CN105195888A - Two-dimensional laser tracking compensation method for stirring friction welding plane - Google Patents

Abstract

The invention relates to a two-dimensional laser tracking compensation method of a stirring friction welding plane. A welding head comprises a stirring head and a laser tracker arranged in front of the stirring head. The method is characterized in that the positions, projected to the welding plane, of the stirring head and the laser tracker are a welding point and a tracking point respectively, the distance between the welding point and the tracking point is the preposition amount, the welding head is provided with a C shaft, the C shaft is perpendicular to the welding plane, and when the movement direction of the welding head is linear, the compensation method includes the steps that the welding point is kept in the middle of a welding seam all the time, and the preposition amount compensation is zero; when the movement direction of the welding head is a circular curve, the compensation method includes the steps that preposition amount forms two deviation values, namely delta X and delta Y, in an X-Y rectangular coordinate system on the welding plane, then the delta X and the delta Y serve as the compensation amount for being calculated into the preposition amount, and therefore the welding seam tracking requirement of a two-dimensional plane is met.

Description

Agitating friction welding planar laser tracking compensation technique

Technical field

Patent of the present invention relates to the correction that a kind of agitating friction soldering equipment with laser following function with angle solves site error between trace point and pad in planar welding process.

Background technology

At present in space flight, aviation, the track traffic production fields such as high ferro have more and more relate to agitating friction welding equipment, because agitating friction welding technology belongs to a kind of solid phase joining technique in weldering process, be rotating by the special shaft shoulder of cylindricality band and the convex stirring-head of pin and slowly insert welded part, fricting shearing resistance between stirring-head and soldered material creates frictional heat, make the material thermoplastification of stirring-head adjacent domain (welding temperature generally can not reach and exceed the fusing point of soldered material), when stirring-head be rotating move forward time, the metal material of thermoplastification shifts on edge backward from the forward position of stirring-head, and at the stirring-head shaft shoulder and workpiece surface frictional heat with under forging and pressing acting in conjunction, form fine and close solid diffusivity joint.Can find out that its principle can produce heat trnasfer when material temperature changes makes welding material generation distortion to a certain degree therefore in order to the change revising weld seam in welding process adopts laser tracking system to become the scheme mainly solved.The function algorithm designed and developed just based on this basis is solved welding certain length two-dimentional section bar involved by seam deformation problem.

Summary of the invention

Patent of the present invention technical problem to be solved is location error between the trace point of laser tracker in planar welding process and stirring-head pad, by designing the track that a kind of control algolithm solving this error makes the correction stirring-head that the deviation data of weld seam can be real-time run, meet the needs of the weld joint tracking of planar.

For achieving the above object, the technical solution used in the present invention is: a kind of agitating friction welding planar laser tracking compensation technique, comprise: plumb joint comprises: stirring-head and be prepended to the laser tracker of described stirring-head, it is characterized in that, the position that described stirring-head and described laser tracker project in welding plane is respectively pad and trace point, and the distance between pad and trace point is trail, and described plumb joint is provided with C axle, described C axle is perpendicular to described welding plane

-when the described plumb joint direction of motion is straight line, compensation method is as follows: keep pad to be positioned at the centre of weld seam, trail is compensated for as zero always;

-when the described plumb joint direction of motion is circular curve, compensation method is as follows: trail can form two deviate Δ X and Δ Y in the X-Y rectangular coordinate system in described welding plane, then Δ X and Δ Y is counted trail as compensation rate, computing formula is as follows:

$\mathrm{\Δ}X=sin\left(\mathrm{\φ}c\right)\×L\×tg\frac{\mathrm{\φ}}{2}---\left(1-1\right)$

$\mathrm{\Δ}Y=cos\left(\mathrm{\φ}c\right)\×L\×tg\frac{\mathrm{\φ}}{2}---\left(1-2\right)$

$\mathrm{\φ}=\arcsin \left(\frac{L}{R}\right)---\left(1-3\right)$

Wherein, L is the distance between pad and trace point, and R represents the radius of circular curve, represent the angle that C axle rotates.

In a preferred embodiment of the present invention, described plumb joint is also provided with A axle, and described A axle is parallel welds plane with described.

In a preferred embodiment of the present invention, described stirring-head and described laser tracker all can be followed described A axle and be rotated.

In a preferred embodiment of the present invention, the spacing of described stirring-head and described laser tracker is 15mm.

In a preferred embodiment of the present invention, described laser tracker measurement category 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, can report to the police when the weld gap amount that laser tracker is measured is greater than higher limit.

In a preferred embodiment of the present invention, can report to the police when the welding seam misalignment amount that laser tracker is measured is greater than higher limit.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described.

Fig. 1 is the structural representation of the plumb joint of the preferred embodiments of the present invention;

Fig. 2 is the fundamental diagram of the preferred embodiments of the present invention;

Fig. 3 is the enlarged diagram of B in Fig. 2;

In figure: 1, plumb joint, 2, laser tracker, 3, stirring-head, 4, A axle, 5, C axle, 6, welding plane, 7, pad, 8, trace point, 9, laser spots, 10, weld seam.

Detailed description of the invention

The present invention is further detailed explanation in conjunction with the accompanying drawings and embodiments now, and these accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.

The measurement point of laser tracker adopted due to us and the welding position of stirring-head reality are equipped with position deviation (deviation is the smaller the better, controls at 15mm here), and the measurement category of laser instrument is 40mm.

Below the technical indicator of laser measurement:

Weld gap amount: 0.1-0.2mm, reports to the police more than 0.2mm;

Welding seam misalignment amount: 0-0.2mm, reports to the police more than 0.2mm;

Certainty of measurement: ± 0.05mm.

As shown in Figure 1, in order to realize the planar following function of this version, the method for position deviation between the pad that the present invention devises a kind of stirring-head when revising laser tracker trace point and welding.This equipment can realize X, Y, Z tri-kinds of rectilinear motions and add the rotary motion of C axle, and A axle does not change at work as inclination angle.

Of the present invention a kind of embodiment as shown in Figures 2 and 3, as the track weld seam (dotted portion be weld seam) of Typical Planar two dimension with straight line and curve, when running straight line welding the center (trace point) of laser measurement remain on always weld seam in the middle of simultaneously real-time for weld gap amount is sent to control system, now the position of trace point and the position of stirring-head pad are fixing trails; But preposition when being changed to circular curve weld seam from straight bead due to the trace point position of laser measurement, so two deviate Δ X and Δ Y can be produced in the plane of X-Y, now laser tracking measurement prefix value out needs by revising, what draw after namely Δ X and Δ Y being carried out corresponding computing is only actual welds gap value, i.e. the final deviate of X and Y.Therefore we can by following formula (1-1), and (1-2) calculates the departure between 2.Wherein L is the air line distance of the position of trace point and the weld locations of stirring-head, and R represents the radius (weld seam) of circular curve, and φ C represents the angle that C axle rotates.

$\mathrm{\Δ}X=sin\left(\mathrm{\φ}c\right)\×L\×tg\frac{\mathrm{\φ}}{2}---\left(1-1\right)$

$\mathrm{\Δ}Y=cos\left(\mathrm{\φ}c\right)\×L\×tg\frac{\mathrm{\φ}}{2}---\left(1-2\right)$

$\mathrm{\φ}=arcsin\left(\frac{L}{R}\right)---\left(1-3\right)$

The Δ X drawn by above-mentioned formula and Δ Y can be carried out revising with the difference measured of laser measurement system inside and show that this final deviate be in X and Y plane compensates to stirring-head finally by control system this value and advances on the position at this place.

The method can be integrated in digital control system, utilizes the interpolation cycle of digital control system to realize compensating approach real-time between laser measurement point and stirring-head physical location.

Above according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, related personnel in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine technical scope according to right.

Claims (8)

1. an agitating friction welding planar laser tracking compensation technique, plumb joint comprises: stirring-head and be prepended to the laser tracker of described stirring-head, it is characterized in that, the position that described stirring-head and described laser tracker project in welding plane is respectively pad and trace point, distance between pad and trace point is trail, described plumb joint is provided with C axle, and described C axle is perpendicular to described welding plane

-when the described plumb joint direction of motion is straight line, compensation method is as follows: keep pad to be positioned at the centre of weld seam, trail is compensated for as zero always;

-when the described plumb joint direction of motion is circular curve, compensation method is as follows: trail can form two deviate Δ X and Δ Y in the X-Y rectangular coordinate system in described welding plane, then Δ X and Δ Y is counted trail as compensation rate, computing formula is as follows:

$\mathrm{\Δ}X=\sin \left(\mathrm{\φ}c\right)\×L\×tg\frac{\mathrm{\φ}}{2}---(1-1)$

$\mathrm{\Δ}Y=\cos \left(\mathrm{\φ}c\right)\×L\×tg\frac{\mathrm{\φ}}{2}---(1-2)$

$\mathrm{\φ}=\arcsin \left(\frac{L}{R}\right)---(1-3)$

Wherein, L is the distance between pad and trace point, and R represents the radius of circular curve, represent the angle that C axle rotates.

2. agitating friction welding planar laser tracking compensation technique according to claim 1, it is characterized in that: described plumb joint is also provided with A axle, described A axle is parallel welds plane with described.

3. agitating friction welding planar laser tracking compensation technique according to claim 2, is characterized in that: described stirring-head and described laser tracker all can be followed described A axle and be rotated.

4. agitating friction welding planar laser tracking compensation technique according to claim 1, is characterized in that: the spacing of described stirring-head and described laser tracker is 15mm.

5. agitating friction welding planar laser tracking compensation technique according to claim 1, is characterized in that: described laser tracker measurement category is 40mm.

6. agitating friction welding planar laser tracking compensation technique according to claim 1, it is characterized in that: weld gap amount is 0.1-0.2mm, welding seam misalignment amount is 0-0.2mm.

7. agitating friction welding planar laser tracking compensation technique according to claim 6, is characterized in that: can report to the police when the weld gap amount that laser tracker is measured is greater than higher limit.

8. agitating friction welding planar laser tracking compensation technique according to claim 6, is characterized in that: can report to the police when the welding seam misalignment amount that laser tracker is measured is greater than higher limit.