CN115592957A - Fusion connecting device with laminated structure and position self-adaptive control method thereof - Google Patents

Abstract

The invention belongs to the field of dissimilar material connection, and provides a fusion connecting device with a laminated structure and a position self-adaptive control method thereof. The laminated structure melting connecting device has the functions of pre-pressing and applying pressure, heating of materials to be connected and follow-up pressure maintaining, the position of the pre-pressing and applying pressure and the position of the follow-up pressure maintaining device along the thickness direction of the materials in the connecting process are obtained in real time by arranging a displacement sensor on the pressure applying device in contact with the surfaces of the materials, the distance between the devices to be heated and the surfaces of workpieces is obtained by calculation according to the connecting process condition and the geometric curvature characteristics of the structure, and the distance is compared with an initial set value to adjust in real time, so that the position control of the heating device in the whole stages of material pre-pressing, continuous melting connection and final pressure maintaining is realized. An effective method is provided for the fusion connection of a large-scale or curved surface laminated structure, and the requirements of the fields of aerospace, high-speed rail, automobiles and the like on the connection of composite materials and metal materials can be met.

Description

A laminated structure fusion connection device and its position adaptive control method

technical field

The invention relates to the field of connection of dissimilar materials, in particular to a laminated structure fusion connection device and a position self-adaptive control method thereof.

Background technique

The laminated structure formed by fiber-reinforced resin-based composite materials and lightweight metal alloys (hereinafter referred to as "composites" and "metals") has the advantages of light weight, high strength, and impact resistance, and has been widely used in aerospace, high-speed rail and High-end equipment in the field of automobiles. The performance of such laminated structures is directly affected by the quality of the connection of dissimilar materials. Common connection techniques include bolted connections and riveting. However, this type of mechanical connection is mostly based on the premise of making holes, and the use of fasteners will introduce additional weight, which limits the further lightweight and performance improvement of this type of structure. Fusion bonding is a connection technology proposed for thermoplastic resin-based composites in recent years. It has the advantages of complete connection surface, light weight and high efficiency, and is expected to become the first choice for the connection of composite materials and metal laminated structures.

The melting connection of composite materials and metals is a technology that uses the composite resin matrix in a molten state at high temperature to fill and infiltrate the rough metal surface under a certain pressure, and form a connection after it is cooled and solidified. Among them, the melting degree of the composite resin matrix directly affects the performance of the fusion connection, which puts forward extremely high requirements for the control of the connection temperature. During the fusion connection, the metal surface can be directly heated by laser, friction, etc., and the resin matrix at the interface between the composite material and the metal can be melted by using metal heat conduction; energy can also be fed into the material to be connected by means of high-frequency alternating magnetic field, so that the interface where the resin matrix melts. However, regardless of the heating method, the connection temperature at the interface is affected by the distance between the laser head, induction coil and other heating devices and the surface of the material. At the same time, in practical applications, the fusion joining technology inevitably needs to connect large or curved structures, which requires the heating device to be able to accurately move equidistantly along the outer contour of the structure. In view of the above problems, it is necessary to measure the position of the heating device in situ during the laser joining process, and adjust it in real time according to the geometric characteristics of the materials to be joined.

Chinese patent CN 106113484A discloses a method for connecting thermoplastic composite materials and metals. This method realizes the continuous connection of composite materials and metals through the movement of an induction coil near the upper surface of the material along the connecting direction; Chinese patent CN 113681159A discloses a A metal and thermoplastic composite material laser pressure welding device and its method and application, the method realizes the application of pressure during the material connection process by setting the laser and the spherical indenter coaxially. However, since these methods do not consider the change in the distance between the heating device and the material surface during the connection process, when connecting large or curved structures, the coupling distance of the coil and the spot size of the laser will change due to the influence of manufacturing errors and curvature of the structure. The uniformity and reliability of the connection cannot be guaranteed. Therefore, the above method and device are more suitable for small planar laminated structures, and it is necessary to invent a method for controlling the position of the heating device for fusion bonding of laminated structures.

Contents of the invention

The technical problem mainly solved by the invention is that when the large or curved composite material is melted and joined with the metal laminated structure, the distance between the heating device and the material surface changes with the joining process, resulting in poor uniformity and reliability of the fusion joint. A laminated structure fusion connection device and a position adaptive control method thereof.

The technical scheme of the present invention is as follows: a laminated structure melting connection device, including a pre-compression pressure device 7, a heating device 11 and a pressure-holding pressure device 1; a pre-compression pressure device 7 and a pressure-holding pressure device 1 Both are driving parts, fixed on both sides of the rectangular wall plate 9; the pre-compression slide seat 6 and the pressure-holding slide seat 2 are both inverted L-shaped, including short sides and long sides, and the two short sides of the two face opposite; The short side of the tight slide seat 6 is hinged with the pre-compressing pressure device 7, and the short side of the pressure-holding slide seat 2 is hinged with the pressure-holding pressure device 1; the pre-compression slide seat 6 and the pressure-holding slide seat 2 are located at the Between the device 7 and the pressure maintaining and applying device 1, the two are respectively driven by the pre-compressing and applying device 7 and the maintaining and applying device 1 to move in the direction of the long side; The pressure roller 12; the long sides of the pressure-holding slide 2 are fixedly connected with the pressure-holding pressure roller 10; Fixed on the rectangular wall plate 9, located above the distance measuring block 8; the slide base 4 is the driving part, fixed on the rectangular wall plate 9, located between the long sides of the pre-compression slide seat 6 and the pressure-holding slide seat 2 between; the heating device 11 is connected to the slide base 4 through the slide block 5, and the heating device 11 and the slide block 5 move along the slide base 4; the pre-compression pressure roller 12, the holding pressure roller 10 and the The end of the heating device 11 faces the material 13 to be joined.

The displacement sensor 3 fixed on the rectangular wall plate 9 measures the position change of the distance measuring block 8 fixed on the pre-compression slide 6 and the pressure-holding slide 2, and obtains the pre-compression during the connection process in real time through the conversion relationship The position of the pressure roller (12) and the holding pressure roller (10) along the material thickness direction; the distance between the heating device 11 and the material to be connected 13 is calculated according to the connection process and the structural geometric curvature characteristics, and compared with the initial set value for real-time Adjustment, so as to realize the position control of the heating device in the whole stage of material pre-compression, continuous fusion connection and final pressure holding; the specific steps of the self-adaptive control method of the heating device position in the fusion connection of the laminated structure are as follows:

Step 1: Set control parameters and initialize the laminated structure fusion connection device;

Set the zero-point distances Δs ₁ and Δs ₂ between the heating device 11 and the pre-compression roller 12 and the holding pressure roller 10 respectively, set the control distance h _set between the heating device 11 and the surface of the material 13 to be connected, and set the different parts of the material 13 to be connected The radius of curvature R _i and the number i of the radius of curvature are related to the characteristics of the material 13 to be connected. Set the time Δt for the rotary motion of the laminated structure fusion connection device to melt different parts of the material 13 to be connected, and read the distance measuring stop measured by the displacement sensor 3 The position change of the sheet 8 is converted into the displacement s ₁ and s ₂ of the pre-compression roller 12 and the holding pressure roller 10 relative to their own zero point;

According to the installation distance d ₁ , d ₂ of the pre-compressing pressure roller 12 and the holding pressure roller 10 to the center line of the long side of the slide base 4 and the radius r ₁ of the pre-compressing pressure roller 12 and the radius of the holding pressure roller 10 r ₂ , when the radius of curvature of the material 13 to be connected is R, the height difference between the contact position of the pre-compression roller 12 and the material 13 to be connected and the height difference of the material 13 to be connected below the axis of the heating device 11 is Δh ₁ , and the holding pressure roller 10 is the same as The height difference between the contact position of the material 13 to be connected and the material 13 to be connected below the axis _of the heating device ₁₁ is Δh ₂ ; The distance change h ₁ ′ caused by r ₁ ; Δh ₂ includes the distance h ₂ between the holding pressure roller 10 and the surface of the material 13 to be connected and the distance change h ₂ ′ caused by the holding pressure roller 10 radius r ₂ ;

When the material 13 to be connected is an "upward convex" stacked structure, Δh ₁ and Δh ₂ are respectively:

When the material 13 to be connected is a "concave" laminated structure, Δh ₁ and Δh ₂ are respectively:

By controlling the pre-compression pressing device 7, the slide block 5 and the pressure-holding pressure device 1, the pre-compression pressure roller 12, the heating device 11 and the pressure-holding pressure roller 10 are all returned to their own zero positions;

Step 2: Stage I is the initial stage of fusion connection. The pre-compression roller 12 is first pressed to the surface of the material 13 to be connected, and its zero point deviation from the heating device 11 is Δs ₁ , and the displacement s ₁ relative to its own zero point is determined by the displacement sensor 3 It is obtained from the measurement that the distance between the heating device 11 and the surface of the material 13 to be connected is preset as _hset , and its displacement x relative to its own zero point position is calculated using the following formula:

x=s ₁ +Δs ₁ -Δh ₁ -h _set

Step 3: Phase II is the continuous melting connection stage. The pre-compression pressure roller 12 and the pressure-holding pressure roller 10 are evenly pressed to the surface of the material 13 to be connected. The displacements s ₁ and s ₂ that occurred, and their zero point deviations Δs ₁ and Δs ₂ from the heating device 11, calculate the displacements x ₁ and x ₂ of the heating device 11 relative to its own zero point position:

When the absolute value of the difference between x1 and _x2 is less _than or equal to a certain set value _x0 , the curvature of the material 13 to be connected does not change at this time, and the displacement of the heating device ₁₁ relative to its own zero point is equal to x1 and _x2 average value:

x＝(x ₁ +x ₂ )/2(|x ₁ -x ₂ |≤x ₀ )

When the absolute value of the difference between x1 and _x2 is greater _than a certain set value _x0 , the curvature of the material 13 to be connected begins to change; After the curvature changes position, the fusion connection device will undergo rotary motion; by calculating the movement speed v ₁ of the pre-compression roller 12 along its own axis at different times, and comparing the magnitudes of v 1t at time t and v _{1t '} at time t', the fusion connection device can be judged Whether rotary motion occurs; when the difference between v _1t and v _1t' is less than or equal to the critical value 0.8v ₀ , the melting connection device does not undergo rotary motion, and the displacement of heating device 11 relative to its own zero point position is x ₂ ; v _1t and v _1t When the difference between _' is greater than the critical value 0.8v ₀ , the melting connection device will undergo a rotary motion, and the displacement of the heating device 11 relative to its own zero point position will be x ₁ ;

Among them, v ₀ is the rotation of the fusion connection device related to the curvature radii R ₁ and R ₂ of the two adjacent parts of the material 13 to be connected, the installation distance d ₁ between the pre-compression roller 12 and the heating device 11, and the rotation time Δt of the fusion connection device. The criterion is calculated using the following formula:

v ₀ =|Δh ₁ (R=R ₁ )-Δh ₁ (R=R ₂ )|/Δt

Step 4: Phase III is the end of fusion connection. The heating device 11 returns to the corresponding zero position along with the pre-compression roller 12, and the holding pressure roller 10 returns to the zero position after holding the pressure for a certain period of time.

Beneficial effects of the present invention: Based on the laminated structure fusion connection device with the function of "pre-compression and pressure-to-be-connected material heating-following pressure holding", by arranging displacement sensors on the rectangular wall plate 9, the measurement is fixed on the The position changes of the distance-measuring block (8) on the pre-compression slide (6) and the pressure-holding slide (2) are obtained in real time through the conversion relationship between the pre-compression roller (12) and the pressure-holding roller ( 10) The position along the material thickness direction, and then calculate the distance between the heating device 11 and the workpiece surface according to the connection process and the structural geometric curvature characteristics, and compare it with the initial set value for real-time adjustment, so as to realize material pre-compression and continuous melting connection And the position control of the heating device in the whole stage of the final pressure holding. This method can be used for the fusion connection of large or curved laminated structures, and can meet the needs of aerospace, high-speed rail and automobiles for the connection of composite materials and metal materials.

Description of drawings

Fig. 1 is a schematic diagram of a laminated structure fusion bonding device. In the figure: 1-Pressure holding pressure device, 2-Pressure holding slide seat, 3-Displacement sensor, 4-Sliding table base, 5-Sliding table slider, 6-Pre-tightening slide seat, 7-Pre-tightening Pressure device, 8-distance measuring block, 9-rectangular wall plate, 10-holding pressure roller, 11 heating device, 12-pre-compressing pressure roller, 13-materials to be connected.

Fig. 2 is a schematic diagram of a position adaptive control method for a fusion bonding device with a laminated structure.

Figure 3 is a schematic diagram of the relative positions of the pressure roller, the heating device and the surface of the material to be connected when the "upward convex" laminated structure is melted and connected, (a) is the overall schematic diagram, (b) is the detailed view of the pressure roller; in the figure d ₁ is the pre-set The distance between the pressing roller 12 and the heating device 11, _d2 is the distance between the holding pressure roller 10 and the heating device 11, and _h1 is the distance between the center of the pre-compressing roller 12 and the surface of the material 13 to be connected along the axial direction of the heating device 11. Distance, h2 is the distance between the center of the holding pressure roller ₁₀ and the surface of the material 13 to be connected along the axis of the heating device 11, h' is the distance change caused by the radius of the pressure roller, R is the radius of curvature of the material to be connected, and r is the radius of the pressure roller .

Figure 4 is a schematic diagram of the relative positions of the pressure roller, the heating device and the surface of the material to be connected when the "concave" laminated structure is melt-bonded, (a) is the overall schematic diagram, and (b) is a detailed view of the pressure roller.

Figure 5 is a schematic diagram of the relative position changes between the pressure roller, the heating device and the surface of the material to be connected at different stages of the fusion connection. In the figure, O is the center of rotation of the fusion connection device, and _hset is the preset distance between the heating device 11 and the surface of the material 13 to be connected , s ₁ is the displacement of the pre-compression pressure roller 12 obtained from the measurement relative to its zero point, s ₂ is the displacement of the holding pressure roller 10 obtained from the measurement relative to its zero point, and x is the calculated displacement of the heating device 11 relative to its zero point displacement.

Figure 6 is a schematic diagram of the relative position changes of the pressure rollers before and after the rotation of the laminated structure fusion connection device, (a) before rotation, (b) during rotation, and (c) after rotation; before the rotation in the figure, the axis of the heating device 11 is not Move to the position where the curvature of the material 13 to be connected changes. During the rotation, the axis of the heating device 11 moves to the position where the curvature of the material 13 to be connected changes. However, the holding pressure roller 10 does not move to the position where the curvature of the material 13 to be connected changes. The roller 10 moves to the position where the curvature of the material 13 to be connected changes, and v _1t and v _1t' are the movement speeds of the pre-compression roller along its own axis at time t and t' respectively.

detailed description

The specific implementation manners of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

Figure 1 is a schematic diagram of a laminated structure fusion connection device with the function of "pre-compression pressure-to-be-connected material heating-following pressure maintenance". The pressing device 7 and the pre-pressing roller 12 realize the function of "heating the material to be connected" by the slide base 4, the slide block 5 and the heating device 11, and the function of "following the pressure holding" is carried out by the holding The pressure applying device 1, the pressure maintaining slide 2 and the pressure maintaining pressure roller 10 are realized; the displacement sensor 3 measures the position change of the distance measuring block 8 respectively fixed on the pre-compressing slide 6 and the pressure maintaining slide 2, and passes The transformation converts the measured value into a displacement relative to its own zero point; the above-mentioned modules and devices are all fixed on the rectangular wall plate 9 .

Figure 2 is a schematic diagram of the position adaptive control method of the laminated structure fusion connection device, which is divided into four steps. Step 1 is to set control parameters and initialize the laminated structure fusion connection device. Step 2 corresponds to the initial stage of fusion connection. Step 3 Corresponding to the continuous melting connection stage, step 4 corresponds to the end of melting connection stage, and steps 2-4 are divided according to the state of the pressing roller. The specific steps of the method are as follows:

Step 1: According to the laminated structure fusion connection device with the function of "pre-compression and pressure-to-be-connected material heating-following pressure holding", this embodiment sets the heating device 11 respectively with the pre-compression pressure roller 12 and the holding pressure The zero point distance of the pressure roller 10 is Δs ₁ =Δs ₂ =0. According to the type of heating device selected, set the control distance between the heating device 11 and the surface of the material 13 to be connected h _set = 10mm ~ 200mm, if the induction coil needs to take a smaller value to obtain a good heating effect, the laser head needs to take a larger value To obtain a large-size spot, the present embodiment adopts a control distance of 70 mm. The position change of the distance-measuring block 8 measured by the displacement sensor 3 is read in, and converted into displacements s ₁ , s ₂ of the pre-compression roller 12 and the holding pressure roller 10 relative to their own zero points.

According to the radius r 1 of the pre-compression roller 12 and the radius r ₂ of the holding pressure roller ₁₀ used, respectively set 10mm to 50mm and the difference between the curvature radius R>100mm of the materials to be connected, the distance between the pre-compression roller 12 and the axis of the heating device 11 The installation distance d ₁ = 10mm ~ 50mm, in order to obtain better pre-compression and interface heat transfer effect, the installation distance d ₂ = 20mm ~ 100mm between the holding pressure roller 10 and the axis of the heating device 11, in order to match different types of stacking The multi-layer structure ensures that the molten resin is always solidified under pressure, and the number of holding pressure rollers is selected according to requirements. The material to be connected used in this embodiment is shown in Figure 6, which is composed of two "upward convex" curved surfaces, wherein the radius of curvature R _{1 of curved surface Γ 1 =} 1000 mm, and the radius of curvature R ₂ of curved surface Γ ₂ = 100 mm. The radius r ₁ of 12 and the radius r ₂ of the holding pressure roller 10 are 10mm, the installation distances are d ₁ =20mm, d ₂ =30mm, and one holding pressure roller 10 is used. Then the height difference Δh ₁ and Δh ₂ between the contact position between the pre-compressing pressure roller 12 and the holding pressure roller 10 and the material 13 to be connected and the axis of the heating device 11 to be connected 13 can be calculated in different regions, and the curved surface Γ ₁ region Δh ₁ = 0.196mm, Δh ₂ = 0.441mm, curved surface Γ ₂ area Δh ₁ = 1.667mm, Δh ₂ = 3.379mm, the positive value indicates that the surface of the material 13 to be connected under the axis of the heating device 11 is higher than the pressure roller and the material 13 to be connected Surface contact position.

After the above parameters are determined, the pre-compressing pressure roller 12, the heating device 11 and the pressure-holding pressure roller 10 are all returned to their own zero positions by controlling the pre-compression pressing device 7, the slide block 5 and the pressure-holding pressure device 1 .

Step 2: When the pre-compression roller 12 is compacted, but the pressure-holding roller 10 is not compacted, it is judged that it is the initial stage of stage I fusion connection, and the curved surface _Γ1 area is connected. The displacement x of the heating device 11 relative to the zero point is calculated according to the displacement s ₁ of the pre-compression roller 12, that is, x=s ₁ +Δs ₁ -Δh ₁ -h _set =s ₁ -70.196mm, and drives the sliding table slide Block 5 moves x distance relative to its zero point.

Step 3: When both the pre-compression pressure roller 12 and the pressure-holding pressure roller 10 are in the compression state, it is judged that it is the phase II continuous melting connection stage, and the curved surface Γ ₁ area is connected. According to the displacements s ₁ and s ₂ of the pre-compression pressure roller 12 and the holding pressure roller 10 relative to their own zero positions, calculate the displacement of the heating device 11 relative to its zero point, x ₁ =s ₁ +Δs ₁ -Δh ₁ -h _set =s ₁ -70.196 mm, x ₂ =s ₂ +Δs ₂ -Δh ₂ -h _set =s ₁ -70.441 mm. If the absolute value of the difference between the two is less than a certain set value x ₀ , i.e. |x ₁ -x ₂ |≤x ₀ , the fusion connection device still connects the curved surface Γ ₁ area. In this embodiment, x is set according to the accuracy of the sensor used ₀ =0.4mm, then the displacement x=(x ₁ +x ₂ )/2=(s ₁ +s ₂ )/2+70.318mm required for the heating device 11 relative to its own zero point.

When the absolute value of the difference between x ₁ and x ₂ is greater than the set value x ₀ =0.4mm, that is, |x ₁ -x ₂ |>x ₀ , the fusion connection device transitions from the curved surface Γ ₁ area to the curved surface Γ ₂ area, And turn around on the basis of the original movement. It is necessary to judge according to the speed change of the pre-compression roller 12, when the fusion connection device rotates along the rotation center O on the axis of the heating device 11, so as to accurately control the position of the heating device. In this embodiment, the response time of the sensor used is 10 ms, then the speed of the pre-compression roller 12 can be calculated from the quotient of the displacement difference and the response time between two adjacent moments, that is, v _1t =Δs/10 ms, and the rotation is set at the same time The rotation time of the device is 1s, then the rotation speed criterion v ₀ =|Δh ₁ (R=R ₁ )-Δh ₁ (R=R ₂ )|/Δt=|0.196mm-1.667mm|/1s=1.471mm/s . When the speed difference between time t and time t' is less than or equal to 0.8v ₀ , that is, less than or equal to 1.177mm/s, the displacement of the heating device 11 relative to its own zero position is x ₂ =s ₁ -70.441mm; when time t and When the speed difference at time t' is greater than 0.8v ₀ , ie greater than 1.177mm/s, the displacement of the heating device 11 relative to its own zero position is x ₁ =s ₁ -70.196mm.

Step 4: When the pre-compression pressure roller 12 is not compressed, it is judged that it is the end of stage III fusion connection, the heating device 11 returns to the corresponding zero position along with the pre-compression pressure roller 12, and the pressure-holding pressure roller 10 is at a constant pressure. Return to zero position after time.

A laminated structure melting connection device and its position self-adaptive control method of the present invention, through the fusion connection process of the laminated structure, according to the position changes of the pre-compressing pressure roller and the holding pressure roller, the connection process and the structure to be connected Geometric features, etc., the adaptive control of the distance between the heating device and the surface of the workpiece can avoid problems such as uneven melting temperature caused by changes in the position of the heating device. This method provides an effective method for the fusion connection of large or curved laminated structures, and can meet the needs of composite materials and metal materials in the fields of aerospace, high-speed rail and automobiles.

Claims (2)

1. A fusion connecting device of a laminated structure is characterized by comprising a pre-pressing device (7), a heating device (11) and a pressure maintaining pressing device (1); the pre-pressing device (7) and the pressure maintaining pressing device (1) are driving parts and are fixed on two sides of the rectangular wall plate (9); the pre-pressing sliding seat (6) and the pressure maintaining sliding seat (2) are both in an inverted L shape and comprise short edges and long edges, and the directions of the two short edges are opposite; the short edge of the pre-pressing sliding seat (6) is vertically hinged with the pre-pressing device (7), and the short edge of the pressure maintaining sliding seat (2) is vertically hinged with the pressure maintaining pressing device (1); the pre-pressing slide seat (6) and the pressure maintaining slide seat (2) are positioned between the pre-pressing pressure device (7) and the pressure maintaining pressure device (1), and the pre-pressing pressure device and the pressure maintaining pressure device are driven by the pre-pressing pressure device (7) and the pressure maintaining pressure device (1) to move along the long edge direction respectively; the long side of the pre-pressing sliding seat (6) is fixedly connected with a pre-pressing compression roller (12); the long side of the pressure maintaining slide seat (2) is fixedly connected with a pressure maintaining press roller (10); distance measuring blocking pieces (8) are respectively arranged on the opposite sides of the long sides of the pre-pressing sliding seat (6) and the pressure maintaining sliding seat (2); the displacement sensor (3) is fixed on the rectangular wall plate (9) and is positioned above the distance measurement baffle plate (8); the sliding table base (4) is a driving part, is fixed on the rectangular wall plate (9) and is positioned between the long edges of the pre-pressing sliding seat (6) and the pressure maintaining sliding seat (2); the heating device (11) is connected to the sliding table base (4) through the sliding table sliding block (5), and the heating device (11) and the sliding table sliding block (5) move along the sliding table base (4); the ends of the pre-compaction press roll (12), the pressure-maintaining press roll (10) and the heating device (11) face the material (13) to be connected.

2. A self-adaptive position control method for a fusion connecting device with a laminated structure is characterized in that a displacement sensor (3) fixed on a rectangular wall plate (9) measures the position change of a distance measuring baffle (8) fixed on a pre-pressing sliding seat (6) and a pressure maintaining sliding seat (2), and the positions of a pre-pressing compression roller (12) and a pressure maintaining compression roller (10) along the thickness direction of a material in the connecting process are obtained in real time through a conversion relation; calculating the distance between the heating device (11) and the material (13) to be connected according to the connection process condition and the structural geometric curvature characteristic, and comparing the distance with an initial setting value to adjust in real time, thereby realizing the position control of the heating device in the full stages of material pre-compaction, continuous melt connection and final pressure maintaining; the method for self-adaptive control of the position of the heating device in fusion connection of the laminated structure comprises the following specific steps:

step 1: setting control parameters for the laminated structure fusion connecting device and initializing;

setting the zero point distance delta s between the heating device (11) and the pre-pressing compression roller (12) and the pressure maintaining compression roller (10) respectively ₁ 、Δs ₂ Setting a controlled distance h between the heating device (11) and the surface of the material (13) to be joined _set Setting the radius of curvature R of different portions of the material (13) to be joined _i The curvature radius quantity i is related to the characteristics of the materials (13) to be connected, the laminated structure melting connecting device is arranged to generate delta t for rotation when different parts of the materials (13) to be connected are welded, the position change of the distance measuring baffle (8) measured by the displacement sensor (3) is read in, and the position change is converted into the displacement s of the pre-pressing compression roller (12) and the pressure maintaining compression roller (10) relative to the zero point of the pre-pressing compression roller and the pressure maintaining compression roller ₁ 、s ₂ ；

According to the installation distance d from the pre-pressing compression roller (12) and the pressure maintaining compression roller (10) to the central line of the long edge of the sliding table base (4) ₁ 、d ₂ Pre-compression, pre-compressionRadius r of the press roll (12) ₁ And the radius r of the pressure maintaining pressure roller (10) ₂ When the curvature radius of the material (13) to be connected is R, the height difference between the contact position of the pre-compaction pressing roller (12) and the material (13) to be connected and the position of the material (13) to be connected below the axis of the heating device (11) is delta h ₁ The height difference between the contact position of the pressure maintaining compression roller (10) and the material (13) to be connected below the axis of the heating device (11) is delta h ₂ ；Δh ₁ Comprising a distance h between the pre-compacting roller (12) and the surface of the material (13) to be joined ₁ And a pre-compression roller (12) radius r ₁ Resulting in a distance change h ₁ '；Δh ₂ Comprises a distance h between a pressure maintaining press roll (10) and the surface of a material (13) to be connected ₂ And the radius r of the pressure maintaining press roll (10) ₂ Resulting in a distance change h ₂ '; when the material (13) to be connected has a "convex" laminate structure,. DELTA.h ₁ And Δ h ₂ Respectively as follows:

when the material (13) to be connected is of a 'recessed' laminate structure,. DELTA.h ₁ And Δ h ₂ Respectively as follows:

the pre-compaction pressing roller (12), the heating device (11) and the pressure maintaining pressing roller (10) are all returned to the zero positions thereof by controlling the pre-compaction pressing device (7), the sliding table sliding block (5) and the pressure maintaining pressing device (1);

step 2: stage I is the initial stage of melt bonding, the pre-compaction roller (12) is firstly pressed to the surface of the material (13) to be bonded, and the zero point deviation of the pre-compaction roller and the heating device (11) is delta s ₁ Displacement s relative to its zero point ₁ Measured by the displacement sensor (3), the distance between the heating device (11) and the surface of the material (13) to be connected is preset to h _set The displacement x relative to its own zero position is calculated using the following equation:

x＝s ₁ +Δs ₁ -Δh ₁ -h _set

and step 3: stage II is a continuous melting connection stage, wherein the pre-pressing compression roller (12) and the pressure maintaining compression roller (10) are pressed to the surface of the material (13) to be connected in a pressure sharing way and respectively generate displacement s according to the zero positions of the pre-pressing compression roller (12) and the pressure maintaining compression roller (10) relative to the pre-pressing compression roller and the pressure maintaining compression roller ₁ And s ₂ And their zero point deviation deltas from the heating device 11 ₁ And Δ s ₂ Calculating the displacement x of the heating device (11) relative to its zero position ₁ 、x ₂ ：

When x is ₁ And x ₂ The absolute value of the difference is less than or equal to a set value x ₀ At this time, the curvature of the material (13) to be connected is not changed, and the displacement of the heating device (11) relative to the zero point position is x ₁ And x ₂ Average value of (d):

x＝(x ₁ +x ₂ )/2(|x ₁ -x ₂ |≤x ₀ )

when x is ₁ And x ₂ The absolute value of the difference being greater than a set value x ₀ When the curvature of the material (13) to be connected begins to change; after a rotation center O on the axis of the heating device (11) moves to a curvature change position of the material (13) to be connected, the melting connection device performs rotation movement; by calculating the movement speed v of the pre-compaction press roll (12) along the axis thereof at different times ₁ Comparing t time v _1t And t' time v _1t' Judging whether the melting connection device rotates or not; v. of _1t And v _1t' Is less than or equal to the critical value of 0.8v ₀ During the process, the melt-connecting device does not rotate, and the displacement of the heating device (11) relative to the zero position of the heating device is x ₂ ；v _1t And v _1t' Is greater than the critical value of 0.8v ₀ When the melting connection device rotates, the displacement of the heating device (11) relative to the self zero point position is x ₁ ；

Wherein v is ₀ Is a radius of curvature R of two parts adjacent to the material (13) to be connected ₁ 、R ₂ The installation distance d between the pre-pressing compression roller (12) and the heating device (11) ₁ A melt-joining device rotation criterion relating to Δ t for melt-joining device rotation is calculated using the following formula:

v ₀ ＝|Δh ₁ (R＝R ₁ )-Δh ₁ (R＝R ₂ )|/Δt

and 4, step 4: and the stage III is a melting connection finishing stage, the heating device (11) returns to a corresponding zero position along with the pre-pressing compression roller (12), and the pressure maintaining compression roller (10) returns to the zero position after being compressed for a certain time.

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