CN105234553A - Real-time adjustment system and method for welding seams of circular-seam friction stir welding of cylinder sections - Google Patents
Real-time adjustment system and method for welding seams of circular-seam friction stir welding of cylinder sections Download PDFInfo
- Publication number
- CN105234553A CN105234553A CN201510707960.6A CN201510707960A CN105234553A CN 105234553 A CN105234553 A CN 105234553A CN 201510707960 A CN201510707960 A CN 201510707960A CN 105234553 A CN105234553 A CN 105234553A
- Authority
- CN
- China
- Prior art keywords
- welding
- real
- laser rays
- cylinder section
- sent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B23K20/123—Controlling or monitoring the welding process
-
- 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
- B23K20/1245—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 characterised by the apparatus
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention relates to the technical field of welding processes of large thin-walled cylindrical parts and provides a real-time adjustment system for welding seams of circular-seam friction stir welding of cylinder sections. The system comprises a 2D laser ray sensor, a measuring data acquisition and analysis module, a real-time adjustment module, a servo control unit, a feeding transmission unit and a welding execution mechanism adjustment platform. The invention further discloses a real-time adjustment method for the welding seams. According to the system and the method, a real-time scanned outline image of a butt-joint circular seam of the cylinder sections is used as input of the whole system, the coordinate position of a welding stir head is adjusted in real time according to micro-deformation of an actual welding seam track, and therefore the track of the stir head coincides with the central position of an actual workpiece butt-joint seam, and the requirement for friction stir welding seam tracking of the large thin-walled cylinder sections of aerospace products is met.
Description
Technical field
The present invention relates to large thin-wall cylindrical member welding technique field, particularly, relate to a kind of cylinder section circumferential weld stir friction welding seam real-time regulating system and method for adjustment.
Background technology
In the process of the large thin-wall cylindrical member circumferential weld docking friction stir welding in space product, product is in horizontal positioned state, and rotate along axis, because in the error of the weak rigidity characteristic of workpiece itself, welding end surface turning, butt welding rigging error and welding process, upset force causes micro-modification of workpiece, capital causes the track of the actual centering of weld seam and theory locus to there is certain deviation, and stable high-quality amount is completed to cylinder section circumferential weld friction stir welding and causes adverse influence.At present, though most of friction stir welding welding process has adopted numerical control programming mode to realize automatic operation, also emerge a collection of mechanical type and photo-electric tracking system simultaneously, all there is the deficiency that auto modification, dynamically tracking response and compensation precision are undesirable.
Summary of the invention
For defect of the prior art, the object of this invention is to provide the control method of a kind of section circumferential weld stir friction welding seam real-time regulating system and method for adjustment.
According to an aspect of the present invention, a kind of cylinder section circumferential weld stir friction welding seam real-time regulating system is provided, it is characterized in that, comprise 2D laser rays sensor, measurement data acquisition and analysis module, real-time adjusting module, servo control unit, feeding gear unit and welding executing agency adjustment platform, the assemble welding profile of the laser rays directive cylinder section to be welded of described 2D laser rays sensor, and the outline data measured is sent to described measurement data acquisition and analysis module, described real-time adjusting module is sent to after data analysis calculates by described measurement data acquisition and analysis module, described real-time adjusting module calculates the axial rotation displacement and velocity of rotation that described cylinder section to be welded should adjust, and be sent to described servo control unit with the form of pulse signal, described pulse signal is converted to drive singal and is sent to described feeding delivery unit by described servo control unit, described feeding delivery unit drives described welding executing agency adjustment platform adjustment welding stirring-head to overlap in real time with butt weld center.
Preferably, described 2D laser rays sensor is arranged in the welding executing agency of friction stir welding, and the laser direction of described 2D laser rays sensor is identical with the welding direction of friction stir welding.
Preferably, described 2D laser rays sensor is arranged on directly over the end face of welding executing agency of friction stir welding.
According to an aspect of the present invention, the method for adjustment of a kind of section circumferential weld stir friction welding seam real-time regulating system is provided, it is characterized in that, comprise the steps:
(1) the assemble welding profile of the laser rays directive cylinder section to be welded of described 2D laser rays sensor;
(2) described 2D laser rays sensor the outline data measured is sent to described measurement data acquisition and analysis module;
(3) described measurement data acquisition and analysis module are sent to described real-time adjusting module after being calculated by data analysis;
(4) described real-time adjusting module calculates the axial rotation displacement and velocity of rotation that described cylinder section to be welded should adjust, and is sent to described servo control unit with the form of pulse signal;
(5) described pulse signal is converted to drive singal and is sent to described feeding delivery unit by described servo control unit;
(6) described feeding delivery unit drives described welding executing agency adjustment platform adjustment welding stirring-head to overlap in real time with butt weld center.
Compared with prior art, the present invention has following beneficial effect:
The cylinder section of real time scan docks the input of contour images as whole system of circumferential weld, and the micro-strain according to weld seam changes welding stirring-head in real time, adjusts welding precision in real time, the requirement that the stir friction welding seam meeting space product large thin-wall cylinder section is followed the tracks of.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is structural principle schematic diagram of the present invention;
Fig. 2 is the installation site schematic diagram of 2D laser rays sensor in servo weld executing agency.
In figure: 1 is supporting carrier roller, 2 is cylinder section to be welded, and 3 is strip laser light beam, and 4 is 2D laser rays sensor, 5 is servo weld executing agency, 501 is end cap, and 502 is stirring-head, and 6 is data collection and analysis module, 7 is the real-time adjusting module of digital control system, 8 is servo control unit, and 9 is feeding gear unit, and 10 is welding executing agency adjustment platform.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
See accompanying drawing 1,2, set up XYZ coordinate system, the axis of cylinder section to be welded is X-axis, and radial horizontal direction is Y-axis, and radial vertical direction is Z axis.
See accompanying drawing 1, cylinder section circumferential weld stir friction welding seam real-time regulating system comprises: cylinder section 2 to be welded, 2D laser rays sensor 4, servo weld execution architecture 5, data collection and analysis module 6, the real-time adjusting module 7 of digital control system, servo control unit 8, feeding gear unit 9, welding executing agency adjustment platform 10.
Cylinder section 2 to be welded is placed horizontally on supporting carrier roller 1, and ensure its circularity by corresponding frock, carrying out in the process of circumferential weld friction stir welding to the weak rigid cartridge section of major diameter, be first installed on 2D laser rays sensor 4 in servo weld execution architecture 5 and tap into and carry out scanning survey return butt weld outline data in advance by launching the butt welding of strip laser light beam 3 to the weld seam assembling profile on path; Data collection and analysis module 6 obtains workpiece butt seam center and wallboard high and low position to the data analysis process of measuring gained, transmits and is transferred to the real-time adjusting module 7 of digital control system simultaneously through calculating actual welds track data; The real-time adjusting module 7 of digital control system is according to practical work piece butt seam center and theoretical center site error, simultaneously in conjunction with the welding feed speed of current stirring-head, calculate displacement and speed that X servo feed axle needs adjustment, needed for the servomotor that adjustment information is converted into X-axis, the pulse signal of corner and rotating speed passes to servo control unit 8 through holding wire; By the servo controller in servo control unit 8 pulse signal process obtained the drive singal of X-axis servomotor and input to servomotor; The quick tracking response finally driving welding executing agency adjustment platform 10 to make horizontal mechanical displacement by feeding gear unit 9 makes stirring-head 502 track overlap with practical work piece butt seam center.
See accompanying drawing 2,2D laser rays sensor 4 adopts thread connecting mode to be installed on positive 90 ° of upper surfaces of end cap 501, the serial orientation of welding direction of feed is in stirring-head 502, servo control unit 8 finally drives gear unit 9 to drive Welding Structure adjustment platform 10 mainly to realize the rapid adjustment of the horizontal displacement of X-direction, does not relate to other axles.
Cylinder section circumferential weld stir friction welding seam method of real-time adjustment, comprises the steps:
(1) the assemble welding profile of the laser rays directive cylinder section to be welded of described 2D laser rays sensor;
(2) described 2D laser rays sensor the outline data measured is sent to described measurement data acquisition and analysis module;
(3) described measurement data acquisition and analysis module are sent to described real-time adjusting module after being calculated by data analysis;
(4) described real-time adjusting module calculates the axial rotation displacement and velocity of rotation that described cylinder section to be welded should adjust, and is sent to described servo control unit with the form of pulse signal;
(5) described pulse signal is converted to drive singal and is sent to described feeding delivery unit by described servo control unit;
(6) described feeding delivery unit drives described welding executing agency adjustment platform adjustment welding stirring-head to overlap in real time with butt weld center.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (4)
1. a cylinder section circumferential weld stir friction welding seam real-time regulating system, it is characterized in that, comprise 2D laser rays sensor, measurement data acquisition and analysis module, real-time adjusting module, servo control unit, feeding gear unit and welding executing agency adjustment platform, the assemble welding profile of the laser rays directive cylinder section to be welded of described 2D laser rays sensor, and the outline data measured is sent to described measurement data acquisition and analysis module, described real-time adjusting module is sent to after data analysis calculates by described measurement data acquisition and analysis module, described real-time adjusting module calculates the axial rotation displacement and velocity of rotation that described cylinder section to be welded should adjust, and be sent to described servo control unit with the form of pulse signal, described pulse signal is converted to drive singal and is sent to described feeding delivery unit by described servo control unit, described feeding delivery unit drives described welding executing agency adjustment platform adjustment welding stirring-head to overlap in real time with butt weld center.
2. cylinder section circumferential weld stir friction welding seam real-time regulating system according to claim 1, it is characterized in that, described 2D laser rays sensor is arranged in the welding executing agency of friction stir welding, and the laser direction of described 2D laser rays sensor is identical with the welding direction of friction stir welding.
3. cylinder section circumferential weld stir friction welding seam real-time regulating system according to claim 2, it is characterized in that, described 2D laser rays sensor is arranged on directly over the end face of welding executing agency of friction stir welding.
4. a method of adjustment for cylinder section circumferential weld stir friction welding seam real-time regulating system as claimed any one in claims 1 to 3, is characterized in that, comprise the steps:
(1) the assemble welding profile of the laser rays directive cylinder section to be welded of described 2D laser rays sensor;
(2) described 2D laser rays sensor the outline data measured is sent to described measurement data acquisition and analysis module;
(3) described measurement data acquisition and analysis module are sent to described real-time adjusting module after being calculated by data analysis;
(4) described real-time adjusting module calculates the axial rotation displacement and velocity of rotation that described cylinder section to be welded should adjust, and is sent to described servo control unit with the form of pulse signal;
(5) described pulse signal is converted to drive singal and is sent to described feeding delivery unit by described servo control unit;
(6) described feeding delivery unit drives described welding executing agency adjustment platform adjustment welding stirring-head to overlap in real time with butt weld center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510707960.6A CN105234553A (en) | 2015-10-27 | 2015-10-27 | Real-time adjustment system and method for welding seams of circular-seam friction stir welding of cylinder sections |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510707960.6A CN105234553A (en) | 2015-10-27 | 2015-10-27 | Real-time adjustment system and method for welding seams of circular-seam friction stir welding of cylinder sections |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105234553A true CN105234553A (en) | 2016-01-13 |
Family
ID=55032508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510707960.6A Pending CN105234553A (en) | 2015-10-27 | 2015-10-27 | Real-time adjustment system and method for welding seams of circular-seam friction stir welding of cylinder sections |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105234553A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562973A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers |
| CN106271028A (en) * | 2016-09-07 | 2017-01-04 | 东南大学 | A kind of agitating friction girth welding connects the method for dissimilar metal |
| CN113245687A (en) * | 2021-06-21 | 2021-08-13 | 宁波齐云新材料技术有限公司 | Friction stir welding system with rotation speed intelligently controlled |
| US11311957B2 (en) | 2018-03-16 | 2022-04-26 | Rolls-Royce Plc | Applying a cladding layer to a surface of a component using a cladding tool having a maximum reach less than the size of the surface |
| CN114406440A (en) * | 2021-12-30 | 2022-04-29 | 航天工程装备（苏州）有限公司 | Ultra-long cantilever type friction stir welding trajectory deviation correction method |
| CN115519233A (en) * | 2022-09-15 | 2022-12-27 | 青岛寰宇乾堃航天特种设备有限公司 | Friction stir welding weld joint spindle device and centering method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202461768U (en) * | 2012-03-15 | 2012-10-03 | 万军 | Automatic welding system for butt joint of splice plates |
| WO2013026573A2 (en) * | 2011-08-24 | 2013-02-28 | Wartmann Technologie Ag | Method and system for the creation of a butt joint between rotationally symmetrical members |
| CN103203526A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | Laser visual tracking system |
| CN103358023A (en) * | 2013-07-18 | 2013-10-23 | 江苏和昊激光科技有限公司 | Automatic alignment laser tailor-welding system |
| CN203245485U (en) * | 2013-04-24 | 2013-10-23 | 中石化石油工程机械有限公司沙市钢管厂 | Intelligent tracking device of submerged-arc welding gun |
-
2015
- 2015-10-27 CN CN201510707960.6A patent/CN105234553A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013026573A2 (en) * | 2011-08-24 | 2013-02-28 | Wartmann Technologie Ag | Method and system for the creation of a butt joint between rotationally symmetrical members |
| CN103203526A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | Laser visual tracking system |
| CN202461768U (en) * | 2012-03-15 | 2012-10-03 | 万军 | Automatic welding system for butt joint of splice plates |
| CN203245485U (en) * | 2013-04-24 | 2013-10-23 | 中石化石油工程机械有限公司沙市钢管厂 | Intelligent tracking device of submerged-arc welding gun |
| CN103358023A (en) * | 2013-07-18 | 2013-10-23 | 江苏和昊激光科技有限公司 | Automatic alignment laser tailor-welding system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562973A (en) * | 2016-02-29 | 2016-05-11 | 华南理工大学 | Eight-axis robot space curve welding system and method for recognizing welding line by means of lasers |
| CN105562973B (en) * | 2016-02-29 | 2017-08-25 | 华南理工大学 | A kind of laser identification axle robot space curve welding system of weld seam 8 and method |
| CN106271028A (en) * | 2016-09-07 | 2017-01-04 | 东南大学 | A kind of agitating friction girth welding connects the method for dissimilar metal |
| US11311957B2 (en) | 2018-03-16 | 2022-04-26 | Rolls-Royce Plc | Applying a cladding layer to a surface of a component using a cladding tool having a maximum reach less than the size of the surface |
| CN113245687A (en) * | 2021-06-21 | 2021-08-13 | 宁波齐云新材料技术有限公司 | Friction stir welding system with rotation speed intelligently controlled |
| CN113245687B (en) * | 2021-06-21 | 2021-11-02 | 宁波齐云新材料技术有限公司 | Friction stir welding system with rotation speed intelligently controlled |
| CN114406440A (en) * | 2021-12-30 | 2022-04-29 | 航天工程装备（苏州）有限公司 | Ultra-long cantilever type friction stir welding trajectory deviation correction method |
| CN115519233A (en) * | 2022-09-15 | 2022-12-27 | 青岛寰宇乾堃航天特种设备有限公司 | Friction stir welding weld joint spindle device and centering method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105234553A (en) | Real-time adjustment system and method for welding seams of circular-seam friction stir welding of cylinder sections | |
| CN204414117U (en) | A kind of vision positioning welding machine people | |
| CN102485401B (en) | Automatic corrugated pipe welding equipment for transformer and welding method thereof | |
| CN102029463B (en) | Device for controlling deflection correction of MIG/MAG backing weld joint of pipe based on visual sensor | |
| JPH03151180A (en) | Joint chasing type precision laser welding system | |
| CN102590245A (en) | Intelligent X-ray digital flat imaging detection system device and detection method | |
| CN105458483A (en) | Automatic correcting and ultrasonic impacting system of post-welding seam tracking robot | |
| CN109903342B (en) | Laser in-situ processing equipment and method based on scanning galvanometer | |
| CN107378246A (en) | A kind of method and system for correcting laser welding track | |
| CN205650975U (en) | Non - tender automation of welding system of processing based on structured light vision | |
| CN111014879A (en) | Automatic welding method for corrugated plate of robot based on laser weld seam tracking | |
| CN103231162A (en) | Device and method for visual detection of welding quality of robot | |
| CN106238946A (en) | Wire filling laser welding quality on-line checking and dimension feedback system and method | |
| CN106735963B (en) | A kind of machining beams space propagation pointing accuracy detection device | |
| CN204470838U (en) | A kind of welding robot control system | |
| CN106041296A (en) | Online dynamic vision laser precise processing method | |
| WO2020059686A1 (en) | Friction stir joining device | |
| CN105983802A (en) | Control system and method for welding robot | |
| CN115464263A (en) | Automatic tracking method, detection method and device for laser welding seam | |
| CN204234993U (en) | With weldering ultrasonic impact intelligent robot TT&C system | |
| CN108971757B (en) | Thick-walled structure part ultra-narrow gap on-line checking and welding deviation synchronous compensator plant | |
| CN114346485A (en) | Laser welding trajectory planning method for dense-arrangement pipe space curve under weld joint tracking | |
| CN104061888A (en) | Robot three-dimensional laser machining head TCP coordinate correcting method and device | |
| RU144469U1 (en) | DEVICE FOR LASER MULTILAYER SURFACE OF POWDER MATERIALS | |
| CN105425721A (en) | Intelligent teaching method of closed-loop control and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160113 |