CN110153355A - Self-piercing frictional rivet welding quality on-line checking and rivet welding process control method and system - Google Patents
Self-piercing frictional rivet welding quality on-line checking and rivet welding process control method and system Download PDFInfo
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- CN110153355A CN110153355A CN201810148626.5A CN201810148626A CN110153355A CN 110153355 A CN110153355 A CN 110153355A CN 201810148626 A CN201810148626 A CN 201810148626A CN 110153355 A CN110153355 A CN 110153355A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/02—Riveting procedures
- B21J15/025—Setting self-piercing rivets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/02—Riveting procedures
- B21J15/027—Setting rivets by friction heating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
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Abstract
A kind of self-piercing frictional rivet welding quality on-line checking and rivet welding process control method and system, the system includes: the adjustable rotary motion driving device of output revolving speed being connected with rivet drive rod, the adjustable straight-line feed kinematic driving unit of feed speed and sensing detection device and exports control instruction to rotary motion driving device and straight-line feed kinematic driving unit respectively, from the feed back control system of sensing detection device acquisition control information, in which: workpiece setting to be connected is below rivet drive rod and rivet.The present invention can significantly improve self-piercing frictional rivet welding joint quality and realize the online non-destructive testing of joint quality.
Description
Technical field
The present invention relates to a kind of technology of lightweighting materials connection area, specifically a kind of self-piercing frictional rivet welding quality
On-line checking and rivet welding process control method and system.
Background technique
Mechanical interlocked and frictional heat generation amount during self-piercing frictional rivet welding between rivet and plate is to low elongation material
Softening degree and the mechanical property that connector has been codetermined to the inhibitory effect of crackle.Self-piercing frictional rivet welding technique can be at present
Reach by using high revolving speed or long process time and increase heat amount, inhibits the effect of crackle, however, sufficiently soften in plate
Meanwhile rivet resistance of deformation reduces, and causes rivet plastic deformation insufficient, so that effective mechanical mutual can not be formed between plate
Lock.And when using the process time of the slow-speed of revolution or shorter, increase rivet amount of plastic deformation although can achieve, improves mechanical mutual
The purpose of hold depth, but since material softening is insufficient, it cannot be completely eliminated the crackle in low elongation material.As it can be seen that it is existing from
Piercing frictional rivet welding process control method, which cannot achieve, to be made to be mechanically connected effect maximized effect while eliminating crackle.
On the other hand, self-piercing frictional rivet welding connector forming process is complicated, joint quality by technical factors such as rivet, molds and
The technological parameters such as revolving speed, feed speed codetermine, and joint quality control is difficult.The quality evaluation of self-piercing frictional rivet welding connector at present
Fully rely on damage type detection, including destructive mechanical test and metallographic observation method.Destructive mechanical test is to riveted joint
It carries out loading under specific stress and rate until destroying the dynamic and static mechanics intensity to judge connector.It is common destructive
Mechanical test cuts, removes, just drawing including drawing and the mechanical tests such as fatigue.Metallographic observation method is diametrically to cut riveted joint,
And the features such as geometrical morphology and material composition, hardness that connector is judged under certain standard, judge to be mechanically connected and consolidate with this
The quality being connected.Damage type detection method is a kind of most direct most reliable side of measurement self-piercing frictional rivet welding joint quality quality
Method, but this is quality determining method under a kind of line, not only efficiency low-cost is high, but also is unable to reach 100% detection, thus
The quality testing not being suitable in automatic mass production.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of self-piercing frictional rivet welding quality on-line checking and riveting
Welding control method and system, by being adopted in real time to signals such as power, torque, displacements in self-piercing frictional rivet welding technical process
Collection is calculated with real-time, and adjusts the technological parameter of different phase in real time based on calculated result, is realized to self-piercing frictional rivet welding technique
The dynamic realtime of heat input and rivet force regulates and controls in the process, to achieve the purpose that control joint forming quality.Meanwhile being based on work
The characteristic value that skill finish time force-displacement curve is calculated judges that joint quality is qualified or not, and can lack to unqualified connector
It is trapped into capable classification.This method can be improved self-piercing frictional rivet welding joint quality and realize the online non-destructive testing of joint quality.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of rivet welding quality online test methods, comprising the following steps:
Step i: by testing the riveting force-time curve obtained under different technical parameters, torque-time curves several times
And displacement-time curve；
Step ii: butt joint quality is screened, and it is bent that rivet force corresponding to up-to-standard connector-displacement is calculated
Line and total heat input value；
Step iii: riveting force-displacement curve and total heat input value to acceptable splice carry out numerical value processing and calculate determination
The boundary of characteristic value and characteristic value tolerance range；
Step iv: self-piercing frictional rivet welding joint quality is measured in real time using characteristic value and characteristic value tolerance range.
The test several times refers to: same work piece match is directed to, using identical rivet and die assembly, in difference
The experiment carried out under technological parameter, changes in process parameters range cover straight-line feed kinematic driving unit and rotary motion driving dress
Set the entire scope of output speed.
The characteristic value and characteristic value tolerance range boundary include:
1. rivet enters the coboundary of the maximum riveting force value before lower plywood in riveting force-displacement curve；
2. riveting coboundary and the lower boundary of the maximum riveting force value in force-displacement curve；
3. coboundary and the lower boundary of the heat input magnitude in entire technical process；
4. rivet enters coboundary and the lower boundary of the wave crest quantity before lower plywood in riveting force-displacement curve.
The wave crest refers to that rivet force has an obvious ascendant trend before the displacement point for reaching rivet force wave crest, and
Rivet force decreased significantly trend after the displacement point.
The acceptable splice refers to that rivet penetrates whole plates in addition to lowest level plate, and in lowest level plate outward
It opens, forms it between lowest level plate after deformation effectively mechanical interlocked, while gapless between rivet and plate, connector
In be not present crackle the defects of.
It is described it is mechanical interlocked degree, i.e. shaft of rivet tip diameter can be flared out by the shaft of rivet, characterized.
The real-time detection refers to: when all characteristic values of self-piercing frictional rivet welding connector are in the tolerance range, then
Testing result is qualification, otherwise:
1) the maximum riveting force value before riveting rivet in force-displacement curve and entering lower plywood is in the characteristic value tolerance
Band boundary 1. top when, testing result be the shaft of rivet open in advance, there are gaps between the shaft of rivet and lower plywood in connector；
2) when riveting the maximum riveting force value in force-displacement curve at the characteristic value tolerance range boundary 2. lower section,
Testing result is that the shaft of rivet opens deficiency, and mechanical mutual hold depth is less than feasible value；
3) when riveting the maximum riveting force value in force-displacement curve at the characteristic value tolerance range boundary 2. top,
Testing result is that the shaft of rivet jumping-up occurs；
4) when heat input magnitude is above the characteristic value 3. tolerance range in entire technical process, testing result is heat
Input excessive, lower layer's plate material, which is extruded, in connector flows to connector bottom margin, causes connector bottom residual thickness insufficient；
5) when heat input magnitude is below the characteristic value 3. tolerance range in entire technical process, testing result is heat
Input is insufficient, and there are crackles in connector；
6) when in riveting force-displacement curve rivet enter the wave crest quantity before lower plywood in the characteristic value 4. tolerance range
When top, testing result is that shaft of rivet tip is dug outward, in connector between the shaft of rivet and top plate, between the shaft of rivet and lower plywood
There are gaps, and jumping-up occurs in the shaft of rivet；
7) when in riveting force-displacement curve rivet enter the wave crest quantity before lower plywood in the characteristic value 4. tolerance range
When lower section, testing result is that rivet can not penetrate top plate；
8) when 1)~7) in two or more conditions simultaneously when meeting, testing result is two corresponding to corresponding conditions
The addition of a or more than two single testing results.
The present invention relates to a kind of on-line detecting systems for realizing the above method, comprising: the output being connected with rivet drive rod
The adjustable rotary motion driving device of revolving speed, the adjustable straight-line feed kinematic driving unit of feed speed and sensing detection device
And control instruction is exported to rotary motion driving device and straight-line feed kinematic driving unit respectively, it is adopted from sensing detection device
The feed back control system of collection control information, in which: workpiece setting to be connected is below rivet drive rod and rivet.
The rivet includes: rivet head and semitubular rivet body,
The sensing detection device includes: displacement sensor, force snesor, torque sensor and data collecting card.
The feed back control system is for the output to rotary motion driving device and straight-line feed kinematic driving unit
Speed carries out Discrete control, which includes: to be segmented by rivet force or be temporally segmented by displacement subsection.
The displacement is to be detected using the displacement sensor and data collecting card or linear motion device
The shift value (i.e. rivet feeding depth) of rivet drive rod in the axial direction.
The rivet force is the rivet drive rod that is detected using the force snesor and data collecting card along axis
The force value in line direction.
The optimization self-piercing frictional rivet welding technique based on above system that the present invention relates to a kind of, comprising the following steps:
Step 1: initializing set sets workpiece surface position to be connected as zero displacement point, and sets rivet movement
It is time zero at the time of to zero displacement point, the driving quick straight line of rivet is fed to zero crossings；
Step 2: driving rivet moves under low feed speed and high revolving speed, and swivel feeding is pierced into workpiece to be connected, thus
Obtain biggish Heat input coefficient；
Step 3: calculating the real-time heat input of technical process in real time, i.e.,Its
In: EinputFor heat input, F is the rivet drive rod that is detected using the force snesor and data collecting card along axis side
To force value, M is the rivet drive rod that is detected using the torque sensor and data collecting card along rivet axis side
To torque value, f is the feed speed value that the straight-line feed telecontrol equipment exports, and ω is the rotation device
Tachometer value is exported, T is the process time.
Step 4: driving rivet in high feed speed and low turn when heat input reaches threshold values and rivet enters lower layer's workpiece
The lower swivel feeding of speed is to final feeding depth, to obtain biggish rivet force；Otherwise when heat input reaches threshold values and rivet not
When being pierced into lowest level workpiece, reduces revolving speed and/or increase straight-line feed speed, until rivet is pierced into lower layer's workpiece, and press step 2
Continue；Or it when rivet is pierced into lower layer's workpiece and heat input is not up to threshold values, reduces straight-line feed speed and/or increase turns
Speed until heat input reaches threshold values, and is continued by step 2.
The process time is the time undergone since zero displacement point to current time.
The rivet enters lower layer's workpiece and feeds displacement judgement by rivet, when feeding displacement is more than upper layer thickness of workpiece
When, judge that rivet enters lowest level workpiece.
The low feed speed and high revolving speed are used but are not limited to: 2.0 mm/second of feed speed, and revolving speed is 4000 turns/
Minute.
The high feed speed is less than or equal to the straight-line feed movement that the straight-line feed kinematic driving unit exports
The upper limit of speed.
The high revolving speed is less than or equal to the upper limit for the rotary motion speed that the rotary motion driving device exports.
Technical effect
Compared with prior art, the present invention may be implemented to the accurate of heat input during self-piercing frictional rivet welding and rivet force
Control improves joint quality；Inhibition is not can be implemented simultaneously when solving using unistage type self-piercing frictional rivet welding process parameter control
Crackle and make mechanical interlocked maximized problem；The non-destructive of self-piercing frictional rivet welding connector, online matter may be implemented in the present invention
Amount detection.
Detailed description of the invention
Fig. 1 is embodiment system structure diagram；
Fig. 2 is the displacement versus time schematic diagram obtained using present invention process control method；
Fig. 3 is the feed speed-time diagram obtained using present invention process control method；
Fig. 4 is the speed versus time schematic diagram obtained using present invention process control method；
Fig. 5 is the power-time diagram obtained using present invention process control method；
Fig. 6 is the torsion-time schematic diagram obtained using present invention process control method；
Fig. 7 is the heat input-time diagram obtained using present invention process control method；
Fig. 8 (a)-(l) is the self-piercing frictional rivet welding contact cross-section geometrical morphology for verifying present invention process control method；
Fig. 9 is rivet force-displacement diagram that characteristic value tolerance range is determined for rivet welding quality determining method of the present invention；
Figure 10 is the method for determining heat input tolerance range for rivet welding quality determining method of the present invention；
Figure 11 (a) and (b) are detect to self-piercing frictional rivet welding connector using rivet welding quality determining method of the present invention
Rivet force-the displacement diagram arrived；
Figure 12 is the total heat detected using rivet welding quality determining method of the present invention to self-piercing frictional rivet welding connector
Input schematic diagram；
In figure: rotary motion driving device 1, straight-line feed kinematic driving unit 2, force snesor 3, torque sensor 4, position
Displacement sensor 5, data collecting card 6, computing module 7, rivet drive rod 8, rivet 9, mold 10, workpiece to be connected 11,12, rivet
Head 13, the shaft of rivet 14.
Specific embodiment
Embodiment 1
The present embodiment is related to a kind of self-piercing frictional rivet welding quality online test method, comprising the following steps:
Step 1: fixing rivet feeding depth is 5.3 millimeters, is carried out certainly using 12 groups of different technical parameters to workpiece 11,12
Piercing frictional rivet welding connection, obtains the riveting force-time curve under 12 groups of technological parameters, and torque-time curves and displacement versus time are bent
Line；
12 groups of different technical parameters are all made of single hop parameter, and wherein feed speed is divided into 3 kinds of 2,5,8 mm/second,
Revolving speed is divided into 1800,2400,3000,3600 revs/min 4 kinds, for convenient for differentiation, it is marked by feed speed-revolving speed,
Such as 2-1800 represents feed speed as 2 mm/seconds, the technological parameter that revolving speed is 1800 revs/min.
Step 2: quality screening is carried out using the method for metallographic observation to the connector under 12 groups of technological parameters.Such as Fig. 8 (a)-
(l) it show the self-piercing frictional rivet welding contact cross-section geometrical morphology obtained using 12 groups of technological parameters.5-2400 in the present embodiment,
Connector under this 5 parameters of 5-3000,5-3600,8-3000,8-3600 is acceptable splice, i.e. the shaft of rivet 14 penetrates top plate
The mechanical mutual hold depth 35 formed between 11, with lower plywood 12 is all larger than 6 millimeters, and between the shaft of rivet 14 and plate 11-12 continuously
Crackle is not present in connector for gap.Remaining 7 parameter lower contact is defective connector, wherein 2-1800,2-2400,2-3000,
The defect of this 4 connectors of 2-3600 is that mechanical mutual hold depth 35 is respectively less than 6 millimeters；The defect of 5-1800 connector be the shaft of rivet 14 with it is upper
There are gaps 36 between laminate 11, and there are gap 37 between the shaft of rivet 14 and lower plywood 12, jumping-up 38 occurs in the shaft of rivet 14；8-1800 connects
The defect of head is that rivet 9 fails to penetrate top plate 11, and there are gap 37 between the shaft of rivet 14 and top plate 11, upsetting occurs in the shaft of rivet 13
Thick 38, there are crackles 39 between top plate 11 and lower plywood 12；The defect of 8-2400 connector is deposited between the shaft of rivet 14 and lower plywood 12
In gap 37.It is obtained by computing module total under the riveting force-displacement curve 39 and different technical parameters of all acceptable splices
Heat input value 40.
Step 3: numerical value processing being carried out to 5 acceptable splice riveting force-displacement curves 39 and total heat input value 40 and is calculated
Determine the characteristic value tolerance range on the basis of this 5 data, comprising:
1. rivet enters the coboundary 41 of the maximum riveting force value before lower plywood in riveting force-displacement curve are as follows: 3.1 thousand Ns
?；
2. riveting coboundary 42 and the lower boundary difference 43 of the maximum riveting force value in force-displacement curve are as follows: 6.2 thousand newton
With 8.2 thousand newton；
3. the coboundary 44 of the heat input magnitude in entire technical process and lower boundary 45 are respectively as follows: 1230 joules and 725
Joule；
4. rivet enters the wave crest quantity 46 before lower plywood in riveting force-displacement curve are as follows: 1.
Rivet force-displacement of 7 connectors in the connector that step 4:12 group technological parameter obtains in addition to 5 acceptable splices
Curve and heat input value respectively as is illustrated by figs. 11 and 12, quality testing and defect classification are carried out to it method particularly includes:
1) connector for being obtained under tetra- technological parameters of 2-1800,2-2400,2-3000,2-3600
A) it rivets rivet in force-displacement curve to enter the maximum riveting force value before lower plywood public in the characteristic value
Difference band is 1. interior；
B) its rivet the maximum riveting force value in force-displacement curve the characteristic value tolerance range 2. other than, specially
43 lower section of lower boundary of characteristic value tolerance range 2.；
C) in its technical process heat input value the characteristic value tolerance range 3. other than, specially in the characteristic value
Tolerance range is 3. above coboundary 44；
D) it is 1 that it, which rivets rivet in force-displacement curve to enter the wave crest quantity before lower plywood, with 46 phase of reference characteristic value
Together.
Therefore, the tool joint monitor result obtained under four technological parameters are as follows: the shaft of rivet opens deficiency, and mechanical mutual hold depth is small
In feasible value；Heat input is excessive, and lower layer's plate material, which is extruded, in connector flows to connector bottom margin, and connector bottom residual thickness is not
Foot.The testing result is consistent with experimental result shown in Fig. 8 (a)-(d).
2) connector for being obtained under 5-1800 technological parameter
A) it rivets rivet in force-displacement curve to enter the maximum riveting force value before lower plywood not public in the characteristic value
Difference band is 1. interior, specially above the characteristic value tolerance range 1. boundary 41；
B) it is 2. interior in the characteristic value tolerance range to rivet the maximum riveting force value in force-displacement curve for it；
C) in its technical process heat input value the characteristic value tolerance range 3. other than, specially in the characteristic value
Tolerance range is 3. above coboundary 44；
D) it is 2 that it, which rivets rivet in force-displacement curve to enter the wave crest quantity before lower plywood, not with reference characteristic value 46
Together.
Therefore, the tool joint monitor result obtained under the technological parameter are as follows: the shaft of rivet opens in advance, and the shaft of rivet is under in connector
There are gaps between laminate；Heat input is excessive, and lower layer's plate material, which is extruded, in connector flows to connector bottom margin, and connector bottom is remaining
Thickness is insufficient；Shaft of rivet tip is dug outward, between the shaft of rivet and top plate, there is gap, and riveting between the shaft of rivet and lower plywood
There is jumping-up in rivet nut.The testing result is consistent with experimental result shown in Fig. 8 (h).
3) connector for being obtained under 8-1800 technological parameter
A) it rivets rivet in force-displacement curve to enter the maximum riveting force value before lower plywood not public in the characteristic value
Difference band is 1. interior, specially above the characteristic value tolerance range 1. boundary 41；
B) the maximum riveting force value in its riveting force-displacement curve is not 2. interior in the characteristic value tolerance range, specifically exists
The characteristic value tolerance range is 2. above coboundary 42；
C) in its technical process heat input magnitude the characteristic value tolerance range 3. other than, specially in the feature
It is worth tolerance range 3. 45 lower section of lower boundary；
D) it is 0 that it, which rivets rivet in force-displacement curve to enter the wave crest quantity before lower plywood, not with reference characteristic value 46
Together.
Therefore, the tool joint monitor result obtained under the technological parameter are as follows: the shaft of rivet opens in advance, and the shaft of rivet is under in connector
There are gap between laminate,；There is jumping-up in the shaft of rivet；Heat input is insufficient, and there are crackles for connector；Rivet can not penetrate top plate.It should
Testing result is consistent with experimental result shown in Fig. 8 (l).
4) connector for being obtained under 8-2400 technological parameter
A) it rivets rivet in force-displacement curve to enter the maximum riveting force value before lower plywood not public in the characteristic value
Difference band is 1. interior, specially above the characteristic value tolerance range 1. boundary 41；
B) the maximum riveting force value in its riveting force-displacement curve is not 2. interior in the characteristic value tolerance range, specifically exists
The characteristic value tolerance range is 2. above coboundary 42；
C) in its technical process heat input magnitude the characteristic value tolerance range 3. within；
D) it is 1 that it, which rivets rivet in force-displacement curve to enter the wave crest quantity before lower plywood, with 46 phase of reference characteristic value
Together.
Therefore, the tool joint monitor result obtained under the technological parameter are as follows: the shaft of rivet opens in advance, and the shaft of rivet is under in connector
There are gaps between laminate；There is jumping-up in the shaft of rivet.The testing result is consistent with experimental result shown in Fig. 8 (k).
As shown in Figure 1, for the on-line detecting system for realizing above-mentioned detection method, it includes rotary motion driving device 1, directly
Line feed motion driving device 2, force snesor 3, torque sensor 4, displacement sensor 5, data collecting card 6, computing module 7,
Rivet drive rod 8, rivet 9, mold 10 and workpiece 11-12 to be connected.
The rivet 9 includes rivet head 13 and the shaft of rivet 14, and rotary motion driving device 1 and straight-line feed movement are driven
Dynamic device 2 is connected with rivet drive rod 8, is respectively used to drive rivet 9 to make rotating motion in the axial direction 15 and feed motion 16,
The input terminal and output end of displacement sensor 5 are connected with rivet drive rod 8 and data collecting card 6 respectively, the input of force snesor 3
End and output end are connected with rivet drive rod 8 and 6 card of data acquisition respectively, input terminal and the output end difference of torque sensor 4
It is connected with rivet drive rod 8 and data collecting card 6, data collecting card 6 is connected with computing module 7, computing module 7 and rotary motion
Driving device 1 is connected with straight-line feed kinematic driving unit 2, and the head of rivet 9 and 8 joining distal ends of rivet drive rod touch, to even
14 side of the shaft of rivet that workpiece 11-12 is placed in rivet 9 is connect, mold 10 and rivet 9 are coaxially disposed, and are placed in the riveting of rivet 9
13 side of nail head.
The output revolving speed of the rotary motion driving device 1 are as follows: 0-4000 revs/min；
The output straight-line feed speed of the straight-line feed kinematic driving unit 2 are as follows: 0-11 mm/second；
The output speed of the rotary motion driving device 1 and the straight-line feed kinematic driving unit 2 can divide
1-10 sections are controlled, and control mode is by Bit andits control.
Rivet 9 in the present embodiment is semitubular rivet, and the diameter of rivet head 13 is 7.8 millimeters, outside the shaft of rivet 14
Diameter is 5.3 millimeters, 7.3 millimeters of 9 total length of rivet, 2.0 millimeters of the thickness of rivet head 13,5.3 millimeters of the length of the shaft of rivet 14.
Workpiece to be connected 11,12 in the present embodiment is equal are as follows: aluminium alloy AA7075-T6,2.0 millimeters of thickness.
The self-piercing frictional rivet welding technological parameter used in the present embodiment are as follows: first segment: 2.0 mm/second of feed speed, revolving speed
4000 revs/min, second segment: 11 mm/second of feed speed, 0 rev/min of revolving speed, total feed depth is 5.3 millimeters, heat input
Threshold values: 1900 joules.
Embodiment 2
The present embodiment is related to a kind of optimization self-piercing frictional rivet welding technique based on above system and online test method, including
Following steps:
Step 1: setting 11 upper surface of workpiece to be connected as zero displacement point 17, and set rivet and move to zero displacement point 17
Moment is time zero；
Step 2: setting feed motion 16 is 11 mm/seconds, and rotary motion 15 is 0 rev/min, makes the quick straight line of rivet 9
Being fed to the distance away from zero displacement point 17 is at 1.0 millimeters；
Step 3: setting first segment technological parameter, i.e., feed motion 16 be 2.0 mm/seconds, rotary motion 15 be 4000 turns/
Minute, driving 9 swivel feeding of rivet enters workpiece 11-12 to be connected.
Step 4: the real-time displacement-in technical process is obtained by force snesor 3, torque sensor 4 and data collecting card 6
Time graph 18, riveting force-time curve 19 and torque-time curves 20, and calculated in technical process using computing module 7
Real-time heat input-time graph 21:Wherein: EinputFor current time heat
Input, F are the force value using force snesor 3 and the rivet drive rod 8 of the acquisition of data collecting card 6 in the axial direction, and M is using institute
The torque value of the rivet drive rod 8 that the torque sensor 4 and data collecting card 6 stated obtain in the axial direction, T are from zero displacement point
Start the time undergone to current time.
Step 5: judging whether heat input is greater than 1900 joules and the feeding displacement of rivet 9 is greater than 2.0 millimeters.The present embodiment
In when the process time 22 be 1.0 seconds when, feeding displacement 23 be 2.0 millimeters, and heat input 24 at this time be 820 joules, be unsatisfactory for
Current time heat input 24 is greater than 1900 joules.Therefore setting feed motion 16 be 0.5 mm/second, rotary motion 15 be 4000 turns/
Minute, make rivet 9 continue with low speed feeding and rotate at high speed.
Step 6: when the process time 25 is 2.6 seconds, heat input 26 is greater than 1900 joules, and second segment technological parameter is arranged,
I.e. feed speed 15 is 11 mm/seconds, and revolving speed 14 is 0 rev/min, and the quick straight line of rivet 9 is made to be fed to final mean annual increment movement, i.e., 5.3
Millimeter.
Fig. 3 and Fig. 4 gives 16 versus time curve 27 of feed motion and rotary motion 17 changes with time song
Line 28；By setting the technological parameter and heat input threshold values 31 of initial segment 29 and ending segment 30, self-piercing friction riveting may be implemented
The automatic control of Welding process.Simultaneously, it can be seen that since the technique moment 25, rivet force 32 is steeply risen, and torque 33 subtracts
Less to zero, and heat input 34 is held essentially constant.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (9)
1. a kind of rivet welding quality online test method, which comprises the following steps:
Step i: by testing the riveting force-time curve obtained under different technical parameters, torque-time curves and position several times
Shifting-time graph；
Step ii: butt joint quality is screened, be calculated riveting force-displacement curve corresponding to up-to-standard connector and
Total heat input value；
Step iii: riveting force-displacement curve and total heat input value to acceptable splice carry out numerical value processing and calculate determining feature
The boundary of value and characteristic value tolerance range；
Step iv: self-piercing frictional rivet welding joint quality is measured in real time using characteristic value and characteristic value tolerance range, this feature
Value and characteristic value tolerance range boundary include:
1. rivet enters the coboundary of the maximum riveting force value before lower plywood in riveting force-displacement curve；
2. riveting coboundary and the lower boundary of the maximum riveting force value in force-displacement curve；
3. coboundary and the lower boundary of the heat input magnitude in entire technical process；
4. rivet enters coboundary and the lower boundary of the wave crest quantity before lower plywood in riveting force-displacement curve.
2. according to the method described in claim 1, it is characterized in that, the test several times refers to: be directed to same workpiece
Match, using identical rivet and die assembly, the experiment carried out under different technical parameters, changes in process parameters range covers straight line
The entire scope of feed motion driving device and rotary motion driving device output speed.
3. according to the method described in claim 1, it is characterized in that, the real-time detection refers to: when self-piercing frictional rivet welding connector
All characteristic values in the tolerance range, then testing result be qualification, otherwise:
1) the maximum riveting force value before riveting rivet in force-displacement curve and entering lower plywood is in the characteristic value tolerance band edge
Boundary 1. top when, testing result be the shaft of rivet open in advance, there are gaps between the shaft of rivet and lower plywood in connector；
2) it when riveting the maximum riveting force value in force-displacement curve at the characteristic value tolerance range boundary 2. lower section, detects
As a result deficiency is opened for the shaft of rivet, mechanical mutual hold depth is less than feasible value；
3) it when riveting the maximum riveting force value in force-displacement curve at the characteristic value tolerance range boundary 2. top, detects
As a result there is jumping-up for the shaft of rivet；
4) when heat input magnitude is above the characteristic value 3. tolerance range in entire technical process, testing result is heat input
Excessive, lower layer's plate material, which is extruded, in connector flows to connector bottom margin, causes connector bottom residual thickness insufficient；
5) when heat input magnitude is below the characteristic value 3. tolerance range in entire technical process, testing result is heat input
Deficiency, there are crackles in connector；
6) the wave crest quantity before riveting rivet in force-displacement curve and entering lower plywood is above the characteristic value 4. tolerance range
When, testing result is that shaft of rivet tip is dug outward, is existed between the shaft of rivet and top plate, between the shaft of rivet and lower plywood in connector
Gap, and there is jumping-up in the shaft of rivet；
7) the wave crest quantity before riveting rivet in force-displacement curve and entering lower plywood is below the characteristic value 4. tolerance range
When, testing result is that rivet can not penetrate top plate；
8) when 1)~7) in two or more conditions simultaneously when meeting, testing result be corresponding to corresponding conditions two or
The addition of more than two single testing results.
4. a kind of on-line detecting system for realizing any of the above-described claim the method characterized by comprising driven with rivet
The connected adjustable rotary motion driving device of output revolving speed of lever, the adjustable straight-line feed kinematic driving unit of feed speed with
And sensing detection device and control instruction is exported to rotary motion driving device and straight-line feed kinematic driving unit respectively, from
The feed back control system of sensing detection device acquisition control information, in which: workpiece setting to be connected is in rivet drive rod and rivet
Lower section；
The feed back control system is used for the output speed to rotary motion driving device and straight-line feed kinematic driving unit
Discrete control is carried out, which includes: to be segmented by rivet force or be temporally segmented by displacement subsection.
5. system according to claim 4, characterized in that the sensing detection device includes: displacement sensor, power biography
Sensor, torque sensor and data collecting card；
The displacement is the rivet detected using the displacement sensor and data collecting card or linear motion device
The shift value of drive rod in the axial direction；
The rivet force is the rivet drive rod that is detected using the force snesor and data collecting card along axis side
To force value.
6. a kind of optimization self-piercing frictional rivet welding technique based on the system of claim 4 or 5, which is characterized in that including following
Step:
Step 1: initializing set sets workpiece surface position to be connected as zero displacement point, and sets rivet movement in place
It is time zero at the time of moving zero point, the driving quick straight line of rivet is fed to zero crossings；
Step 2: driving rivet moves under low feed speed and high revolving speed, and swivel feeding is pierced into workpiece to be connected, to obtain
Biggish Heat input coefficient；
Step 3: calculating the real-time heat input of technical process in real time, i.e.,Wherein:
EinputFor heat input, F be the rivet drive rod that is detected using the force snesor and data collecting card in the axial direction
Force value, M is the rivet drive rod that is detected using the torque sensor and data collecting card along rivet axis direction
Torque value, f is the feed speed value that the straight-line feed telecontrol equipment exports, and ω is the defeated of the rotation device
Tachometer value out, T are the process time；
Step 4: driving rivet under high feed speed and the slow-speed of revolution when heat input reaches threshold values and rivet enters lower layer's workpiece
Swivel feeding is to final feeding depth, to obtain biggish rivet force；Otherwise when heat input reaches threshold values and rivet is not pierced into
It when lowest level workpiece, reduces revolving speed and/or increases straight-line feed speed, until rivet is pierced into lower layer's workpiece, and continue by step 2
It carries out；Or when rivet is pierced into lower layer's workpiece and heat input is not up to threshold values, reduces straight-line feed speed and/or increase revolving speed,
Until heat input reaches threshold values, and continue by step 2.
7. technique according to claim 6, characterized in that the rivet enters lower layer's workpiece and feeds displacement by rivet
Judgement judges that rivet enters lowest level workpiece when feeding displacement is more than upper layer thickness of workpiece.
8. technique according to claim 6, characterized in that the low feed speed and high revolving speed use: feed speed
2.0 mm/seconds, revolving speed are 4000 revs/min.
9. technique according to claim 6, characterized in that the high feed speed is less than or equal to the straight-line feed
The upper limit of the straight-line feed movement velocity of kinematic driving unit output；The high revolving speed is less than or equal to the rotary motion and drives
The upper limit of the rotary motion speed of dynamic device output.
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