CN116372303A - Induction brazing device and welding method for multiple degrees of freedom of irregular-shaped component - Google Patents
Induction brazing device and welding method for multiple degrees of freedom of irregular-shaped component Download PDFInfo
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- CN116372303A CN116372303A CN202310089231.3A CN202310089231A CN116372303A CN 116372303 A CN116372303 A CN 116372303A CN 202310089231 A CN202310089231 A CN 202310089231A CN 116372303 A CN116372303 A CN 116372303A
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- 238000005219 brazing Methods 0.000 title claims abstract description 256
- 230000006698 induction Effects 0.000 title claims abstract description 224
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000003466 welding Methods 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 238000012806 monitoring device Methods 0.000 claims abstract description 41
- 238000009826 distribution Methods 0.000 claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims description 25
- 210000000707 wrist Anatomy 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000005476 soldering Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 210000000323 shoulder joint Anatomy 0.000 claims description 6
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 229910052751 metal Inorganic materials 0.000 claims description 4
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005253 cladding Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 239000004020 conductor Substances 0.000 claims description 3
- 239000002826 coolant Substances 0.000 claims description 3
- 238000005238 degreasing Methods 0.000 claims description 3
- 210000002310 elbow joint Anatomy 0.000 claims description 3
- 239000000945 filler Substances 0.000 claims description 3
- 229910000679 solder Inorganic materials 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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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
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/04—Heating appliances
- B23K3/047—Heating appliances electric
- B23K3/0475—Heating appliances electric using induction effects, e.g. Kelvin or skin effects
-
- 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
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/002—Soldering by means of induction heating
-
- 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
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/04—Heating appliances
- B23K3/047—Heating appliances electric
- B23K3/0478—Heating appliances electric comprising means for controlling or selecting the temperature or power
-
- 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
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
-
- 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
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Dermatology (AREA)
- General Health & Medical Sciences (AREA)
- General Induction Heating (AREA)
Abstract
The invention discloses an induction brazing device and a welding method for multiple degrees of freedom of an irregular-shaped member, wherein the induction brazing device comprises a working platform, a mechanical arm, an induction brazing coil, a three-degree-of-freedom working platform and the like, two ends of the induction brazing coil are respectively connected to the tail ends of the mechanical arms of the two induction brazing coils, and a current closed loop is formed at any position through the movement of the mechanical arm; the induction brazing coil consists of a multi-degree-of-freedom joint controlled by a pneumatic loop, so that workpieces in different shapes can be brazed; the three-degree-of-freedom working platform controls the movement of the workpiece, and meets the requirements of array induction brazing on different positions of the workpiece; the three-degree-of-freedom working platform and the mechanical arm realize intelligent cooperative motion through the self-adaptive linkage controller, so that the workpiece is conveniently clamped and disassembled, and the device is suitable for brazing a large number of workpieces; the temperature monitoring device mechanical arm can control the temperature monitoring device, and the temperature distribution of the surface of the workpiece can be monitored in real time in multiple directions and multiple angles.
Description
Technical Field
The invention relates to the technical field of induction brazing, in particular to an induction brazing device and a welding method for multiple degrees of freedom of an irregular-shaped member.
Background
The induction brazing is a welding method by using high-frequency, medium-frequency or power-frequency induction current as a heat source, the high-frequency heating is suitable for welding thin-wall pipe fittings, and the coaxial cable and the split induction coil can be used for welding on the site far away from a power supply, so that the method is a very common workpiece connecting method.
At present, the induction brazing is usually performed by welding pipe fittings by adopting a circular closed induction coil. The method can generate a relatively uniform temperature field, but is very inconvenient for placing, clamping and taking out the workpiece to be welded, and when the workpiece to be welded is an irregular-shaped member or an array-shaped member, the production efficiency is reduced and resources are wasted, so that the type of the member which can be welded by the method is very single, and the forming quality of a soldered joint is seriously affected by the non-uniformity of the soldering temperature field for the member with a complex shape. The patent (CN 111922475A) provides a fast-adjusting induction brazing device, which realizes the real-time movement or rotation of a welded part in the induction brazing process, but the coil structure and the shape are still fixed, and the flexible high-degree-of-freedom regulation and control are not realized; the patent (CN 103506726 a) provides an induction coil for induction brazing, which welds a sleeve with a stepped structure, but the induction coil of the device is a fixed circle, and induction brazing of irregular structural members cannot be achieved; the patent (CN 111151835A) provides an induction brazing system which is assisted by a cooperative controller and an intelligent positioning system, so that intelligent induction brazing of products is realized, but an induction brazing coil of the device is a fixed device, and intelligent control and regulation of multiple degrees of freedom are not realized; the patent (CN 114871526 a) provides an automatic open-close induction brazing apparatus, which realizes induction brazing with high positional accuracy by controlling high-precision matching of end faces of two metal rods by a lead screw, but in which the coil is a fixing device and induction brazing is realized only for circular members.
Therefore, how to design an induction brazing system which has a simple structure, uniform distribution of temperature fields, is convenient for clamping and taking out workpieces, and is suitable for brazing connection of workpieces in different forms is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides an induction brazing device and a welding method for multiple degrees of freedom of irregular shaped components, which have the following specific technical scheme:
an induction brazing apparatus for multiple degrees of freedom for irregularly shaped components, comprising:
the working platform comprises an upper rack and a working platform power distribution cabinet arranged below the upper rack;
the mechanical arm comprises an induction brazing coil mechanical arm and a temperature monitoring device mechanical arm, wherein the two groups of the induction brazing coil mechanical arms are respectively arranged on two opposite sides of the upper rack; the mechanical arm of the temperature monitoring device is arranged at the top of the upper rack;
the induction brazing coil consists of two half coils, each half coil is correspondingly connected to the tail end of one induction brazing coil mechanical arm, and the two half coils can form a closed loop at any position in space under the control of the induction brazing coil mechanical arm; the induction brazing coil is a multi-degree-of-freedom induction brazing coil and consists of multi-degree-of-freedom joints controlled by pneumatic circuits, and current loops with different shapes are formed by coordinated motion control coils of motors at the joints of the induction brazing coils, so that the induction brazing coil is suitable for induction brazing of workpieces with different shapes;
the three-degree-of-freedom working platform is arranged on the upper surface of the working platform power distribution cabinet, and the uppermost end of the three-degree-of-freedom working platform is provided with a workpiece to be welded so as to realize three-dimensional degree-of-freedom movement of the workpiece and self-rotation movement of the workpiece;
the linkage controller is arranged in the working platform power distribution cabinet and is a self-adaptive linkage controller controlled by a PLC module, and is used for realizing intelligent coordinated control of the mechanical arm, the three-degree-of-freedom working platform and the induction brazing coil joint;
the temperature monitoring device is correspondingly connected to the tail end of the mechanical arm of the temperature monitoring device and used for realizing multi-azimuth global monitoring of temperature distribution of the surface of the workpiece in the brazing process and feeding back to the linkage controller.
Through the technical scheme, the invention provides an induction brazing device for multiple degrees of freedom of an irregular-shaped member, which comprises a working platform, mechanical arms, induction brazing coils, a three-degree-of-freedom working platform, a linkage controller and a temperature monitoring device, wherein two ends of each induction brazing coil are respectively connected with the tail ends of the mechanical arms of the two induction brazing coils, and the mechanical arms of the induction brazing coils control the two ends of each induction brazing coil to move in space so as to form a current closed loop at any position; the induction brazing coil consists of a multi-degree-of-freedom joint controlled by a pneumatic loop, so that workpieces in different shapes can be brazed; the three-degree-of-freedom working platform controls the three-dimensional degree-of-freedom motion of the workpiece and the rotary motion of the workpiece, so as to realize the array type induction brazing requirements on different positions of the workpiece; the three-degree-of-freedom working platform and the mechanical arm realize intelligent cooperative motion through the self-adaptive linkage controller, so that the workpiece is conveniently clamped and disassembled, and the device is suitable for brazing a large number of workpieces; the temperature monitoring device mechanical arm can also control the camera in the temperature monitoring device, and the temperature distribution of the surface of the workpiece is monitored in real time in multiple directions and multiple angles, so that timely temperature correction is realized, and the quality of the induction brazing of the workpiece can be ensured.
The invention has simple structure, reasonable design and good induction brazing effect, can meet the requirement of large-batch and array induction brazing of irregular-shaped components, and improves the working efficiency.
Preferably, the induction brazing coil mechanical arm and the temperature monitoring device mechanical arm have the same structure and are all five-degree-of-freedom mechanical arms, and correspondingly comprise a mechanical arm base, a shoulder joint and base matching shaft, a shoulder joint rotating unit, a mechanical arm big arm, an elbow joint rotating unit, a mechanical arm small arm, a mechanical arm wrist rotating unit and a fixing device, wherein the mechanical arm base is fixed at a corresponding position of the upper frame; the mechanical arm has 5 degrees of freedom, and the mechanical arm motor controls different forms of movement of different mechanical arm joints, wherein the three mechanical arm joints realize rotary movement through a rotary pair; the tail end of the mechanical arm wrist rotating unit is provided with the fixing device, the corresponding fixing device on the mechanical arm of the temperature monitoring device is a camera clamping device, and the corresponding fixing device on the mechanical arm of the induction brazing coil is an induction brazing coil clamping device; the mechanical arm wrist rotating unit of the induction brazing coil mechanical arm can also realize telescopic movement, and the induction brazing coil forms a closed loop at any position in space through cooperation of different movements.
Preferably, the induction brazing coil is made of conductive materials; the ends of the two induction brazing half coils, which correspond to the mechanical arms of the induction brazing coils, are respectively connected with the positive electrode and the negative electrode of a power supply, the other ends of the two induction brazing half coils are suspended to form a fit, and a current closed loop is formed when the coils are closed.
Preferably, the two induction brazing half coils at the end positions of the induction brazing coil mechanical arm are not in contact with each other.
Preferably, the induction brazing coil is composed of multiple joints, and different shapes are composed through mutually independent joint motor control at different joints; the utility model discloses a gear, including the joint, the one end of joint has protruding annular groove, the rack exists in the annular groove, and the other end has cylindrical lug, cylindrical lug in the middle of have with the ruler cylindric external gear of rack looks meshing, install in the gear inner shaft of joint department the joint motor drives the meshing transmission of gear and rack through motor motion.
Preferably, the thickness of different joints of the induction brazing coil can be freely designed and replaced according to the shape of a workpiece, but can be changed into loops with different shapes through joint movement, and the requirement that the circuit is not shorted is met.
Preferably, the induction brazing coil achieves the low temperature control by spraying coolant.
Preferably, the three-degree-of-freedom working platform comprises a workpiece clamping fixed end, a Z-direction lifting system, an X-direction ball screw and a Y-direction ball screw, wherein the workpiece clamping fixed end is used for fixing workpieces in different forms, and different fixed ports are designed according to the properties of the workpieces and used for realizing clamping and unloading of the workpieces; the Z-direction lifting system comprises a Z-direction pneumatic loop system and a circuit-controlled rotating unit, and is used for controlling lifting of a workpiece and rotation of the workpiece around the Z-direction pneumatic loop system; the X-direction ball screw and the Y-direction ball screw are used for realizing the movement of the workpiece in the XY direction.
The invention also provides a welding method for carrying out induction brazing on the irregularly-shaped component according to the induction brazing device, which comprises the following steps:
s1: before brazing, cleaning the workpiece to be welded by alcohol, including degreasing and rust removal;
s2: coating a solder prepared in advance on a target soldering position of a workpiece to be soldered so as to facilitate the following induction soldering step;
s3: controlling the joint motor of the induction brazing coil to move according to the shape of the workpiece area to be welded, and forming a closed coil matched with the induction brazing coil around the target brazing area;
s4: clamping the workpiece to be welded coated with the brazing filler metal to a workpiece clamping position of a three-degree-of-freedom working platform;
s5: starting a linkage controller, controlling the mechanical arm of the induction brazing coil and the three-degree-of-freedom working platform to cooperatively move, and surrounding the induction brazing coil forming a closed loop around a target brazing area of a workpiece to form surrounding cladding on the target brazing area;
s6: after the workpiece is ready, the linkage controller automatically turns on a control power supply of the induction current to realize induction brazing of a target area of the workpiece;
s7: monitoring the temperature distribution of the surface of the workpiece through a temperature monitoring device, feeding back the temperature distribution to a control loop in real time, and controlling the on-off of a current loop in time;
s8: when the brazing is finished, controlling the mechanical arm of the induction brazing coil to move so as to disconnect the induction brazing coil, and controlling the three-degree-of-freedom working platform to change the target brazing position or change the welded workpiece to the next workpiece to be welded by the linkage controller;
s9: and repeating the steps S4-S8 to realize the induction brazing of the irregularly-shaped component.
Further, in step S5, a gap needs to be left between the workpiece to be welded and the inner ring of the induction brazing coil.
The invention provides an induction brazing device and a welding method for multiple degrees of freedom of an irregular-shaped member, which have the following beneficial effects:
1. simple structure and reasonable design.
2. The multi-degree-of-freedom mechanical arm and the multi-degree-of-freedom joint induction brazing coil can form current loops with different shapes, so that the brazing work of irregular shapes, array type thin-wall parts and large-batch workpieces is guaranteed, and the problems of single brazing type, uneven brazing temperature field distribution, low brazing efficiency and the like in the prior art are solved.
3. The work efficiency is improved, the work platform and the mechanical arm are controlled to cooperatively move through the linkage controller, the coil is guaranteed to completely cover the workpiece to-be-welded area, the workpiece is convenient to clamp and take, and the problems that the workpiece is difficult to clamp before welding and difficult to take out after welding and cannot be replaced in time at present are solved.
4. The temperature monitoring device monitors the temperature distribution of the surface of the workpiece in real time, and sends a feedback signal to the linkage controller to sense whether the temperature of the surface of the workpiece is uniformly distributed or not, the brazing effect is evaluated in time, the on-off of the coil is realized, the effect of protecting the workpiece is achieved, the working efficiency is improved, and the energy is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only embodiments of the present invention, and other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a multi-degree of freedom induction brazing apparatus according to the present invention;
FIG. 2 is a schematic structural diagram of an induction brazing coil mechanical arm and a multi-joint induction brazing coil provided by the invention;
FIG. 3 is a schematic diagram of the induction brazing coil provided by the invention after being closed;
FIG. 4 is a detailed view of the articulated joint of the multi-articulated induction braze coil provided by the invention;
fig. 5 and fig. 6 are integral and cross-sectional views of a joint of a multi-joint induction brazing coil provided by the invention;
FIGS. 7 and 8 are simplified and cross-sectional views of a multi-joint induction braze coil joint provided by the invention;
fig. 9 is a cross-sectional view of a multi-joint induction brazing coil provided by the invention.
FIG. 10 is a schematic view of the internal current path of the multi-joint induction brazing coil provided by the invention;
FIG. 11 is a schematic structural view of the three-degree-of-freedom working platform provided by the invention;
FIG. 12 is a schematic diagram of a temperature monitoring device and a mechanical arm of the temperature monitoring device according to the present invention;
FIG. 13 is a schematic diagram illustrating the operation of induction brazing an aircraft engine turbine blade reinforcement layer in accordance with the present invention;
in the figure: the mechanical arm comprises a 1-upper frame, a 2-working platform power distribution cabinet, a 3-induction brazing coil mechanical arm, a 4-temperature monitoring device mechanical arm, a 5-induction brazing coil, a 6-induction brazing half coil, a 7-three-degree-of-freedom working platform, an 8-temperature monitoring device, a 9-mechanical arm base, a 10-shoulder joint and base matching shaft, an 11-shoulder joint rotating unit, a 12-mechanical arm big arm, a 13-elbow joint rotating unit, a 14-mechanical arm small arm, a 15-mechanical arm wrist rotating unit, a 16-joint, a 17-joint motor, an 18-annular groove, a 19-rack, a 20-cylindrical bump, a 21-straight ruler cylindrical external gear, a 22-workpiece clamping fixed end, a 23-Z direction lifting system, a 24-X direction ball screw, a 25-Y direction ball screw and 26-turbofan blades.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Examples:
referring to fig. 1 to 13, an embodiment of the present invention discloses an induction brazing apparatus for multiple degrees of freedom of an irregularly shaped member, comprising: the device comprises a working platform, a mechanical arm, an induction brazing coil 5, a three-degree-of-freedom working platform 7, a linkage controller and a temperature monitoring device 8.
The working platform comprises an upper frame 1 and a working platform power distribution cabinet 2 arranged below the upper frame 1. The upper frame 1 is provided with a fixing part, and corresponding mechanical arms can be fixed on the two sides and the top of the upper frame 1 so as to control the induction brazing coil 5 and the temperature monitoring device 8 (namely, a temperature detection camera).
The mechanical arm specifically comprises an induction brazing coil mechanical arm 3 and a temperature monitoring device mechanical arm 4, wherein the induction brazing coil mechanical arm 3 is provided with two groups, and the two groups are respectively arranged on two opposite sides of the upper frame 1; the temperature monitoring device mechanical arm 4 is arranged at the top of the upper rack 1.
The induction brazing coil 5 consists of two induction brazing half coils 6, each induction brazing half coil 6 is correspondingly connected to the tail end of one induction brazing coil mechanical arm 3, and the two induction brazing half coils 6 can form a closed loop at any position in space under the control of the induction brazing coil mechanical arm 3; the induction brazing coil 5 is a multi-degree-of-freedom induction brazing coil and consists of multi-degree-of-freedom joints controlled by a pneumatic loop, and current loops with different shapes are formed through coordinated motion control coils of the joint motors 17 at the joints of the induction brazing coils, so that the induction brazing coil is suitable for induction brazing of workpieces with different shapes.
The three-degree-of-freedom working platform 7 is arranged on the upper surface of the working platform power distribution cabinet 2, the work piece to be welded is arranged at the uppermost end of the three-degree-of-freedom working platform 7 and used for realizing three-dimensional degree-of-freedom movement of the work piece and rotation movement of the work piece, clamping, taking out and replacing of the work piece are facilitated, and the work piece moves cooperatively with the mechanical arm through the linkage controller so as to improve the working efficiency.
The linkage controller is arranged inside the working platform power distribution cabinet 2 and is a self-adaptive linkage controller controlled by a PLC module, and is used for realizing intelligent cooperative linkage control of the mechanical arm, the three-degree-of-freedom working platform 7 and the induction brazing coil joint, and further realizing cooperative motion of the mechanical arm, the three-degree-of-freedom working platform 7 and the induction brazing coil joint. In addition, besides the linkage controller, the working platform power distribution cabinet 2 is internally provided with a temperature monitoring system, a power supply anode and a power supply cathode and other necessary components in engineering equipment.
The temperature monitoring device 8 is correspondingly connected to the tail end of the mechanical arm 4 of the temperature monitoring device, and is used for realizing multi-azimuth global monitoring of the temperature distribution of the surface of the workpiece in the brazing process, feeding back to the linkage controller in time, controlling the brazing time and improving the brazing efficiency.
In the invention, an induction brazing coil mechanical arm 3 and a temperature monitoring device mechanical arm 4 respectively control an induction brazing coil 5 and a temperature monitoring device 8, and a conductive cable and a control motor are arranged in the mechanical arm.
In order to further optimize the technical scheme, the induction brazing coil mechanical arm 3 and the temperature monitoring device mechanical arm 4 have the same structure and are all five-degree-of-freedom mechanical arms, and correspondingly comprise a mechanical arm base 9, a shoulder joint and base matching shaft 10, a shoulder joint rotating unit 11, a mechanical arm big arm 12, an elbow joint rotating unit 13, a mechanical arm small arm 14, a mechanical arm wrist rotating unit 15 and a fixing device, wherein the mechanical arm base 9 is fixed on a fixing part at a corresponding position of the upper frame 1 through a fastening bolt; the mechanical arm has 5 degrees of freedom, the mechanical arm motor controls different forms of movement of different mechanical arm joints, the rotating units are composed of rotating pairs and are used for connecting two adjacent parts so as to realize movement with one degree of freedom, and the three mechanical arm joints realize rotational movement through the rotating pairs; the end of the mechanical arm wrist rotating unit 15 is provided with a fixing device, and the temperature monitoring camera and the induction brazing coil 5 can be installed and replaced.
The corresponding fixing device on the mechanical arm 4 of the temperature monitoring device is a camera clamping device, and the corresponding fixing device on the mechanical arm 3 of the induction brazing coil is an induction brazing coil clamping device; the arm wrist rotating unit 15 of the induction brazing coil mechanical arm 3 can also realize telescopic movement, and the induction brazing coil 5 forms a closed loop at any position in space through the cooperation of different movements.
In order to further optimize the technical scheme, the induction brazing coil 5 is made of conductive materials (generally copper materials) and realizes the circulation of a circuit; the ends of the two induction brazing half coils 6 corresponding to the respective induction brazing coil mechanical arms 3 are respectively connected with leads led out by the positive electrode and the negative electrode of a power supply, the other ends of the two induction brazing half coils 6 are suspended to form a fit, a current closed loop is formed when the coils are closed, and a current path is shown in figure 10. In other words, the induction brazing coil arm 3 is connected to one end of one half coil, and after the other ends of the coils are contacted with each other, a closed loop of current is formed, and note that the two induction brazing half coils 6 at the end positions of the induction brazing coil arm 3 are not contacted with each other, so as not to cause short circuit of current.
In order to further optimize the technical scheme, the induction brazing coil 5 is of a multi-degree-of-freedom joint structure controlled by a motor, each joint 16 is formed and processed by a casting method, mutually independent motors exist at the joint of each joint 16 of the induction coil, the motors cooperate with each other to realize the control of the structure of the induction brazing coil 5, and different joints 16 can be controlled to be in different positions according to the shape of a workpiece, so that coils with different shapes are formed, but no matter what shape is formed, the current in the induction coil is not influenced to form a loop, so that the induction brazing of irregular-shaped components is realized.
More specifically, the joint motors 17 are shown in fig. 4 at the joints 16 of the different induction brazing coils 5, and the different joint motors 17 work under a unified controller to form loops with different shapes through respective independent motion control coil joints so as to adapt to induction brazing of irregularly-shaped components.
Each joint structure of the induction brazing coil 5 is similar, one end of the induction brazing coil is provided with a convex annular groove 18, a rack 19 is arranged in the annular groove 18, the other end of the induction brazing coil is provided with a cylindrical protruding block 20, a straight ruler cylindrical external gear 21 meshed with the rack 19 is arranged in the middle of the cylindrical protruding block 20, end-to-end connection between different joints 16 can be ensured, and the induction brazing coils are connected end-to-end and meshed with each other in the modes shown in figures 5, 6, 7 and 8. The joint motor 17 is arranged in the gear inner shaft at the joint 16, and the gear is driven to be meshed with the rack 19 for transmission through the motor movement, so that the transformation of the joint pose of the induction brazing coil is realized.
In order to further optimize the technical scheme, the thickness (the thickness dimension at d indicated in fig. 9) of different joints 16 of the induction brazing coil 5 can be freely designed and replaced according to the shape of a workpiece, but can be changed into loops of different shapes through the movement of the joints 16, and the requirement of circuit non-short circuit is met, so that the brazing of a thin-wall workpiece sample in a narrow space is met.
And after the smaller and finer induction brazing coil 5 is replaced, the precision of the mechanical arm needs to be correspondingly improved, so that the circuit formed by the coil can be still ensured to be conducted and not to be short-circuited, and the induction brazing of the workpiece with the centimeter-level size can be realized at minimum.
In order to further optimize the technical scheme, the induction brazing coil 5 can play a role in cooling and temperature control by spraying a coolant, so that the temperature of the coil is stabilized in a safe range, and the coil is prevented from being overhigh.
In order to further optimize the technical scheme, the three-degree-of-freedom working platform 7 comprises a workpiece clamping fixed end 22, a Z-direction lifting system 23, an X-direction ball screw 24 and a Y-direction ball screw 25, wherein the workpiece clamping fixed end 22 is used for fixing workpieces in different forms, and different fixing ports are designed according to the properties of the workpieces and used for realizing clamping and unloading of the workpieces; the Z-direction lifting system 23 comprises a Z-direction pneumatic loop system and a circuit-controlled rotating unit, and is used for controlling lifting of a workpiece and rotation of the workpiece around the Z-direction pneumatic loop system, the workpiece to be welded in the embodiment of the invention is a turbine fan blade 26, and the rotating unit in the Z-direction lifting system 23 can be used for controlling the turbine fan blade 26 to rotate around the shaft of the Z-direction pneumatic loop system, so that induction brazing work of different blades is realized; the X-direction ball screw 24 and the Y-direction ball screw 25 are used to realize the movement of the workpiece in the XY direction.
The three-degree-of-freedom working platform 7 can realize array type brazing work on different positions of a single workpiece through cooperative movement of different movement system units, can also realize more convenient workpiece clamping and taking out during large-batch workpiece brazing, and improves the induction brazing work efficiency.
The self-adaptive linkage controller is used for intelligently and cooperatively controlling the movements of the three-degree-of-freedom working platform 7, the induction brazing coil joint and the mechanical arm thereof, so that the induction brazing coil 5 can be accurately coated around a workpiece to be welded, and the induction brazing efficiency is improved.
The camera of the temperature monitoring device 8 is also controlled by the mechanical arm 4 of the temperature monitoring device, is connected to the top end of the working platform, and can move to any direction through the mechanical arm to realize the omnibearing multi-angle monitoring of the temperature distribution of the surface of the workpiece in the brazing process.
More specifically, the temperature monitoring device 8 and the self-adaptive linkage controller form a feedback loop, namely when the surface temperature of the workpiece is detected to reach the brazing effect or the surface temperature of the brazing position of the workpiece is unevenly distributed, the feedback loop is timely fed back to the linkage controller to control the on-off of the induction brazing coil 5, so that the workpiece is prevented from being damaged.
The embodiment of the invention also discloses a welding method for carrying out induction brazing on the irregular-shaped component by utilizing the induction brazing device, which comprises the following steps:
s1: before brazing, cleaning the workpiece to be welded by alcohol, including degreasing and rust removal;
s2: coating a solder prepared in advance on a target soldering position of a workpiece to be soldered so as to facilitate the following induction soldering step;
s3: controlling the joint motor of the induction brazing coil to move according to the shape of the to-be-welded workpiece area, and forming a closed coil matched with the induction brazing coil 5 around the target brazing area;
s4: clamping the workpiece to be welded coated with the brazing filler metal to the workpiece clamping position of the three-degree-of-freedom working platform 7;
s5: starting a linkage controller, controlling the induction brazing coil mechanical arm 3 and the three-degree-of-freedom working platform 7 to cooperatively move, and surrounding the induction brazing coil 5 forming a closed loop around a target brazing area of a workpiece to form surrounding cladding of the target brazing area;
s6: after the workpiece is ready, the linkage controller automatically turns on a control power supply of the induction current to realize induction brazing of a target area of the workpiece;
s7: the temperature distribution of the surface of the workpiece is monitored by the temperature monitoring device 8 and fed back to the control loop in real time, so that the on-off of the current loop is controlled in time;
s8: when the brazing is finished, the mechanical arm 3 of the induction brazing coil is controlled to move so as to disconnect the induction brazing coil 5, and the linkage controller is controlled to change the target brazing position of the movable three-degree-of-freedom working platform 7 or change the welded workpiece to the next workpiece to be welded;
s9: and repeating the steps S4-S8 to realize the induction brazing of the irregularly-shaped component.
Further, in step S2 of the above method, when the pipe fitting and the flange are the workpieces to be welded, the joint is in a sleeved connection form.
Further, in step S3 of the above method, the induction brazing coil 5 is pressed by the joint motor 17 and the control of the induction brazing coil mechanical arm 3, so as to form a closed loop for current.
Further, in step S5 of the above method, a gap needs to be left between the workpiece to be welded and the inner ring of the induction brazing coil 5.
Further, in step S6 of the above method, according to the thickness and material characteristics of the workpiece to be welded, the current and heating time of the induction brazing coil 5 are adjusted to ensure the welding quality and tightness of the workpiece to be welded.
Further, in step S7 of the above method, the temperature monitoring device 8 analyzes the temperature distribution of the surface of the workpiece, and if the temperature of a certain position of the workpiece is too high, the induction brazing coil 5 should be turned off in time so as to avoid damage to the workpiece.
Referring to fig. 13, a particular embodiment of the present invention is further illustrated based on a particular work piece to be welded turbofan blade 26:
during operation, firstly, the surface treatment of the turbine fan blade 26 of the aircraft engine to be welded is carried out, including oil and rust removal, and then the turbine fan blade 26 is fixed on the workpiece clamping fixed end 22 at the top of the three-degree-of-freedom working platform 7; starting the device, wherein the linkage controller controls the three-degree-of-freedom working platform 7 and the induction brazing coil 5 to move, and each joint of the induction brazing coil deforms the coil into a corresponding shape according to the shape of the part to be welded of the turbine fan blade 26; the induction brazing coil mechanical arm 3 controls the two induction brazing half coils 6 to contact, and the aim is to prevent short circuit, and only the tail ends of the induction brazing half coils 6 can be contacted to form a closed loop path of a circuit; the linkage controller controls the induction brazing coil 5 to be completely wrapped around the part to be welded of the turbine fan blade 26; the mechanical arm 4 of the temperature monitoring device controls the camera of the temperature monitoring device 8 to be aligned with the front surface of the part to be welded of the turbine fan blade 26 so as to realize the comprehensive dead angle-free monitoring of the temperature distribution of the surface of the turbine fan blade 26 in the brazing process; when the brazing work is finished, the internal current of the induction brazing coil 5 is disconnected, the workpiece clamping fixed end 22 at the rotating top of the three-degree-of-freedom working platform 7 rotates the region to be welded into the next blade, the induction brazing coil 5 again forms a current closed loop path with the same position and the same formation, and the brazing is continued; after all the brazing is finished, the power supply is disconnected, the three-degree-of-freedom working platform 7 controls the turbine fan blades 26 to move out of the working platform, and the internal current of the induction brazing coil 5 is closed, so that the induction brazing work of the turbine fan blades 26 is completed.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An induction brazing apparatus for multiple degrees of freedom for irregularly shaped components, comprising:
the working platform comprises an upper rack and a working platform power distribution cabinet arranged below the upper rack;
the mechanical arm comprises an induction brazing coil mechanical arm and a temperature monitoring device mechanical arm, wherein the two groups of the induction brazing coil mechanical arms are respectively arranged on two opposite sides of the upper rack; the mechanical arm of the temperature monitoring device is arranged at the top of the upper rack;
the induction brazing coil consists of two induction brazing half coils, each induction brazing half coil is correspondingly connected to the tail end of one induction brazing coil mechanical arm, and the two induction brazing half coils can form a closed loop at any position in space under the control of the induction brazing coil mechanical arm; the induction brazing coil is a multi-degree-of-freedom induction brazing coil and consists of multi-degree-of-freedom joints controlled by a pneumatic loop, and current loops with different shapes are formed through coordinated motion control coils of joint motors at joints of the induction brazing coils, so that the induction brazing coil is suitable for induction brazing of workpieces with different shapes;
the three-degree-of-freedom working platform is arranged on the upper surface of the working platform power distribution cabinet, and the uppermost end of the three-degree-of-freedom working platform is provided with a workpiece to be welded so as to realize three-dimensional degree-of-freedom movement of the workpiece and self-rotation movement of the workpiece;
the linkage controller is arranged in the working platform power distribution cabinet and is a self-adaptive linkage controller controlled by a PLC module, and is used for realizing intelligent coordinated control of the mechanical arm, the three-degree-of-freedom working platform and the induction brazing coil joint;
the temperature monitoring device is correspondingly connected to the tail end of the mechanical arm of the temperature monitoring device and used for realizing multi-azimuth global monitoring of temperature distribution of the surface of the workpiece in the brazing process and feeding back to the linkage controller.
2. The induction brazing device for multiple degrees of freedom of an irregularly-shaped component according to claim 1, wherein the induction brazing coil mechanical arm and the temperature monitoring device mechanical arm have the same structure and are all five-degree-of-freedom mechanical arms, and correspondingly comprise a mechanical arm base, a shoulder joint and base matching shaft, a shoulder joint rotating unit, a mechanical arm big arm, an elbow joint rotating unit, a mechanical arm small arm, a mechanical arm wrist rotating unit and a fixing device, wherein the mechanical arm base is fixed on a corresponding position of the upper frame; the mechanical arm has 5 degrees of freedom, and the mechanical arm motor controls different forms of movement of different mechanical arm joints, wherein the three mechanical arm joints realize rotary movement through a rotary pair; the tail end of the mechanical arm wrist rotating unit is provided with the fixing device, the corresponding fixing device on the mechanical arm of the temperature monitoring device is a camera clamping device, and the corresponding fixing device on the mechanical arm of the induction brazing coil is an induction brazing coil clamping device; the mechanical arm wrist rotating unit of the induction brazing coil mechanical arm can also realize telescopic movement, and the induction brazing coil forms a closed loop at any position in space through cooperation of different movements.
3. The induction brazing apparatus for multiple degrees of freedom for irregularly shaped components according to claim 1 or 2, wherein the induction brazing coil is made of an electrically conductive material; the ends of the two induction brazing half coils, which correspond to the mechanical arms of the induction brazing coils, are respectively connected with the positive electrode and the negative electrode of a power supply, the other ends of the two induction brazing half coils are suspended to form a fit, and a current closed loop is formed when the coils are closed.
4. An induction brazing apparatus for multiple degrees of freedom for irregularly shaped components according to claim 3 wherein the two induction brazing half coils at the end positions of the induction brazing coil robot arm do not contact each other.
5. The induction brazing apparatus for multiple degrees of freedom of irregularly shaped components of claim 1 wherein the induction brazing coil is comprised of multiple knuckles, different shapes being formed by mutually independent control of the knuckle motors at different knuckles; the utility model discloses a gear, including the joint, the one end of joint has protruding annular groove, the rack exists in the annular groove, and the other end has cylindrical lug, cylindrical lug in the middle of have with the ruler cylindric external gear of rack looks meshing, install in the gear inner shaft of joint department the joint motor drives the meshing transmission of gear and rack through motor motion.
6. The induction brazing apparatus for multiple degrees of freedom for irregularly shaped components according to claim 1 or 5, wherein the thickness of the different joints of the induction brazing coil can be freely designed and changed according to the shape of the workpiece, but can be deformed into different shape loops by the joint movement, and the requirement that the circuit is not shorted is satisfied.
7. The induction brazing apparatus for multiple degrees of freedom for irregularly shaped components according to claim 1, wherein the induction brazing coil achieves a low temperature control by spraying a coolant.
8. The induction brazing device for multiple degrees of freedom of an irregularly-shaped member according to claim 1, wherein the three-degree-of-freedom working platform comprises a workpiece clamping fixed end, a Z-direction lifting system, an X-direction ball screw and a Y-direction ball screw, wherein the workpiece clamping fixed end is used for fixing workpieces of different forms and is provided with different fixing ports according to the properties of the workpieces so as to realize clamping and unloading of the workpieces; the Z-direction lifting system comprises a Z-direction pneumatic loop system and a circuit-controlled rotating unit, and is used for controlling lifting of a workpiece and rotation of the workpiece around the Z-direction pneumatic loop system; the X-direction ball screw and the Y-direction ball screw are used for realizing the movement of the workpiece in the XY direction.
9. A welding method for induction brazing of irregularly shaped components using the induction brazing apparatus according to any one of claims 1 to 8, comprising the steps of:
s1: before brazing, cleaning the workpiece to be welded by alcohol, including degreasing and rust removal;
s2: coating a solder prepared in advance on a target soldering position of a workpiece to be soldered so as to facilitate the following induction soldering step;
s3: controlling the joint motor of the induction brazing coil to move according to the shape of the workpiece area to be welded, and forming a closed coil matched with the induction brazing coil around the target brazing area;
s4: clamping the workpiece to be welded coated with the brazing filler metal to a workpiece clamping position of a three-degree-of-freedom working platform;
s5: starting a linkage controller, controlling the mechanical arm of the induction brazing coil and the three-degree-of-freedom working platform to cooperatively move, and surrounding the induction brazing coil forming a closed loop around a target brazing area of a workpiece to form surrounding cladding on the target brazing area;
s6: after the workpiece is ready, the linkage controller automatically turns on a control power supply of the induction current to realize induction brazing of a target area of the workpiece;
s7: monitoring the temperature distribution of the surface of the workpiece through a temperature monitoring device, feeding back the temperature distribution to a control loop in real time, and controlling the on-off of a current loop in time;
s8: when the brazing is finished, controlling the mechanical arm of the induction brazing coil to move so as to disconnect the induction brazing coil, and controlling the three-degree-of-freedom working platform to change the target brazing position or change the welded workpiece to the next workpiece to be welded by the linkage controller;
s9: and repeating the steps S4-S8 to realize the induction brazing of the irregularly-shaped component.
10. The welding method for induction brazing of irregularly shaped components according to claim 9, wherein in step S5, a gap is left between the workpiece to be welded and the inner ring of the induction brazing coil.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310089231.3A CN116372303A (en) | 2023-02-09 | 2023-02-09 | Induction brazing device and welding method for multiple degrees of freedom of irregular-shaped component |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310089231.3A CN116372303A (en) | 2023-02-09 | 2023-02-09 | Induction brazing device and welding method for multiple degrees of freedom of irregular-shaped component |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117564430A (en) * | 2024-01-15 | 2024-02-20 | 中国核动力研究设计院 | Pressurizing assembly, equipment and welding method for curved surface workpiece diffusion welding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117564430A (en) * | 2024-01-15 | 2024-02-20 | 中国核动力研究设计院 | Pressurizing assembly, equipment and welding method for curved surface workpiece diffusion welding |
| CN117564430B (en) * | 2024-01-15 | 2024-04-02 | 中国核动力研究设计院 | Pressurizing assembly, equipment and welding method for curved surface workpiece diffusion welding |
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