CN111421233B - Engine thrust chamber welding control device and method for spacecraft - Google Patents
Engine thrust chamber welding control device and method for spacecraft Download PDFInfo
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- CN111421233B CN111421233B CN202010540681.6A CN202010540681A CN111421233B CN 111421233 B CN111421233 B CN 111421233B CN 202010540681 A CN202010540681 A CN 202010540681A CN 111421233 B CN111421233 B CN 111421233B
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- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention provides an engine thrust chamber welding control device of a spacecraft, which comprises an image recognition module, wherein a vision sensor is arranged on a first mechanical arm close to a laser generating device, and the image recognition module is configured to acquire a first path image vertically below the laser generating device of the engine thrust chamber through the vision sensor; the distance monitoring module is used for monitoring a first vertical distance between the laser generating device and a welding position of an engine thrust chamber through the displacement sensor; and the control module is used for selecting a path according to the first path image of the image identification module, calculating the laser energy value sent by the laser generating device according to the first vertical distance from the monitoring module, and controlling the laser generating device to send the energy value laser. The control device can realize automatic control of the welding process of the engine thrust chamber, and the welded thrust chamber is precise and reliable.
Description
Technical Field
The invention relates to the technical field of manufacturing of an engine thrust chamber of a spacecraft, in particular to a welding control device and method for the engine thrust chamber of the spacecraft.
Background
The thrust chamber is a component in the engine of the space carrier, which is responsible for expanding, accelerating and ejecting fuel gas to obtain reverse thrust. In the prior art, after the inner wall and the outer wall of a milling groove are assembled together, the thrust chamber of an engine is welded together by a laser beam of a high-power-density fiber laser through an automatic welding robot.
However, the automatic welding robot cannot intelligently identify the welding path and adjust the laser energy, so that the problems of large welding deformation of the thrust chamber, low fitting degree of the inner wall and the outer wall, defect repair and the like after laser welding are caused.
In view of this, it is desirable to provide a device and a method for controlling welding of an engine thrust chamber of an aerospace vehicle, so as to automatically control the welding process of the engine thrust chamber, improve the production efficiency, and make the welded thrust chamber more precise and reliable.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the welding control device and the welding control method for the engine thrust chamber of the spacecraft, which can improve the welding quality, the production efficiency and the welding flexibility and realize the automatic control of the welding process of the engine thrust chamber.
The invention provides an engine thrust chamber welding control device of a spacecraft, which comprises: the image recognition module is arranged on a first mechanical arm close to the laser generating device and is configured to acquire a first path image vertically below the laser generating device of the engine thrust chamber through the vision sensor; a distance monitoring module, wherein a displacement sensor is arranged on a first mechanical arm close to the laser generating device, and the distance monitoring module is configured to monitor a first vertical distance between the laser generating device and a welding position of an engine thrust chamber through the displacement sensor; and the control module is used for selecting a path according to the first path image of the image identification module, calculating the laser energy value sent by the laser generating device according to the first vertical distance of the distance monitoring module, and controlling the laser generating device to emit the energy value laser.
According to an embodiment of the invention, the engine thrust chamber welding control device of the spacecraft further comprises: and the adjusting module is used for controlling the rotation of a mandrel for fixing the engine thrust chamber to weld a second path after the welding of the first path of the engine thrust chamber is finished.
According to one embodiment of the invention, the control module comprises: the first inspection module compares the acquired first path image welding position with a first preset path welding position, if deviation exists, a second distance between the first path image welding position and the first preset path welding position in the circumferential direction needs to be calculated, and the control module controls the first mechanical arm to move the second distance to enable the first mechanical arm to recover to the first preset path welding position.
According to one embodiment of the invention, the control module comprises: and the second inspection module is used for monitoring the width of the welding joint at the welding position by the image recognition module, and controlling the laser generating device to continuously emit laser with corresponding energy if the width of the welding joint is smaller than the preset width control module until the width of the welding joint reaches the preset width.
According to one embodiment of the invention, the control module comprises: and the control module controls the laser generating device to continue to emit laser for welding until the first vertical distance reaches the preset distance when the distance monitoring module monitors that the first vertical distance from the welding position is smaller than the preset distance.
In another aspect, the present invention further provides a method for controlling welding of an engine thrust chamber of an aerospace vehicle, including: arranging a visual sensor on a first mechanical arm close to a laser generating device, and acquiring a first path image vertically below the laser generating device of an engine thrust chamber through the visual sensor; arranging a displacement sensor on a first mechanical arm close to the laser generating device, and monitoring a first vertical distance between the laser generating device and a welding part of an engine thrust chamber through the displacement sensor; and selecting a path according to the first path image of the vision sensor, calculating the laser energy value sent by the laser generating device according to the first vertical distance, and controlling the laser generating device to send the laser with the energy value.
According to an embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and after the welding of the first path of the engine thrust chamber is finished, controlling a mandrel for fixing the engine thrust chamber to rotate, and welding the second path.
According to an embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and comparing the first path image welding position obtained by the vision sensor with a first preset path welding position, if deviation exists, calculating a second distance between the first path image welding position and the first preset path welding position in the circumferential direction, and controlling the first mechanical arm to move the second distance so as to restore the second distance to the first preset path welding position.
According to an embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and monitoring the width of the welding joint at the welding position shot by the vision sensor, and if the width of the welding joint is smaller than the preset width, continuing to emit laser with corresponding energy until the width of the welding joint reaches the preset width.
According to an embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and when monitoring that the first vertical distance of the displacement sensor is smaller than the preset distance, controlling the laser generating device to continuously emit laser for welding until the first vertical distance reaches the preset distance.
According to the engine thrust chamber welding control device of the aerospace vehicle, the image recognition module, the distance monitoring module and the control module are arranged, so that the welding process of the engine thrust chamber can be automatically controlled, the production efficiency is improved, the image recognition module enables the welding of the engine thrust chamber to be accurately finished according to a set path, the distance monitoring module enables the laser generating device to emit laser beams with corresponding energy, and welding joints formed by the engine thrust chamber are more uniform.
Those skilled in the art will recognize additional features and advantages upon reading the detailed description, and upon viewing the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of an engine thrust chamber weld control arrangement according to an embodiment of the present disclosure;
FIGS. 2a and 2b are schematic views of an engine thrust chamber base and housing, respectively, according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an engine thrust chamber weld control arrangement according to an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of a cross-section of an engine thrust chamber of an embodiment of the present invention;
FIG. 5 is a schematic illustration of a cross-section of a welded engine thrust chamber of an embodiment of the present invention;
FIG. 6 is a schematic illustration of a cross-section of a welded engine thrust chamber of another embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention, for the purposes of illustrating the principles of the invention. Additionally, the components in the drawings are not necessarily to scale. For example, the dimensions of some of the elements or regions in the figures may be exaggerated relative to other elements or regions to help improve understanding of embodiments of the present invention.
The directional terms used in the following description are used in the illustrated directions, and do not limit the specific configurations of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
Furthermore, the terms "comprises," "comprising," "includes," "including," "has," "having" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure or component comprising a list of elements does not include only those elements but may include other mechanical components not expressly listed or inherent to such structure or component. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Spatially relative terms such as "below," "… below," "lower," "above," "… above," "upper," and the like are used for convenience in describing the positioning of one element relative to a second element and are intended to encompass different orientations of the device in addition to different orientations than those illustrated in the figures. Further, for example, the phrase "one element is over/under another element" may mean that the two elements are in direct contact, or that there is another element between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be taken as limiting. Like terms refer to like elements throughout the description.
In describing the present invention below, it is possible to use only "launch vehicles" in certain context of description, this is for convenience of description only, and the scope of the present invention is not limited to the specific words used. In general, the spacecraft of the present invention may include launch vehicles and similar products capable of launching a payload into the air. Those skilled in the art, in interpreting the above specific terms, should not be construed as limiting the vehicle to a launch vehicle, but rather as limiting the scope of the invention to a launch vehicle, depending on the specific terms used in describing the scenario.
FIG. 1 is a schematic diagram of an engine thrust chamber weld control arrangement according to an embodiment of the present disclosure; FIGS. 2a and 2b are schematic views of an engine thrust chamber base and housing, respectively, according to an embodiment of the present invention; FIG. 3 is a schematic diagram of an engine thrust chamber weld control arrangement according to an embodiment of the present disclosure; FIG. 4 is a schematic illustration of a cross-section of an engine thrust chamber of an embodiment of the present invention; FIG. 5 is a schematic illustration of a cross-section of a welded engine thrust chamber of an embodiment of the present invention; FIG. 6 is a schematic illustration of a cross-section of a welded engine thrust chamber of another embodiment of the present invention.
As shown in fig. 1, the present invention provides an engine thrust chamber welding control device for an aerospace vehicle, comprising: the image recognition module is arranged on a first mechanical arm close to the laser generating device and is configured to acquire a first path image vertically below the laser generating device of the engine thrust chamber through the vision sensor; the distance monitoring module is used for monitoring a first vertical distance between the laser generating device and a welding position of an engine thrust chamber through the displacement sensor; and the control module is used for selecting a path according to the first path image of the image identification module, calculating the laser energy value sent by the laser generating device according to the first vertical distance from the monitoring module, and controlling the laser generating device to send the laser with the energy value.
Referring to fig. 2a and 2b, the engine thrust chamber base 1 of the spacecraft is a revolution structure with an axis, the outer surface of which may comprise a plurality of grooves made up of ribs 11. In the combined structure 10 obtained after the outer shell 2 matched with the engine thrust chamber base body 1 in shape is combined with the engine thrust chamber base body, the original outer surface of the engine base body 1 forms the inner wall of the engine thrust chamber, and the outer shell 2 of the engine forms the outer wall of the engine thrust chamber. Further, the inner surface of the engine thrust chamber housing 2, the outer surface of the engine thrust chamber base body 1, and the outer surface include ribs 11 (grooves) that constitute cooling passages through which the cooling fluid flows. It should be noted that the thrust chamber generally includes two parts, i.e., a combustion chamber and a nozzle, and the drawings illustrating the thrust chamber in the present invention mainly show the nozzle part, and the control device and method in the embodiments are also applicable to the combustion chamber in the thrust chamber.
Specifically, as shown in fig. 3, the laser generator 5 is driven by the welding robot 20 to weld the combined structure 10 of the engine thrust chamber base 1 and the housing 2, and first, the laser generator 5 is set at a predetermined vertical distance from the combined structure 10 according to the material of the engine thrust chamber. Next, a vision sensor is provided at a position on the first robot arm of the welding robot 20 adjacent to the laser generator 5, and the vision sensor acquires a first path image vertically below the laser generator in the thrust chamber of the engine and transmits the acquired first path image to the image recognition module. A welding path is preset on the outer side of the shell 2 of the engine thrust chamber, whether a first path image is the preset welding path or not is monitored through the image recognition module, and therefore the control module can select the preset welding path to weld the shell 2 and the engine thrust chamber base body 1. The engine thrust chamber welding control device of the aerospace carrier has the function of intelligently identifying the welding path, improves the welding precision, and avoids welding defects from being repaired.
The vision sensor can obtain two-dimensional or three-dimensional information similar to human eyes, and is very suitable for occasions requiring a large amount of vision information monitoring in the welding process compared with other sensors. Therefore, the image recognition module plays a role in determining the welding space position and the geometric shape of the engine thrust chamber before welding, controlling the welding joint track and the welding parameters in real time during welding, analyzing the shape of the surface of the welding joint after welding and the like.
In addition, a displacement sensor is arranged at the first mechanical arm of the welding robot 20 and close to the laser generating device 5, the displacement sensor is used for measuring the first vertical distance of the welding position of the laser generating device and the shell 2 of the engine thrust chamber, and in the welding or moving process of the laser generating device, the first vertical distance may not be the originally preset vertical distance, so that the first vertical distance needs to be monitored in real time. And transmitting the measured first vertical distance to a distance monitoring module, calculating a laser energy value emitted by laser through the distance monitoring module, and setting the laser energy value to a laser generating device.
It should be noted that, due to the characteristics of the geometric shape of the engine thrust chamber, a body heat source model in laser is selected, and the laser energy value under the model is
) Wherein
The intensity of the body heat source of the laser generating device,
is the average radius of the small holes of the thrust chamber of the engine,
the calculation formula of the laser energy value is implanted into a control module for the first vertical distance between the laser generating device and the engine thrust chamber, and the displacement sensor monitors the first vertical distance in real time and enables the laser generating device to emit laser with corresponding energy through the control module. Emitting laser light of different energy through different first vertical distances,the welding of the base body 1 and the shell 2 of the engine thrust chamber is always in a preset laser energy range, and the smoothness and the flatness of the welded shell 2 are guaranteed. The laser with different energy values is emitted at different vertical distances, so that the welded engine thrust chamber is not easy to deform during welding, and the inner wall and the outer wall are high in fitting degree.
According to one embodiment of the invention, the control module comprises: the first inspection module compares the acquired first path image welding position with a first preset path welding position, if deviation exists, a second distance between the first path image welding position and the first preset path welding position in the circumferential direction needs to be calculated, and the control module controls the first mechanical arm to move the second distance to enable the first mechanical arm to recover to the first preset path welding position.
In this embodiment, for example, the first inspection module compares the first path image welding position acquired by the image recognition module with the first preset path welding position, and performs the second distance calculation in the circumferential direction on the image of the first path image welding position with the first preset path welding position if there is a deviation. In addition, according to the outer shape structure of the engine thrust chamber, the second distance in the circumferential direction herein corresponds to the distance traveled by the laser generator, and as shown in fig. 4, the chord length L of the connecting line between the first path image welded part B and the first preset path welded part a is calculated by the first inspection module. The control module controls the first robot arm of the robot 20 to move circumferentially a second distance in the direction of the first preset path. Accurate welding can be carried out under accurate location, and the accuracy and the efficiency of welding of engine thrust chamber base member 1 and shell 2 are further improved.
Specifically, before the engine thrust chamber housing 2 is provided to the engine thrust chamber base body 1, the engine thrust chamber base body 1 may be first fixed using a support device, and the engine thrust chamber housing 2 may be fittingly provided to the outside of the engine thrust chamber base body 1. After the engine casing 2 is aligned with the engine thrust chamber base body 1, both may be preliminarily fixed first with a jig. Further, a welding path mark is arranged at a position corresponding to the protruding rib 11 on the outer side of the housing 2, so that before welding, whether a first path welding position image under the image recognition module is aligned with a preset first path welding position mark or not is checked through a first checking module, and welding dislocation between the engine housing 2 and the engine thrust chamber base body 1 is avoided. Therefore, the laser generating device can quickly complete the welding of the shell 2 and the engine thrust chamber base body 1 by welding according to the welding path mark on the outer side of the shell, and the situations of wrong welding, missing welding and redundant welding are avoided. For example, the welding path may be along a line corresponding to a midpoint in the width direction of the rib 11 outside the housing 2, thereby further improving the appearance of the welded joint, increasing the welding strength, and saving the welding cost.
According to one embodiment of the invention, the control module comprises: and the second inspection module monitors the width of the welding joint at the welding position through the image recognition module, and if the width of the welding joint is smaller than the preset width, the laser with corresponding energy is continuously emitted until the width of the welding joint reaches the preset width.
As can be seen from fig. 4, the outer casing 2 and the engine thrust chamber base body 1 are welded together by laser, and the cross section of the weld joint is T-shaped, i.e., the width of the weld joint on the outer casing 2 (dimension in the direction of S2) is larger than the width thereof on the corresponding rib 11 (dimension in the direction of S2). The housing 2 and the engine thrust chamber base body 1 are fixed to each other by a plurality of weld joints 15 formed by the plurality of ribs 11 respectively with the corresponding rib 11 portions of the housing 2. The embodiment of the invention can form an inner and outer jacket structure by welding the engine thrust chamber shell 2 on the surface of the engine thrust chamber base body 1 with a plurality of ribs 11, and the inner and outer jacket comprises a cooling channel for cooling liquid to flow; in addition, due to the adoption of laser welding, the inner clamping sleeve and the outer clamping sleeve can be tightly combined with each other, the welding strength is improved, the welding process is simplified, and the welding cost is reduced.
With continued reference to fig. 4, in one embodiment, the outer surface of the engine thrust chamber base 1 includes a plurality of ribs 11 spaced apart such that each adjacent rib 11 defines a plurality of grooves in the outer surface of the engine thrust chamber base 1. The outer shell 2 is arranged outside the engine thrust chamber base body 1 in a matching mode, wherein one side, close to the engine base body 1, of the outer shell 2 is in close contact with the protruding rib 11 and comprises: one side of the shell 2 close to the engine base body 1 is tightly contacted with a plurality of ribs 11; and on the surface of the housing 2 away from the plurality of ribs 11, sequentially moving the laser beam 4 generated by the laser generating device along the positions corresponding to the plurality of ribs 11 to fix the housing 2 to the engine thrust chamber base body 1 by welding with the plurality of ribs 11, so that the plurality of grooves and the housing 2 form a plurality of cooling channels 14 through which the cooling liquid flows.
As shown in fig. 5, the black part of the welding joint 15 in the figure refers to the welding joint 15 where the laser beam 4 passes through the housing 2 at the position corresponding to the rib 11 and the housing 2 and the rib 11 are combined with each other by the housing 2 under the action of the laser beam 4. It can be understood that the laser generating device emits laser to the surface of the housing 2, the welding joint 15 forms a stripe shape, the vision sensor can feed back the stripe pattern to the image recognition module, and the information such as the width gap, the center offset and the like of the welding joint 15 is extracted through the data processing of the control module, so as to control the laser emission of the laser generating device.
Specifically, the image recognition module can monitor the welding joint 15 in real time, the second inspection module is arranged for calculating the width of the welding joint 15, if the width of the welding joint 15 is smaller than the preset width, the control module commands the laser generating device to continue to emit the laser beam 4 with corresponding energy, and the laser beam 4 of the laser generating device is adjusted to translate along a first preset path until the width of the welding joint 15 reaches the preset width. Wherein, predetermine the width and be the circumferential distance that welded joint 15 formed in the shell 2 outside under the normal welding state, through the width of second inspection module real-time inspection welded joint 15, can guarantee welded stability and fastness, can also ensure whole welded joint 15's uniformity, and then obtain level and smooth recess.
As shown in fig. 6, the welded joint 15 with a predetermined width can ensure that a smooth fillet is formed on the inner wall of each cooling channel, and the welded joint with the T-shaped cross section can allow the plurality of ribs 11 to be more stably connected to the housing 2, ensuring that the cooling medium can smoothly flow in the cooling channel. The depth, thickness and material of the housing 2 and the ribs 11 are determined according to the parametersThe predetermined width of the weld joint ensures that the radius of the inner wall fillet of the cooling gallery is within a certain range. The thickness of the ribs 11 is set to
Radius of round corner
Then QUOTE
。
According to one embodiment of the invention, the control module comprises: and the third inspection module is used for controlling the laser generating device to continuously emit laser for welding when the first vertical distance from the welding position to the monitoring module is smaller than the preset distance, and the control module controls the laser generating device to continuously emit the laser for welding until the first vertical distance reaches the preset distance.
Specifically, a displacement sensor is arranged at a position, close to the laser generating device 5, of the first mechanical arm, and is used for measuring a first vertical distance between the laser generating device and a welding position of the shell 2 of the engine thrust chamber, and transmitting the measured first vertical distance to a distance monitoring module, wherein the distance monitoring module is configured to compare the measured first vertical distance with a preset distance, when the first vertical distance is smaller than the preset distance, the control module controls the laser generating device to continue to emit laser with corresponding energy, and until the measured first vertical distance reaches the preset distance, the laser of the laser generating device is adjusted to translate along a first preset path.
Continuing to refer to fig. 6, wherein the preset distance is the distance from the laser generator to the center of the cross-section recess of the welded joint 15 after the normal welding is completed, in this embodiment, the preset distance is determined according to the preset vertical distance, the preset vertical distance h is the distance from the center of the cross-section recess of the welded joint 15 to the upper plane of the recess, and the preset distance is the preset vertical distance plus the vertical distance h. The displacement sensor monitors a first vertical distance of a welding position of the laser generating device and the shell 2 of the engine thrust chamber in real time, if the first vertical distance does not reach a preset distance, the welding position is not in place, the control module is required to control the laser generating device to continuously emit laser with corresponding energy, and if the first vertical distance reaches the preset distance, the laser generating device is adjusted to continuously move along a first preset path. In this embodiment, according to the continuous change of the first vertical distance, the control module controls the laser generating device to emit a laser beam which changes continuously and satisfies the corresponding welding force value according to the real-time first vertical distance.
It should be noted that the second inspection module performs displacement control of the laser generator by monitoring the width of the welded joint, the third inspection module performs displacement control of the laser generator by monitoring the first vertical distance, any one of the second inspection module and the third inspection module may be selected to perform displacement control of the laser generator, or both the second inspection module and the third inspection module may be selected to satisfy corresponding conditions together to perform displacement control of the laser generator. The second inspection module and/or the third inspection module can improve the consistency of the welding position, so that the mechanical property of the welding position is improved.
According to an embodiment of the invention, the engine thrust chamber welding control device of the spacecraft further comprises: and the adjusting module is used for controlling the rotation of a mandrel for fixing the engine thrust chamber to weld a second path after the welding of the first path of the engine thrust chamber is finished.
As shown in fig. 3, in the present embodiment, the engine thrust chamber base 1 is clamped onto the mandrel 6 by the auxiliary jig, and then the housing 2 is correspondingly disposed outside the base 1, but the order of disposing the engine thrust chamber base 1 and the housing 2 on the mandrel 6 is not limited in the present invention. A rotary support table 7 is provided, wherein a combined structure 10 obtained after the rotary support table 7 is fittingly provided to the outside of the engine thrust chamber base body 1 through the mandrel 6 is sleeved to the outside of the mandrel 6. The mandrel 6 is rotated in the direction of, for example, S1, to move the composite structure 10. According to the embodiment of the invention, the engine thrust chamber to be welded rotates, so that the automatic welding of the engine thrust chamber can be conveniently realized, and the welding efficiency is improved.
In one embodiment, on the surface of the housing 2 away from the plurality of ribs 11, the adjusting module moves the laser beam 4 generated by the laser generating device sequentially along the positions corresponding to the plurality of ribs 11 to fix the housing 2 to the engine thrust chamber base 1 by welding with the plurality of ribs 11, so that the plurality of grooves and the housing 2 form a plurality of cooling channels 14 for the cooling liquid to flow. After the welding of the first path of the engine thrust chamber is finished, the control module controls the mandrel to rotate for a certain angle according to the direction of S1, and the welding of the second path is carried out.
In one embodiment, the ribs 11 at symmetrical positions are alternately welded according to the arrangement of a plurality of ribs 11 on the outer surface of the engine thrust chamber base body 1 to reduce the welding deformation of the thrust chamber. That is, when a plurality of ribs 11 are distributed completely symmetrically on the engine thrust chamber base 1, the housing 2 and one rib 11 may be welded first, and then the rib 11 distributed symmetrically (with respect to the thrust chamber base) with respect to the rib 11 may be welded. For example, when a plurality of ribs 11 are sequentially distributed at intervals of several angles in a direction around the axis of the thrust chamber spindle 6, two ribs 11 spaced at an angle of approximately 180 degrees may be alternately welded with the housing, thereby minimizing deformation of the thrust chamber during welding. Alternately welding the ribs at symmetrical positions according to the layout of the plurality of ribs 11 to reduce the welding deformation of the thrust chamber includes: welding the first straight rib by laser generated by the laser generating device; the second straight rib is spaced from the first straight rib by 160-180 degrees through laser welding generated by the laser generating device; and alternate welding of other straight ribs in symmetrical positions. According to the embodiment of the invention, the symmetrically arranged straight ribs are welded alternately, so that the deformation of the thrust chamber in the welding process can be greatly reduced, and the mechanical property of a welding joint is improved.
For example, the laser generating device of the embodiment of the present invention may be a fiber laser that can emit a laser beam having a high power density, so that the engine thrust chamber housing 2 and the rib 11 of the thrust chamber base 1 are welded together by laser irradiation of the thrust chamber housing 2 and the rib 11 with the laser beam. Such a welding method of fusing welding materials using a high-energy laser may also be called laser deep penetration weldingThe laser welding mode has the advantages of high energy density, deep penetration, high precision, strong adaptability and capability of being operated in the atmospheric environment. For example, the laser beam density may be greater than 105W/CM2, which in turn causes local melting of the material and the formation of "pinholes" through which the laser beam can penetrate deep into the interior of the molten bath. And forming a continuous deep penetration welding joint on the shell 2 corresponding to the position of the rib 11 along with the movement of the laser beam, so that the connecting position of the shell 2 and the rib 11 forms a fusion welding T-shaped welding joint 15 after cooling.
For example, the cooling speed of the molten pool of the laser beam welding is high, and the grain size of the welding joint 15 is smaller than that of the base metal, so that the mechanical property of the welding joint 15 is basically equivalent to that of the base metal, even exceeds that of the base metal, and the mechanical property is far superior to that of a soldered joint. In addition, because the laser welding pool of the embodiment of the invention is small, the welding heat input is small, and the deformation amount in the welding process of the thrust chamber is reduced.
The fiber laser may be a CO2 (carbon dioxide) laser, a YAG laser, a semiconductor laser, or other types of lasers, and the type of laser is not particularly limited in the present invention.
The material of the rib 11 and the material of the housing of the thrust chamber base 1 according to the embodiment of the present invention may be stainless steel, titanium alloy, or other high temperature alloy. In addition, the thrust chamber of the engine may be tapered, parabolic, maximum thrust (or ideality), truncated ideality, or other types of thrust chambers.
In another aspect, the present invention further provides a method for controlling welding of an engine thrust chamber of an aerospace vehicle, including: arranging a visual sensor on a first mechanical arm close to a laser generating device, and acquiring a first path image vertically below the laser generating device of an engine thrust chamber through the visual sensor; arranging a displacement sensor on a first mechanical arm close to a laser generating device, and monitoring a first vertical distance between the laser generating device and a welding part of an engine thrust chamber through the displacement sensor; and selecting a path according to the first path image of the vision sensor, calculating the laser energy value sent by the laser generating device according to the first vertical distance, and controlling the laser generating device to send laser with the energy value.
According to one embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and after the welding of the first path of the engine thrust chamber is finished, controlling a mandrel for fixing the engine thrust chamber to rotate, and welding the second path.
According to one embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and comparing the first path image welding position obtained by the vision sensor with a first preset path welding position, if deviation exists, calculating a second distance between the first path image welding position and the first preset path welding position in the circumferential direction, and controlling the first mechanical arm to move the second distance to restore the first mechanical arm to the first preset path welding position.
According to one embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and the monitoring vision sensor shoots the width of the welding joint at the welding position, and if the width of the welding joint is smaller than the preset width, the laser with corresponding energy is continuously emitted until the width of the welding joint reaches the preset width.
According to one embodiment of the invention, the engine thrust chamber welding control method of the spacecraft further comprises: and when the first vertical distance of the monitoring displacement sensor is smaller than the preset distance, controlling the laser generating device to continuously emit laser for welding until the first vertical distance reaches the preset distance.
The technical scheme and the technical effect of the welding control method for the engine thrust chamber of the spacecraft are basically consistent with those of the welding control device for the engine thrust chamber of the spacecraft, and are not repeated here. The above-described embodiments of the present invention may be combined with each other with corresponding technical effects.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An engine thrust compartment weld control device for an aerospace vehicle, comprising:
the image recognition module is arranged on a first mechanical arm close to the laser generating device and is configured to acquire a first path image vertically below the laser generating device of the engine thrust chamber through the vision sensor;
a distance monitoring module, wherein a displacement sensor is arranged on a first mechanical arm close to the laser generating device, and the distance monitoring module is configured to monitor a first vertical distance between the laser generating device and a welding position of an engine thrust chamber through the displacement sensor;
the control module is used for selecting a path according to the first path image of the image recognition module, calculating the laser energy value sent by the laser generating device according to the first vertical distance of the distance monitoring module, and controlling the laser generating device to send the laser with the energy value;
and the adjusting module is used for controlling the rotation of a mandrel for fixing the engine thrust chamber to weld a second path after the welding of the first path of the engine thrust chamber is finished.
2. The engine thrust chamber weld control device of an aerospace vehicle of claim 1, wherein the control module comprises:
the first inspection module compares the acquired first path image welding position with a first preset path welding position, if deviation exists, a second distance between the first path image welding position and the first preset path welding position in the circumferential direction needs to be calculated, and the control module controls the first mechanical arm to move the second distance to enable the first mechanical arm to recover to the first preset path welding position.
3. The engine thrust chamber weld control device of an aerospace vehicle of claim 2, wherein the control module comprises:
and the second inspection module is used for monitoring the width of the welding joint at the welding position by the image recognition module, and controlling the laser generating device to continuously emit laser with corresponding energy if the width of the welding joint is smaller than the preset width control module until the width of the welding joint reaches the preset width.
4. The engine thrust chamber weld control device of an aerospace vehicle of claim 2, wherein the control module comprises:
and the control module controls the laser generating device to continue to emit laser for welding until the first vertical distance reaches the preset distance when the distance monitoring module monitors that the first vertical distance from the welding position is smaller than the preset distance.
5. An engine thrust chamber welding control method for an aerospace vehicle, comprising:
arranging a visual sensor on a first mechanical arm close to a laser generating device, and acquiring a first path image vertically below the laser generating device of an engine thrust chamber through the visual sensor;
arranging a displacement sensor on a first mechanical arm close to the laser generating device, and monitoring a first vertical distance between the laser generating device and a welding part of an engine thrust chamber through the displacement sensor;
selecting a path according to a first path image of the vision sensor, calculating an energy value of laser light emitted by a laser generating device according to the first vertical distance, and controlling the laser generating device to emit laser light with the energy value;
and after the welding of the first path of the engine thrust chamber is finished, controlling a mandrel for fixing the engine thrust chamber to rotate, and welding the second path.
6. The engine thrust cell weld control method for an aerospace vehicle of claim 5, comprising:
and comparing the first path image welding position obtained by the vision sensor with the first preset path welding position, if deviation exists, calculating a second distance between the first path image welding position and the first preset path welding position in the circumferential direction, and controlling the first mechanical arm to move the second distance so as to restore the second distance to the first preset path welding position.
7. The engine thrust cell weld control method for an aerospace vehicle of claim 6, comprising:
and monitoring the width of the welding joint at the welding position shot by the vision sensor, and if the width of the welding joint is smaller than the preset width, continuing to emit laser with corresponding energy until the width of the welding joint reaches the preset width.
8. The engine thrust cell weld control method for an aerospace vehicle of claim 6, comprising:
and when monitoring that the first vertical distance of the displacement sensor is smaller than the preset distance, controlling the laser generating device to continuously emit laser for welding until the first vertical distance reaches the preset distance.
9. An engine thrust compartment of an aerospace vehicle, wherein the engine thrust compartment is manufactured using the engine thrust compartment weld control method of an aerospace vehicle according to any one of claims 5 to 8.
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| KR100275655B1 (en) * | 1998-05-08 | 2000-12-15 | 박호군 | Apparatus for manufacturing matal prototype by using laser beam and method thereof |
| JP4792901B2 (en) * | 2005-09-30 | 2011-10-12 | 日産自動車株式会社 | Laser welding apparatus and method, and irradiation apparatus |
| CN102303190B (en) * | 2011-08-03 | 2013-11-20 | 江南大学 | Method for visually tracking plane abut-jointed weld beam by linear laser |
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| CN110480157B (en) * | 2019-09-23 | 2021-02-02 | 广东省科学院中乌焊接研究所 | Laser welding method and system for continuous variable cross-section workpiece |
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Effective date of registration: 20210326 Address after: 314000 East Room 801-1, building 31, Hangzhou bay new economic Park, Jiaxing Port Area, Zhejiang Province Patentee after: Zhejiang blue arrow Space Technology Co.,Ltd. Address before: No.13, Ronghua South Road, Daxing Economic and Technological Development Zone, Beijing Patentee before: Blue Arrow Space Technology Co.,Ltd. |