CN105195888B - Agitating friction welds planar laser tracking compensation technique - Google Patents
Agitating friction welds planar laser tracking compensation technique Download PDFInfo
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- CN105195888B CN105195888B CN201510649321.9A CN201510649321A CN105195888B CN 105195888 B CN105195888 B CN 105195888B CN 201510649321 A CN201510649321 A CN 201510649321A CN 105195888 B CN105195888 B CN 105195888B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000003466 welding Methods 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims description 14
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
Classifications
-
- 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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of agitating friction to weld planar laser tracking compensation technique, including：Plumb joint includes：Stirring-head and the preposition laser tracker in the stirring-head, it is characterized in that, the position that the stirring-head and the laser tracker are projected in welding plane is respectively pad and trace point, the distance between pad and trace point are trail, the plumb joint is equipped with C axis, the C axis is perpendicular to the welding plane, and when the plumb joint direction of motion is straight line, compensation method is as follows：Centre of the pad always situated in weld seam is kept, trail compensation is zero；When the plumb joint direction of motion is circular curve, compensation method is as follows：Trail can form two deviation Δ X and Δ Y in the X Y rectangular coordinate systems in the welding plane, and Δ X and Δ Y then are counted trail as compensation rate.So as to meet the needs of the weld joint tracking of planar.
Description
Technical field
Patent of the present invention is related to a kind of agitating friction soldering equipment with angle with laser following function and is welded in planar
The amendment of site error between trace point and pad is solved in termination process.
Background technology
There are more and more agitating frictions that are related to weld in the track traffic production field such as space flight, aviation, high ferro at present
Equipment, since agitating friction welding technology belongs to a kind of solid phase joining technique during weldering, passes through the special shaft shoulder of cylindricality band
Convex stirring-head is rotating slowly insertion welded part with pin, the fricting shearing resistance production between stirring-head and soldered material
Frictional heat is given birth to, making the material thermoplastification of stirring-head adjacent domain, (welding temperature typically not achieves and more than soldered material
Fusing point), when stirring-head is rotating forward movement, the metal material of thermoplastification from the forward position of stirring-head backward along transfer, and
And under the stirring-head shaft shoulder and workpiece surface frictional heat and forging and stamping collective effect, form fine and close solid diffusivity connector.It is former from it
It can be seen that heat transfer can be produced when material temperature changes so that welding material occurs a degree of deformation therefore is in reason
The change of weld seam is corrected in welding process becomes the scheme mainly solved using laser tracking system.The function of designing and developing
Algorithm is based on solving the problems, such as seam deformation involved by the two-dimentional section bar of welding certain length on the basis of this.
The content of the invention
The technical problem to be solved is that the trace point of the laser tracker in planar welding process for patent of the present invention
The existence position error between stirring-head pad, by designing a kind of deviation for the control algolithm weld seam for solving the error
Data can correct the track of stirring-head operation in real time, meet the needs of the weld joint tracking of planar.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：A kind of agitating friction welding planar laser with
Track compensation method, including：Plumb joint includes：Stirring-head and the preposition laser tracker in the stirring-head, it is characterised in that
The position that the stirring-head and the laser tracker are projected in welding plane is respectively pad and trace point, pad and
The distance between trace point is trail, and the plumb joint is equipped with C axis, the C axis perpendicular to the welding plane,
- when the plumb joint direction of motion is straight line, compensation method is as follows：Pad is kept always situated in weld seam
Between, trail compensation is zero；
- when the plumb joint direction of motion is circular curve, compensation method is as follows：Trail can be in the welding plane
On X-Y rectangular coordinate systems in formed two deviation Δ X and Δ Y, Δ X and Δ Y are then counted into trail as compensation rate,
Calculation formula is as follows：
Wherein, L is the distance between pad and trace point, and R represents the radius of circular curve,Represent the rotation of C axis
Angle.
In a preferred embodiment of the present invention, the plumb joint is additionally provided with A axis, and the A axis is parallel with the welding plane.
In a preferred embodiment of the present invention, the stirring-head and the laser tracker can follow the A axis to revolve
Turn.
In a preferred embodiment of the present invention, distance is 15mm between the stirring-head and the laser tracker.
In a preferred embodiment of the present invention, the laser tracker measurement range is 40mm.
In a preferred embodiment of the present invention, weld gap amount is 0.1-0.2mm, and welding seam misalignment amount is 0-0.2mm.
In a preferred embodiment of the present invention, it can be reported when the weld gap amount of laser tracker measurement is more than upper limit value
It is alert.
In a preferred embodiment of the present invention, it can be reported when the welding seam misalignment amount of laser tracker measurement is more than upper limit value
It is alert.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the plumb joint of the preferred embodiment of the present invention；
Fig. 2 is the fundamental diagram of the preferred embodiment of the present invention；
Fig. 3 is the enlarged diagram of B in Fig. 2；
In figure：1st, plumb joint, 2, laser tracker, 3, stirring-head, 4, A axis, 5, C axis, 6, welding plane, 7, pad,
8th, trace point, 9, laser spots, 10, weld seam.
Embodiment
Presently in connection with drawings and examples, the present invention is described in further detail, these attached drawings are simplified signal
Figure, only illustrates the basic structure of the present invention in a schematic way, therefore it only shows composition related to the present invention.
The measurement point of laser tracker and the welding position of stirring-head reality used due to us is equipped with position deviation (deviation
It is the smaller the better, control here in 15mm), the measurement range of laser is 40mm.
It is the technical indicator of laser measurement below：
Weld gap amount：0.1-0.2mm, alarms more than 0.2mm；
Welding seam misalignment amount：0-0.2mm, alarms more than 0.2mm；
Measurement accuracy：±0.05mm.
As shown in Figure 1, in order to realize the planar following function of the structure type, the present invention devises a kind of correct and swashs
Light tracker trace point and welding when stirring-head pad between position deviation method.The equipment can realize X, Y, Z tri-
Kind linear motion adds C axis rotary motions, and A axis does not change at work as inclination angle.
A kind of embodiment of the invention as shown in Figures 2 and 3, straight line and curve are carried as a Typical Planar two dimension
Track weld seam (dotted portion is weld seam), run straight line welding when laser measurement center (trace point) be always held at weldering
Weld gap amount is sent to control system by the centre of seam in real time at the same time, at this time the position of trace point and stirring-head pad
Position is a fixed trail；But when turning to circular curve weld seam from straight bead change due to the tracking of laser measurement
The preposition of position is put, so two deviation Δ X and Δ Y can be produced in the plane of X-Y, laser tracking measurement comes out at this time
Prefix value is needed by correcting, i.e., is only actual welds gap value what Δ X and Δ Y draw after corresponding computing, i.e. X with
The final deviation of Y.Therefore we can be by following formula (1-1), and (1-2) calculates the departure between 2 points.Its
Middle L be trace point position and stirring-head weld locations air line distance, R represent circular curve radius (weld seam), φ C
Represent the rotating angle of C axis.
The Δ X and Δ Y drawn by above-mentioned formula can be carried out with the difference measured inside laser measurement system
Amendment show that this is in the final deviation on X and Y plane the value complement is repaid stirring-head finally by control system and advances to
On position at this.
This method can be integrated in digital control system, realized laser measurement point using the interpolation cycle of digital control system and stirred
Mix real-time compensating approach between a physical location.
The desirable embodiment according to the present invention is enlightenment above, and by above-mentioned description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
The content being not limited on specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (6)
1. a kind of agitating friction welds planar laser tracking compensation technique, plumb joint includes：Stirring-head and preposition in institute
State the laser tracker of stirring-head, it is characterised in that the stirring-head and the laser tracker are projected in welding plane
Position is respectively pad and trace point, and the distance between pad and trace point are trail, and the plumb joint is equipped with C axis,
The C axis perpendicular to the welding plane,
- when the plumb joint direction of motion is straight line, compensation method is as follows：Centre of the pad always situated in weld seam is kept,
Trail compensation is zero；
- when the plumb joint direction of motion is circular curve, compensation method is as follows：Trail can be in the welding plane
Two deviation Δ X and Δ Y are formed in X-Y rectangular coordinate systems, Δ X and Δ Y are then counted into trail as compensation rate, are calculated
Formula is as follows：
<mrow>
<mi>&Delta;</mi>
<mi>X</mi>
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<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>&phi;</mi>
<mi>c</mi>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>L</mi>
<mo>&times;</mo>
<mi>t</mi>
<mi>g</mi>
<mfrac>
<mi>&phi;</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>&Delta;</mi>
<mi>Y</mi>
<mo>=</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mi>&phi;</mi>
<mi>c</mi>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>L</mi>
<mo>&times;</mo>
<mi>t</mi>
<mi>g</mi>
<mfrac>
<mi>&phi;</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>&phi;</mi>
<mo>=</mo>
<mi>arcsin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mi>L</mi>
<mi>R</mi>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
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<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, L is the distance between pad and trace point, and R represents the radius of circular curve, and φ C represent the rotating angle of C axis
Degree；
The plumb joint is additionally provided with A axis, and the A axis is parallel with the welding plane；
The stirring-head and the laser tracker can follow the A axis to rotate.
2. agitating friction according to claim 1 welds planar laser tracking compensation technique, it is characterised in that：It is described
Distance is 15mm between stirring-head and the laser tracker.
3. agitating friction according to claim 1 welds planar laser tracking compensation technique, it is characterised in that：It is described
Laser tracker measurement range is 40mm.
4. agitating friction according to claim 1 welds planar laser tracking compensation technique, it is characterised in that：Weld seam
Gap value is 0.1-0.2mm, and welding seam misalignment amount is 0-0.2mm.
5. agitating friction according to claim 4 welds planar laser tracking compensation technique, it is characterised in that：When sharp
The weld gap amount of light tracker measurement can alarm when being more than upper limit value.
6. agitating friction according to claim 4 welds planar laser tracking compensation technique, it is characterised in that：When sharp
The welding seam misalignment amount of light tracker measurement can alarm when being more than upper limit value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510649321.9A CN105195888B (en) | 2015-10-09 | 2015-10-09 | Agitating friction welds planar laser tracking compensation technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510649321.9A CN105195888B (en) | 2015-10-09 | 2015-10-09 | Agitating friction welds planar laser tracking compensation technique |
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| Publication Number | Publication Date |
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| CN105195888A CN105195888A (en) | 2015-12-30 |
| CN105195888B true CN105195888B (en) | 2018-04-13 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109530906A (en) * | 2018-12-28 | 2019-03-29 | 北京工业大学 | A kind of friction stir welding machine device people configuration and motion algorithm |
| CN112238292A (en) * | 2019-07-18 | 2021-01-19 | 中国科学院沈阳自动化研究所 | Method for tracking space curve track of friction stir welding robot based on vision |
| CN111250861B (en) * | 2019-12-24 | 2021-09-17 | 北京众视精控科技有限公司 | Laser normal installation adjusting device for robot friction stir welding surface |
| CN113084331A (en) * | 2021-04-27 | 2021-07-09 | 黄山学院 | Friction stir welding equipment and using method |
| CN114406440B (en) * | 2021-12-30 | 2022-11-18 | 航天工程装备（苏州）有限公司 | Ultra-long cantilever type friction stir welding trajectory deviation correction method |
| CN114713966B (en) * | 2022-05-10 | 2024-04-05 | 苏州大学 | Welding Methods for Identifying Welds |
| CN114700610A (en) * | 2022-05-10 | 2022-07-05 | 苏州大学 | Friction stir welding device |
| CN115805358B (en) * | 2023-02-01 | 2023-06-23 | 南通华泰信息科技有限公司 | Information integration system based on fuzzy control |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5001324A (en) * | 1989-09-14 | 1991-03-19 | General Electric Company | Precision joint tracking laser welding system |
| JP2006187794A (en) * | 2005-01-07 | 2006-07-20 | Enshu Ltd | Seam tracking welding equipment |
| CN102430841A (en) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | Arc welding robot laser vision weld joint tracking control method based on off-line planning |
| CN103358057A (en) * | 2012-03-29 | 2013-10-23 | 李文畅 | Vision sensing automatic weld joint tracking method based on line-drawing method |
| CN102645219B (en) * | 2012-05-16 | 2014-12-03 | 航天科工哈尔滨风华有限公司 | Welding and locating method of welding seam and method of obtaining welding seam offset for visual navigation system of wall climbing robot for weld inspection |
| CN103252560B (en) * | 2013-03-22 | 2016-01-06 | 广西机电职业技术学院 | Based on the automatic seam tracking method of laser-vision sensing |
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| CB03 | Change of inventor or designer information |
Inventor after: Cai Zhiliang Inventor after: Zhang Huade Inventor after: Zhang Xiaojin Inventor after: Wei Ye Inventor after: Dong Xiaojie Inventor after: Zhou Faquan Inventor after: Yang Guoshun Inventor after: Wang Jin Inventor before: Cai Zhiliang Inventor before: Zhang Huade Inventor before: Zhang Xiaojin Inventor before: Wei Ye Inventor before: Dong Xiaojie Inventor before: Zhou Faquan Inventor before: Yang Guoshun |
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