core 15, thereby reducing welding leakage.
After the third limiting mechanism limits the upper panel 14, the length of the extending end of the multi-point constraint hydraulic cylinder 12 is adjusted according to the gap amount between the core 15 and the upper panel 14 detected by the ultrasonic probe assembly 4 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.
Further optimize the scheme, the support assembly includes multistation headstock 2, 2 fixed connection of multistation headstock are at the welding end of robot rocking arm 1, the last swivelling joint of multistation headstock 2 has 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 head 3 are respectively through steering wheel 22 fixed connection on two sets of sliders 21.
Further optimize the scheme, ultrasonic transducer subassembly 4 includes the ultrasonic transducer removal cylinder 23 of vertical setting, ultrasonic transducer removes the one end of cylinder 23 and passes through ultrasonic transducer mount 24 fixed connection on multiplex position frame fixed plate 19, the vertical sliding connection in bottom of ultrasonic transducer removal cylinder 23 has ultrasonic transducer 26, fixed connection has spring 25 between the top of ultrasonic transducer 26 and the bottom of ultrasonic transducer removal cylinder 23, the bottom roll cooperation of ultrasonic transducer 26 has rubber roller 28, ultrasonic transducer removes cylinder 23 one side and is connected with drip 27, the export of drip 27 corresponds the setting with ultrasonic transducer 26's bottom.
The spring 25 has the function of flexibility compensation, and when the ultrasonic probe 26 moves too low, the spring 25 is compressed, 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 make the probe 26 always cling to the upper panel 14, so that a good detection effect is obtained; the rubber roller 28 is arranged at the tip of the ultrasonic probe 26 instead of the traditional ceramic so as to increase the transmission of ultrasonic waves; and a water blowing device 29 is arranged on the U-shaped channel steel 7, and water is blown completely after detection is finished, 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 and detected through an algorithm, and the multipoint constraint hydraulic cylinder 12 applies different hydraulic pressures through the force distributed by the algorithm detection result to drive the multipoint constraint hydraulic cylinder ejector rods 13 at different positions to move and compress the upper panel 14 as shown in fig. 6. In the welding system, 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 welding with dual optical paths simultaneously, when welding with a single optical path is required, the lead screw 20 drives the slider 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 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 coaxially and fixedly connected with the screw rod 20, and the motor drives the screw rod 20.
In a further optimized scheme, the robot rocker arm 1 adopts the existing robot structure, operation system and control process, which are not described in detail herein.
The working process of the embodiment is as follows: the installation schematic diagram of the core 15 is shown in fig. 5, the bottom tool 5 is fixed through a bolt, 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 tooling 5, the side limiting block 18 is 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 three-axis hydraulic cylinder 17 is fixed on the other side of the lower panel 16 by a lock catch. The hydraulic mandril 6 is moved to the core limiting block 9, and the core limiting block bracket 8 is placed on the lower panel 16. As the core limiting block bracket 8 is provided with the first strip-shaped through groove as shown in figure 4, the bolt for moving and connecting the core limiting block 9 can be adapted to cores 15 with different thicknesses, and the core limiting blocks 9 with different shapes can be replaced to adjust the angle of the core 15 so as to weld sandwich structures with different sizes. After the position of the core limiting block 9 is fixed, the core 15 is placed into the groove corresponding to the core limiting block 9. The preliminary pre-tightening schematic diagram is shown in fig. 6, a core 15 is placed in a groove corresponding to a core limiting block 9, then an upper panel 14 is covered, hydraulic pressure is applied to the hydraulic ejector rod 6 through an operation program, when a core limiting block support 8 contacts the edge of the upper panel 14, and a pressure sensor sends a signal to stop the movement of the hydraulic ejector rod 6 when a multi-point constraint frame 10 contacts the upper panel 14. The program stops applying pressure to the multi-point restraint hydraulic cylinder 12 until the multi-point restraint hydraulic cylinder mandril 13 contacts the upper panel 14. The initial pre-tightening of the overall tool is achieved as shown in fig. 6.
After the initial pre-tightening, the operation object of the multi-station headstock 2 shown in fig. 8 is switched to the ultrasonic probe 26, the operation program enables the robot rocker arm 1 to move to enable the ultrasonic probe 26 to contact the upper panel 14, the ultrasonic probe 26 is connected with the spring 25 as shown in fig. 9, the flexibility compensation is realized, and the spring 25 is compressed when the distance movement is too low, so that the damage of the ultrasonic probe 26 can be prevented. When the upper panel 14 is uneven, the spring 25 can apply a certain force to make the probe tightly attached to the upper panel 14, so that a good detection effect is obtained. When sensed, the program operates to open the drip line 27 valve to allow water to drip through the line and onto the top panel 14. Ultrasonic probe 26 produces when moving the detection along with robot rocking arm 1 and removes, drives rubber roller 28 and rotates, makes water evenly scribble on ultrasonic probe 26 moving path, then blows water installation 29 after the detection and starts, blows off the water on top panel 14 surface, prevents that top panel 14 from rustting and influencing overall structure's intensity. Because the invention adopts the holographic C scanning technology, the projection surface condition of the detected workpiece with any depth can be generated. The ultrasonic probe 26 is moved to scan the edge location of the core 15 and the amount of clearance between the core 15 and the panel, and then algorithmically calculates the clearance and also the offset image of the entire path generated in the system.
After the initial pre-detection scanning is finished, the edge position obtained by the pre-detection and the gap amount between the upper panel 14 and the core 15 are analyzed and pre-detected through an algorithm, different pressures are respectively applied to the multipoint hydraulic cylinders 12 on the multipoint constraint frame 10 as shown in fig. 3, and the multipoint constraint hydraulic cylinder mandrils 13 apply different forces to different positions of the upper panel 14 so as to compensate the detected gap amount.
After the multi-point constraint hydraulic cylinder ejector rod 13 applies load, holographic C scanning is carried out on the welding area again, and the gap between the upper panel 14 and the core 15 after the multi-point constraint tool 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 pre-tightening force of the multi-point constraint tool is redistributed and loaded on the upper panel 14 again through the algorithm, and then the detection and judgment are carried out again. If the requirement of the clearance threshold value is met, the ultrasonic probe 26 is retracted through the ultrasonic probe moving cylinder 23, meanwhile, the valve of the water dropping pipe 27 is closed, and the multi-station frame 2 is switched to be the laser welding head 3.
During welding, if the laser welding head 3 adopts two-way laser welding, as shown in fig. 10, according to the edge position information of the core 15 obtained by holographic C scanning, a program controls a motor to rotate a steering wheel 22, so that the laser welding head 3 rotates by an angle, automatically performs point alignment and adjusts the height of the welding head to achieve defocusing 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 welding leakage is not generated.
If one-way laser welding is adopted, a program control motor drives a lead screw 20 to rotate, the lead screw 20 drives a sliding block 21 to translate so that a 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 point is automatically aligned according to the edge information position of a core 15 obtained by holographic C scanning, the height of the laser welding head 3 is adjusted to reach the defocusing amount, after welding is started, the welding path is continuously optimized according to the edge information obtained by holographic C scanning, the welding position moves along with the position change of the core 15, and welding missing is avoided.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are only intended to illustrate the preferred embodiments of the present invention, and not to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. The utility model provides an automatic laser welding device of jumbo size metal sandwich structure which characterized in that: including bottom frock (5) and robot rocking arm (1), panel (16) down have been placed to the top surface of bottom frock (5), the top surface of bottom frock (5) is provided with first stop gear, the relative both sides of panel (16) are passed through down first stop gear is spacing, the top surface of bottom frock (5) is supreme second stop gear, top panel (14) and the third stop gear of having set gradually down, the centre gripping has a plurality of cores (15) in the second stop gear, through it is spacing with a plurality of second stop gear core (15) contact setting is in the top surface of panel (16) down, top panel (14) are passed through third stop gear is spacing in a plurality of on core (15), third stop gear connects second stop gear top, robot rocking arm (1) are located one side of bottom frock (5), the one end of robot rocking arm (1) is connected with self-propelled welding mechanism, welding mechanism's welding end passes third stop gear with the top surface of top panel (14) corresponds the setting, welding mechanism's upper weld end can be according to the roughness of adjusting plate (14).
2. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 1, wherein: first stop gear includes that a plurality of magnetism inhale base (30), a plurality of triaxial pneumatic cylinder (17) and two sets of side spacing piece (18), and is a plurality of base (30) and a plurality of are inhaled to magnetism three-axial pneumatic cylinder (17) fixed connection respectively in the top surface of bottom frock (5), it is two sets of side spacing piece (18) fixed connection respectively is a plurality of inhale base (30) and a plurality of the opposite side of triaxial pneumatic cylinder (17), it is two sets of side spacing piece (18) butt is in on the opposite side of panel (16) down.
3. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 1, wherein: the second stop gear includes that two sets of core stopper supports (8), symmetry set up two sets of a plurality of hydraulic ram (6), the setting that deviate from the side of core stopper support (8) are two sets of apart from the regulating unit on core stopper support (8) the opposite side, it is a plurality of apart from the regulating unit centre gripping core (15), it is a plurality of the stiff end difference fixed connection of hydraulic ram (6) is in the top surface of bottom frock (5), and is two sets of the side that deviates from of core stopper support (8) is fixed connection respectively and is a plurality of the flexible end of hydraulic ram (6).
4. The apparatus for automated laser welding of large-size metal sandwich structures according to claim 3, wherein: the distance adjusting unit comprises a plurality of core limiting blocks (9), two sets of first bars of the core limiting blocks and a plurality of fastening bolts, the first bars of the core limiting blocks correspond to the first bars of the core limiting blocks and are arranged on the core limiting block support (8) in a corresponding mode, the core limiting blocks (9) are arranged on the first bars of the core limiting blocks in a sliding mode, the first bars of the core limiting blocks are connected to the opposite sides of the core limiting block support (8) in a sliding mode, the screw rods of the fastening bolts penetrate through the first bars of the core limiting blocks and are connected with the core limiting blocks (9) in a threaded mode, and the cores (15) are clamped between the core limiting blocks (9).
5. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 4, wherein: adjacent form the recess between core stopper (9), adjacent the recess about core stopper (9) symmetry sets up, two sets of a plurality of on core stopper support (8) the recess corresponds the setting.
6. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 3, wherein: third stop gear includes two sets of U-shaped channel-section steel (7) and a plurality of multi-point restraint frame (10) of group, and two sets of U-shaped channel-section steel (7) are fixed connection respectively and are a plurality of the top of hydraulic ram (6), and are two sets of U-shaped channel-section steel (7) are located the both sides of top panel (14), and are 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) and blow water installation (29), blow the export of water installation (29) with top panel (14) top surface corresponds the setting, each multi-point restraint fixed slot (11) have been seted up respectively to the opposite side in multi-point restraint frame (10), each group equidistant fixedly connected with a plurality of multi-point restraint pneumatic cylinder (12) on the diapire of multi-point restraint fixed slot (11), a plurality of multi-point restraint pneumatic cylinder ram (13) of multi-point restraint pneumatic cylinder (12) pass multi-point restraint fixed slot (11) with top panel (14) top surface corresponds the setting, welding mechanism's welding end is located two sets up between multi-point restraint frame (10) and the top surface corresponds the setting.
7. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 6, wherein: a plurality of second bar-shaped through grooves are formed in the bottom of the multipoint constraint frame (10), the second bar-shaped through grooves correspond to the side edges of the cores (15), and the welding end of the welding mechanism penetrates through any one of the second bar-shaped through grooves to correspond to the upper panel (14).
8. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 7, wherein: the welding mechanism comprises a support assembly, the support assembly is fixedly connected to 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 located on two sides of the ultrasonic probe assembly (4), and the welding end of the two groups of laser welding heads (3) is close to the ultrasonic probe assembly (4) and is obliquely arranged.
9. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 8, wherein: the support assembly includes multistation headstock (2), multistation headstock (2) fixed connection is in the welding end of robot rocking arm (1), rotate on multistation headstock (2) and be connected with lead screw (20), fixedly connected with multistation frame fixed plate (19) are gone up in multistation headstock (2), ultrasonic probe subassembly (4) fixed connection is in on the multistation frame fixed plate (19), sliding connection has two sets of slider (21) on multistation headstock (2), and is two sets of slider (21) are located the both sides of multistation frame fixed plate (19), lead screw (20) pass two sets of slider (21), two sets of laser welder head (3) are respectively through steering wheel (22) fixed connection two sets of on slider (21).
10. The apparatus for automated laser welding of large-sized metal sandwich structures according to claim 9, wherein: ultrasonic transducer subassembly (4) include ultrasonic transducer moving cylinder (23) of vertical setting, the one end that ultrasonic transducer moving cylinder (23) passes through ultrasonic transducer mount (24) fixed connection be in on the multiplex position frame fixed plate (19), the vertical sliding connection in bottom that ultrasonic transducer moving cylinder (23) has ultrasonic transducer (26), the top of ultrasonic transducer (26) with fixed connection has spring (25) between the bottom that ultrasonic transducer moving cylinder (23), the bottom roll cooperation of ultrasonic transducer (26) has rubber roller (28), ultrasonic transducer moving cylinder (23) one side is connected with drip pipe (27), the export of drip pipe (27) with the bottom of ultrasonic transducer (26) corresponds the setting.
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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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| CN202211082184.1A CN115319290B (en) | 2022-09-06 | 2022-09-06 | Automatic laser welding device for large-size metal sandwich structure |
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| CN115319290B CN115319290B (en) | 2024-01-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117862676A (en) * | 2024-03-13 | 2024-04-12 | 山东光之聚激光科技有限公司 | Robot arm laser welding machine |
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| 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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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117862676A (en) * | 2024-03-13 | 2024-04-12 | 山东光之聚激光科技有限公司 | Robot arm laser welding machine |
| CN117862676B (en) * | 2024-03-13 | 2024-05-17 | 山东光之聚激光科技有限公司 | Robot arm laser welding machine |
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| CN115319290B (en) | 2024-01-23 |
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