A normal adjustment method and device of a bc double pendulum head five-axis friction spot welding equipment

Abstract

The embodiment of the specification discloses a normal adjustment method and device of a BC double-swing head five-axis friction spot welding equipment. The scheme can include: determining the welding point position on the curved surface structure to be welded, moving the spot welding head of the BC double-swing head five-axis friction spot welding equipment above the welding point position, obtaining the distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded, obtaining the first distance WA', the second distance WB' and the third distance WC'; based on the selected compensation value, the first distance, the second distance and the third distance are compensated respectively, and the three distances after correction are obtained, and based on the iterative method, the angle of the BC axis of the spot welding equipment should be adjusted until the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range, and then the curved surface structure to be welded is welded.

Description

Technical Field

[0001] This application relates to the field of friction stir welding technology, and in particular to a method and apparatus for adjusting the normal direction of a BC double-swivel head five-axis friction spot welding equipment. Background Technology

[0002] Backfill friction stir spot welding is a typical solid-state welding technology with excellent weld joint microstructure and properties. It can achieve lightweight and efficient welding of welded structures. Its advantages are more obvious in welding 2-series and 7-series high-strength aluminum alloys for aerospace that are difficult or impossible to weld using conventional fusion welding processes. In recent years, with the continuous maturation of this technology, it has been applied and verified in the aerospace field and has gradually become a new and effective connection technology for lightweighting and improving the performance of aerospace structures.

[0003] However, during the application verification process for aerospace structures, it was found that because the preceding aerospace structures are mostly formed using sheet metal forming processes such as stretching, stamping, and rolling, and some also combine welding processes, the external contour dimensional accuracy of the spliced ​​structures is not high, with most having dimensional deviations at the millimeter level. Furthermore, aerospace structures such as aircraft panels and rocket propellant tanks are curved surfaces. The backfill friction stir spot welding process requires that the front axis of the welding actuator be kept as consistent as possible with the normal of the weld point. If the deviation is large, the weld point is difficult to form and welding defects are very likely to occur. Therefore, how to ensure that the welding actuator accurately finds the normal direction of the weld point under the condition of large deviation in the external contour accuracy of curved surfaces has become a technical problem that urgently needs to be solved in the application of backfill friction stir spot welding in aerospace structures. Summary of the Invention

[0004] This specification provides a method and apparatus for adjusting the normal direction of a BC double-swivel head five-axis friction spot welding equipment, so as to ensure that the welding execution device accurately finds the normal direction of the weld point under the condition that the external contour accuracy deviation of the curved surface is large.

[0005] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows: According to a first aspect of the present invention, a method for adjusting the normal direction of a BC double-swivel head five-axis friction spot welding machine is provided, comprising: S1. Determine the welding point position on the curved surface structure to be welded, move the spot welding head of the BC double-swivel head five-axis friction spot welding equipment above the welding point position, and obtain the distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded, respectively, to obtain the first distance WA', the second distance WB' and the third distance WC'. S2. Perform numerical compensation on the first distance WA' based on the selected first compensation value to obtain the corrected first distance WA''. Perform numerical compensation on the second distance WB' based on the selected second compensation value to obtain the corrected second distance WB''. Perform numerical compensation on the third distance WC' based on the selected third compensation value to obtain the corrected third distance WC''. S3. Obtain the current angle B of the B-axis of the spot welding equipment and the current angle C of the C-axis of the spot welding equipment. The first coordinates (X1, Y1, Z1) of the first laser point on the surface to be welded by the first laser sensor, the second coordinates (X2, Y2, Z2) of the second laser point on the surface to be welded by the second laser sensor, and the third coordinates (X3, Y3, Z3) of the third laser point on the surface to be welded by the third laser sensor are calculated sequentially according to the following formulas. X1 = -C1 *Sin(C * PI / 180) +C2*Cos(B * PI / 180) * Cos(C * PI / 180)- WA''* .Sin(B * PI / 180) * Cos(C * PI / 180); Y1 = C1* Cos(C* PI / 180) + C2 * Cos(B * PI / 180) * Sin(C * PI / 180) - WA'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z1 = -C2 * Sin(B * PI / 180) - WA'' * Cos(B * PI / 180); X2 = -C3 * Sin(C * PI / 180) -C4 * Cos(B * PI / 180) * Cos(C * PI / 180) - WB'' * Sin(B * PI / 180)* Cos(C * PI / 180); Y2 = C3 * Cos(C * PI / 180) - C4 * Cos(B * PI / 180) * Sin(C * PI / 180) - WB'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z2 = C4 * Sin(B * PI / 180) - WB'' * Cos(B * PI / 180); X3 = C5 * Sin(C * PI / 180) - C6 * Cos(B * Math.PI / 180) * Cos(C *PI / 180) - WC'' * Sin(B *PI / 180) * Cos(C * PI / 180); Y3 = -C5 * Cos(C * PI / 180) - C6 * Cos(B * PI / 180) * Sin(C * PI / 180) - WC'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z3 = C6 * Sin(B * PI / 180) - WC'' * Cos(B * PI / 180); Wherein, the symbol PI represents pi, and the symbols C1, C2, C3, C4, C5 and C6 represent pre-defined constants; Based on the first coordinate (X1,Y1,Z1), the second coordinate (X2,Y2,Z2), and the third coordinate (X3,Y3,Z3), the values ​​of the first intermediate variable X, the second intermediate variable Y, and the third intermediate variable Z are calculated using the following formulas. X=(Y1-Y2)*(Z3-Z2)-(Y3-Y2)*(Z1-Z2); Y=(X3-X2)*(Z1-Z2)-(X1-X2)*(Z3-Z2); Z=(X1-X2)*(Y3-Y2)-(X3-X2)*(Y1-Y2); Based on the first intermediate variable X, the second intermediate variable, and the third intermediate variable Z, calculate the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment. ΔB = Asin(Sqrt(X*X+Y*Y) / Sqrt(X * X + Y * Y+Z*Z)) / PI * 180; ΔC = Atan(Y / X) / PI * 180; Wherein, the symbol ΔB represents the angle that the B-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted, and the symbol ΔC represents the angle that the C-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted. S4. Adjust the B-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔB to obtain the updated current angle B' of the B-axis of the BC double-swing head five-axis friction spot welding equipment; adjust the C-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔC to obtain the updated current angle C' of the C-axis of the BC double-swing head five-axis friction spot welding equipment; and then check whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If the normal angle between the spot welding head and the curved surface structure to be welded is within a predetermined error range, then the curved surface structure to be welded is welded. If the normal angle between the spot welding head and the surface to be welded is not within the predetermined error range, then re-enter step S3 until the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range.

[0006] Preferably, the first compensation value, the second compensation value, and the third compensation value are set based on experience.

[0007] According to a second aspect of the present invention, a normal adjustment device for a BC double-swivel head five-axis friction spot welding machine is provided, comprising: The distance information acquisition module is used to determine the position of the weld point on the curved surface structure to be welded. The spot welding head of the BC double-swivel head five-axis friction spot welding equipment is moved above the position of the weld point. The distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded is obtained, and the first distance WA', the second distance WB' and the third distance WC' are obtained. The numerical compensation module is used to perform numerical compensation on the first distance WA' based on a selected first compensation value to obtain a corrected first distance WA'', to perform numerical compensation on the second distance WB' based on a selected second compensation value to obtain a corrected second distance WB'', and to perform numerical compensation on the third distance WC' based on a selected third compensation value to obtain a corrected third distance WC''. An angle adjustment module for spot welding equipment is used to obtain the current angle B of the B-axis and the current angle C of the C-axis of the spot welding equipment. The first coordinates (X1, Y1, Z1) of the first laser point on the surface to be welded by the first laser sensor, the second coordinates (X2, Y2, Z2) of the second laser point on the surface to be welded by the second laser sensor, and the third coordinates (X3, Y3, Z3) of the third laser point on the surface to be welded by the third laser sensor are calculated sequentially according to the following formulas. X1 = -C1 *Sin(C * PI / 180) +C2*Cos(B * PI / 180) * Cos(C * PI / 180)- WA''* .Sin(B * PI / 180) * Cos(C * PI / 180); Y1 = C1* Cos(C* PI / 180) + C2 * Cos(B * PI / 180) * Sin(C * PI / 180) - WA'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z1 = -C2 * Sin(B * PI / 180) - WA'' * Cos(B * PI / 180); X2 = -C3 * Sin(C * PI / 180) -C4 * Cos(B * PI / 180) * Cos(C * PI / 180) - WB'' * Sin(B * PI / 180)* Cos(C * PI / 180); Y2 = C3 * Cos(C * PI / 180) - C4 * Cos(B * PI / 180) * Sin(C * PI / 180) - WB'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z2 = C4 * Sin(B * PI / 180) - WB'' * Cos(B * PI / 180); X3 = C5 * Sin(C * PI / 180) - C6 * Cos(B * Math.PI / 180) * Cos(C *PI / 180) - WC'' * Sin(B *PI / 180) * Cos(C * PI / 180); Y3 = -C5 * Cos(C * PI / 180) - C6 * Cos(B * PI / 180) * Sin(C * PI / 180) - WC'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z3 = C6 * Sin(B * PI / 180) - WC'' * Cos(B * PI / 180); Wherein, the symbol PI represents pi, and the symbols C1, C2, C3, C4, C5 and C6 represent pre-defined constants; Based on the first coordinate (X1,Y1,Z1), the second coordinate (X2,Y2,Z2), and the third coordinate (X3,Y3,Z3), the values ​​of the first intermediate variable X, the second intermediate variable Y, and the third intermediate variable Z are calculated using the following formulas. X=(Y1-Y2)*(Z3-Z2)-(Y3-Y2)*(Z1-Z2); Y=(X3-X2)*(Z1-Z2)-(X1-X2)*(Z3-Z2); Z=(X1-X2)*(Y3-Y2)-(X3-X2)*(Y1-Y2); Based on the first intermediate variable X, the second intermediate variable, and the third intermediate variable Z, calculate the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment. ΔB = Asin(Sqrt(X*X+Y*Y) / Sqrt(X * X + Y * Y+Z*Z)) / PI * 180; ΔC = Atan(Y / X) / PI * 180; Wherein, the symbol ΔB represents the angle that the B-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted, and the symbol ΔC represents the angle that the C-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted. The error judgment module is used to adjust the B-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔB to obtain the updated current angle B' of the B-axis of the BC double-swing head five-axis friction spot welding equipment; adjust the C-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔC to obtain the updated current angle C' of the C-axis of the BC double-swing head five-axis friction spot welding equipment; and then check whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If the normal angle between the spot welding head and the curved surface structure to be welded is within a predetermined error range, then the curved surface structure to be welded is welded. If the normal angle between the spot welding head and the surface to be welded is not within the predetermined error range, then re-enter step S3 until the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range.

[0008] One embodiment of this specification can achieve at least the following beneficial effects: Under the condition of large deviation in the accuracy of the outer contour of the curved surface, in order to ensure that the welding execution device accurately finds the normal direction of the weld point, the distances of the first laser sensor, the second laser sensor and the third laser sensor set around the spot welding head from the curved surface structure to be welded are numerically compensated based on experience. Then, the required adjustment angles of the B and C axes of the BC double-swivel head five-axis friction spot welding equipment are calculated by iterative method. Then, it is determined whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If not, the iteration continues until the accuracy requirement is met. Finally, the curved surface structure to be welded can be welded, which has the advantages of fast speed response and high processing accuracy. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the curved surface structure to be welded and the weld points on it in a normal adjustment method of a BC double-swivel head five-axis friction spot welding equipment provided in the embodiments of this specification; Figure 2 This is a flowchart illustrating a method for adjusting the normal orientation of a BC double-swivel head five-axis friction spot welding equipment provided in the embodiments of this specification. Figure 3 This is a schematic diagram of the normal adjustment device of a BC double-swivel head five-axis friction spot welding equipment provided in the embodiments of this specification. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0012] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.

[0013] During welding, the normal information of the weld joint can be obtained based on a theoretical mathematical model. However, due to factors such as component processing errors, assembly errors, and deformation, the actual shape of the weld joint often deviates from the theoretical shape. If the normal of the weld joint is still determined according to the theoretical mathematical model, it will lead to welding quality defects. Automatic adjustment of normal measurement mostly adopts the method of point laser approximate plane fitting to obtain the normal. This method has low measurement accuracy and is easily affected by environmental interference.

[0014] As described in the background section above, when there are significant deviations in the accuracy of the external contour of a curved surface, it is crucial to ensure that the welding actuator accurately locates the normal direction of the weld point. Currently, for the problem of adjusting and positioning the normal direction of weld points in aerospace curved surface structures, due to the deviations in the external contour of the curved surface, it is difficult to achieve accurate positioning using the theoretical coordinate values ​​of the curved surface itself. External sensors, such as laser rangefinders, can be added to the welding actuator to adjust and position the normal direction of the weld point. However, the implementation of this hardware function requires the support of precise and efficient software, i.e., a core algorithm. The lack of such a core algorithm severely restricts the application of backfill friction stir spot welding in aerospace curved surface structures.

[0015] This invention provides a normal adjustment scheme for a BC dual-swivel head five-axis friction spot welding equipment. Through a compensated normal adjustment algorithm, the BC axis angle can be automatically adjusted to achieve the goal of automatic normal adjustment. The technical solution of this invention will be described below with reference to the accompanying drawings.

[0016] The normal adjustment method for a BC double-swivel head five-axis friction spot welding equipment provided in the embodiments of this specification may include the following steps: Step 202: Determine the location of the weld point on the curved surface structure to be welded. Move the spot welding head of the BC double-swivel head five-axis friction spot welding equipment above the location of the weld point. Obtain the distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded, and obtain the first distance WA', the second distance WB' and the third distance WC'.

[0017] In the embodiments described in this specification, such as Figure 1 As shown, Figure 1 This is a schematic diagram of the curved surface structure to be welded and the weld points on it in the normal adjustment method of a BC double-swivel head five-axis friction spot welding equipment provided in the embodiments of this specification. Figure 1 As shown, P is the location of the weld point on the curved surface structure to be welded, and points A, B, and C are the projections of the emission points of the first, second, and third laser sensors onto the curved surface structure to be welded, respectively. The distance between the spot welding head of the spot welding equipment and the weld point location should ensure that the three laser sensors are within their usable range.

[0018] Step 204: Perform numerical compensation on the first distance WA' based on the selected first compensation value to obtain the corrected first distance WA''; perform numerical compensation on the second distance WB' based on the selected second compensation value to obtain the corrected second distance WB''; and perform numerical compensation on the third distance WC' based on the selected third compensation value to obtain the corrected third distance WC''.

[0019] In the implementation of this specification, considering that there may be pits and depressions on the curved surface structure to be welded, the three distance values ​​obtained in step S1 are numerically compensated, that is, the first distance WA', the second distance WB', and the third distance WC' are numerically compensated respectively. The specific compensation value can be set according to experience. For example, if the compensation value for the first distance WA' is ΔA, then the corrected first distance WA'' is WA'' = WA' + ΔA. The supplementary value can be selected in a similar way and then the second distance WB' and the third distance WC' are compensated respectively to obtain the three distance values ​​after numerical compensation.

[0020] Step S206: Obtain the current angle B of the B-axis of the spot welding equipment and the current angle C of the C-axis of the spot welding equipment. The first coordinates (X1, Y1, Z1) of the first laser point on the surface to be welded by the first laser sensor, the second coordinates (X2, Y2, Z2) of the second laser point on the surface to be welded by the second laser sensor, and the third coordinates (X3, Y3, Z3) of the third laser point on the surface to be welded by the third laser sensor are calculated sequentially according to the following formulas. X1 = -C1 *Sin(C * PI / 180) +C2*Cos(B * PI / 180) * Cos(C * PI / 180)- WA''* .Sin(B * PI / 180) * Cos(C * PI / 180); Y1 = C1* Cos(C* PI / 180) + C2 * Cos(B * PI / 180) * Sin(C * PI / 180) - WA'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z1 = -C2 * Sin(B * PI / 180) - WA'' * Cos(B * PI / 180); X2 = -C3 * Sin(C * PI / 180) -C4 * Cos(B * PI / 180) * Cos(C * PI / 180) - WB'' * Sin(B * PI / 180)* Cos(C * PI / 180); Y2 = C3 * Cos(C * PI / 180) - C4 * Cos(B * PI / 180) * Sin(C * PI / 180) - WB'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z2 = C4 * Sin(B * PI / 180) - WB'' * Cos(B * PI / 180); X3 = C5 * Sin(C * PI / 180) - C6 * Cos(B * Math.PI / 180) * Cos(C *PI / 180) - WC'' * Sin(B *PI / 180) * Cos(C * PI / 180); Y3 = -C5 * Cos(C * PI / 180) - C6 * Cos(B * PI / 180) * Sin(C * PI / 180) - WC'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z3 = C6 * Sin(B * PI / 180) - WC'' * Cos(B * PI / 180); Wherein, the symbol PI represents pi, and the symbols C1, C2, C3, C4, C5 and C6 represent pre-defined constants; Based on the first coordinate (X1,Y1,Z1), the second coordinate (X2,Y2,Z2), and the third coordinate (X3,Y3,Z3), the values ​​of the first intermediate variable X, the second intermediate variable Y, and the third intermediate variable Z are calculated using the following formulas. X=(Y1-Y2)*(Z3-Z2)-(Y3-Y2)*(Z1-Z2); Y=(X3-X2)*(Z1-Z2)-(X1-X2)*(Z3-Z2); Z=(X1-X2)*(Y3-Y2)-(X3-X2)*(Y1-Y2); Based on the first intermediate variable X, the second intermediate variable, and the third intermediate variable Z, calculate the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment. ΔB = Asin(Sqrt(X*X+Y*Y) / Sqrt(X * X + Y * Y+Z*Z)) / PI * 180; ΔC = Atan(Y / X) / PI * 180; Wherein, the symbol ΔB represents the angle that the B-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted, and the symbol ΔC represents the angle that the C-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted.

[0021] Step S208: Adjust the B-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔB to obtain the updated current angle B' of the B-axis of the BC double-swing head five-axis friction spot welding equipment; adjust the C-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔC to obtain the updated current angle C' of the C-axis of the BC double-swing head five-axis friction spot welding equipment; then check whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If the normal angle between the spot welding head and the curved surface structure to be welded is within a predetermined error range, then the curved surface structure to be welded is welded. If the normal angle between the spot welding head and the surface to be welded is not within the predetermined error range, then re-enter step S3 until the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range.

[0022] In the implementation of this specification, based on the required adjustment angle ΔB of the B-axis and the required adjustment angle ΔC of the C-axis of the BC double-swivel head five-axis friction spot welding equipment obtained in step S3, the angle of the BC double-swivel head five-axis friction spot welding equipment is adjusted. Then, it is determined whether the normal angle between the spot welding head and the surface structure to be welded is within the predetermined error range. If it is not satisfied, step S3 is re-entered, and the normal angle between the spot welding head and the surface structure to be welded is brought to the predetermined error range through an iterative process.

[0023] It should be noted that in step 206, when initially obtaining the B-axis and C-axis angles of the BC double-swivel head five-axis friction spot welding equipment, these angles can be directly read from the data of the spot welding equipment.

[0024] The background section states that "therefore, how to ensure the welding actuator accurately finds the normal direction of the weld point under the condition of large deviation in the external contour accuracy of the curved surface has become a technical problem that urgently needs to be solved in the application of backfill friction stir spot welding in aerospace structures." The paragraph describing step 204 states that "considering the possible presence of pits on the surface to be welded, numerical compensation is performed on the three distance values ​​obtained in step S1." Furthermore, considering that the technical solution of this invention uses an iterative approach to ensure that the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range, in practice, the first compensation value, the... The second and third compensation values ​​can be set based on experience. For example, in a specific practical scenario, the unevenness of several possible pits and bumps on the surface structure to be welded can be statistically analyzed. The range of the first, second, and third compensation values ​​can be set according to the range of unevenness. Thus, when processing a specific surface structure to be welded, appropriate values ​​of the first, second, and third compensation values ​​can be set according to the unevenness of the surface structure. Then, through iteration, the normal angle between the spot welding head and the surface structure to be welded can be made to reach the predetermined error range.

[0025] Under conditions where the external contour accuracy deviation of a curved surface is large, the technical solution of this invention ensures that the welding execution device accurately finds the normal direction of the weld point. Based on experience, the distances between the first, second, and third laser sensors located around the spot welding head and the curved surface structure to be welded are numerically compensated. Then, through an iterative method, the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment are calculated. Next, it is determined whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If not, the iteration continues until the accuracy requirements are met. Finally, the curved surface structure to be welded can be welded, offering advantages such as fast speed response and high processing accuracy.

[0026] Based on the same idea, the embodiments of this specification also provide the apparatus corresponding to the above method. Figure 3 This is a schematic diagram of the normal adjustment device of a BC double-swivel head five-axis friction spot welding equipment provided in the embodiments of this specification, as shown below. Figure 3 As shown, the device may include: The distance information acquisition module 302 is used to determine the position of the weld point on the curved surface structure to be welded. The spot welding head of the BC double-swivel head five-axis friction spot welding equipment is moved above the position of the weld point. The distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded is obtained, and the first distance WA', the second distance WB' and the third distance WC' are obtained.

[0027] The numerical compensation module 304 is used to perform numerical compensation on the first distance WA' based on a selected first compensation value to obtain a corrected first distance WA'', perform numerical compensation on the second distance WB' based on a selected second compensation value to obtain a corrected second distance WB'', and perform numerical compensation on the third distance WC' based on a selected third compensation value to obtain a corrected third distance WC''.

[0028] The spot welding equipment angle adjustment module 306 is used to obtain the current angle B of the B-axis of the spot welding equipment and the current angle C of the C-axis of the spot welding equipment. The first coordinates (X1, Y1, Z1) of the first laser point on the surface to be welded by the first laser sensor, the second coordinates (X2, Y2, Z2) of the second laser point on the surface to be welded by the second laser sensor, and the third coordinates (X3, Y3, Z3) of the third laser point on the surface to be welded by the third laser sensor are calculated sequentially according to the following formulas. X1 = -C1 *Sin(C * PI / 180) +C2*Cos(B * PI / 180) * Cos(C * PI / 180)- WA''* .Sin(B * PI / 180) * Cos(C * PI / 180); Y1 = C1* Cos(C* PI / 180) + C2 * Cos(B * PI / 180) * Sin(C * PI / 180) - WA'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z1 = -C2 * Sin(B * PI / 180) - WA'' * Cos(B * PI / 180); X2 = -C3 * Sin(C * PI / 180) -C4 * Cos(B * PI / 180) * Cos(C * PI / 180) - WB'' * Sin(B * PI / 180)* Cos(C * PI / 180); Y2 = C3 * Cos(C * PI / 180) - C4 * Cos(B * PI / 180) * Sin(C * PI / 180) - WB'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z2 = C4 * Sin(B * PI / 180) - WB'' * Cos(B * PI / 180); X3 = C5 * Sin(C * PI / 180) - C6 * Cos(B * Math.PI / 180) * Cos(C *PI / 180) - WC'' * Sin(B *PI / 180) * Cos(C * PI / 180); Y3 = -C5 * Cos(C * PI / 180) - C6 * Cos(B * PI / 180) * Sin(C * PI / 180) - WC'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z3 = C6 * Sin(B * PI / 180) - WC'' * Cos(B * PI / 180); Wherein, the symbol PI represents pi, and the symbols C1, C2, C3, C4, C5 and C6 represent pre-defined constants; Based on the first coordinate (X1,Y1,Z1), the second coordinate (X2,Y2,Z2), and the third coordinate (X3,Y3,Z3), the values ​​of the first intermediate variable X, the second intermediate variable Y, and the third intermediate variable Z are calculated using the following formulas. X=(Y1-Y2)*(Z3-Z2)-(Y3-Y2)*(Z1-Z2); Y=(X3-X2)*(Z1-Z2)-(X1-X2)*(Z3-Z2); Z=(X1-X2)*(Y3-Y2)-(X3-X2)*(Y1-Y2); Based on the first intermediate variable X, the second intermediate variable, and the third intermediate variable Z, calculate the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment. ΔB = Asin(Sqrt(X*X+Y*Y) / Sqrt(X * X + Y * Y+Z*Z)) / PI * 180; ΔC = Atan(Y / X) / PI * 180; Wherein, the symbol ΔB represents the angle that the B-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted, and the symbol ΔC represents the angle that the C-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted. The error judgment module 308 is used to adjust the B-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔB to obtain the updated current angle B' of the B-axis of the BC double-swing head five-axis friction spot welding equipment; adjust the C-axis angle of the BC double-swing head five-axis friction spot welding equipment based on the angle ΔC to obtain the updated current angle C' of the C-axis of the BC double-swing head five-axis friction spot welding equipment; and then check whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If the normal angle between the spot welding head and the curved surface structure to be welded is within a predetermined error range, then the curved surface structure to be welded is welded. If the normal angle between the spot welding head and the surface to be welded is not within the predetermined error range, then re-enter step S3 until the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range.

[0029] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the normal direction of a BC double-swivel head five-axis friction spot welding machine, characterized in that, The method includes: S1. Determine the welding point position on the curved surface structure to be welded, move the spot welding head of the BC double-swivel head five-axis friction spot welding equipment above the welding point position, and obtain the distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded, respectively, to obtain the first distance WA', the second distance WB' and the third distance WC'. S2. Perform numerical compensation on the first distance WA' based on the selected first compensation value to obtain the corrected first distance WA''. Perform numerical compensation on the second distance WB' based on the selected second compensation value to obtain the corrected second distance WB''. Perform numerical compensation on the third distance WC' based on the selected third compensation value to obtain the corrected third distance WC''. S3. Obtain the current angle B of the B-axis of the spot welding equipment and the current angle C of the C-axis of the spot welding equipment. The first coordinates (X1, Y1, Z1) of the first laser point on the surface to be welded by the first laser sensor, the second coordinates (X2, Y2, Z2) of the second laser point on the surface to be welded by the second laser sensor, and the third coordinates (X3, Y3, Z3) of the third laser point on the surface to be welded by the third laser sensor are calculated sequentially according to the following formulas. X1 = -C1 *Sin(C * PI / 180) +C2*Cos(B * PI / 180) * Cos(C * PI / 180) -WA''* Sin(B * PI / 180) * Cos(C * PI / 180); Y1 = C1* Cos(C* PI / 180) + C2 * Cos(B * PI / 180) * Sin(C * PI / 180) -WA'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z1 = -C2 * Sin(B * PI / 180) - WA'' * Cos(B * PI / 180); X2 = -C3 * Sin(C * PI / 180) -C4 * Cos(B * PI / 180) * Cos(C * PI / 180)- WB'' * Sin(B * PI / 180)* Cos(C * PI / 180); Y2 = C3 * Cos(C * PI / 180) - C4 * Cos(B * PI / 180) * Sin(C * PI / 180)- WB'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z2 = C4 * Sin(B * PI / 180) - WB'' * Cos(B * PI / 180); X3 = C5 * Sin(C * PI / 180) - C6 * Cos(B * PI / 180) * Cos(C * PI / 180)- WC'' * Sin(B *PI / 180) * Cos(C * PI / 180); Y3 = -C5 * Cos(C * PI / 180) - C6 * Cos(B * PI / 180) * Sin(C * PI / 180)-WC'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z3 = C6 * Sin(B * PI / 180) - WC'' * Cos(B * PI / 180); Wherein, the symbol PI represents pi, and the symbols C1, C2, C3, C4, C5 and C6 represent pre-defined constants; Based on the first coordinate (X1,Y1,Z1), the second coordinate (X2,Y2,Z2), and the third coordinate (X3,Y3,Z3), the values ​​of the first intermediate variable X, the second intermediate variable Y, and the third intermediate variable Z are calculated using the following formulas. X=(Y1-Y2)*(Z3-Z2)-(Y3-Y2)*(Z1-Z2); Y=(X3-X2)*(Z1-Z2)-(X1-X2)*(Z3-Z2); Z=(X1-X2)*(Y3-Y2)-(X3-X2)*(Y1-Y2); Based on the first intermediate variable X, the second intermediate variable, and the third intermediate variable Z, calculate the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment. B = Asin(Sqrt(X*X+Y*Y) / Sqrt(X * X + Y * Y+Z*Z)) / PI * 180; C = Atan(Y / X) / PI * 180; Among them, symbols B represents the angle that the B-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted, symbol... C represents the angle that the C-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted. S4, Based on the angle B adjusts the B-axis angle of the BC double-swivel head five-axis friction spot welding equipment to obtain the updated current angle B' of the B-axis of the BC double-swivel head five-axis friction spot welding equipment; based on the angle C adjusts the C-axis angle of the BC double-swing head five-axis friction spot welding equipment to obtain the updated current angle C' of the C-axis of the BC double-swing head five-axis friction spot welding equipment, and then checks whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If the normal angle between the spot welding head and the curved surface structure to be welded is within a predetermined error range, then the curved surface structure to be welded is welded. If the normal angle between the spot welding head and the surface to be welded is not within the predetermined error range, then re-enter step S3 until the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range.

2. The normal adjustment method for the BC double-swivel head five-axis friction spot welding equipment according to claim 1, characterized in that, The first compensation value, the second compensation value, and the third compensation value are set based on experience.

3. A normal adjustment device for a BC double-swivel head five-axis friction spot welding equipment, characterized in that, The device includes: The distance information acquisition module is used to determine the position of the weld point on the curved surface structure to be welded. The spot welding head of the BC double swing head five-axis friction spot welding equipment is moved above the position of the weld point. The distance information of the first laser sensor, the second laser sensor and the third laser sensor distributed around the spot welding head from the curved surface structure to be welded is obtained, and the first distance WA', the second distance WB' and the third distance WC' are obtained. The numerical compensation module is used to perform numerical compensation on the first distance WA' based on a selected first compensation value to obtain a corrected first distance WA'', to perform numerical compensation on the second distance WB' based on a selected second compensation value to obtain a corrected second distance WB'', and to perform numerical compensation on the third distance WC' based on a selected third compensation value to obtain a corrected third distance WC''. An angle adjustment module for spot welding equipment is used to obtain the current angle B of the B-axis and the current angle C of the C-axis of the spot welding equipment. The first coordinates (X1, Y1, Z1) of the first laser point on the surface to be welded by the first laser sensor, the second coordinates (X2, Y2, Z2) of the second laser point on the surface to be welded by the second laser sensor, and the third coordinates (X3, Y3, Z3) of the third laser point on the surface to be welded by the third laser sensor are calculated sequentially according to the following formulas. X1 = -C1 *Sin(C * PI / 180) +C2*Cos(B * PI / 180) * Cos(C * PI / 180) -WA''* Sin(B * PI / 180) * Cos(C * PI / 180); Y1 = C1* Cos(C* PI / 180) + C2 * Cos(B * PI / 180) * Sin(C * PI / 180) -WA'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z1 = -C2 * Sin(B * PI / 180) - WA'' * Cos(B * PI / 180); X2 = -C3 * Sin(C * PI / 180) -C4 * Cos(B * PI / 180) * Cos(C * PI / 180)- WB'' * Sin(B * PI / 180)* Cos(C * PI / 180); Y2 = C3 * Cos(C * PI / 180) - C4 * Cos(B * PI / 180) * Sin(C * PI / 180)- WB'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z2 = C4 * Sin(B * PI / 180) - WB'' * Cos(B * PI / 180); X3 = C5 * Sin(C * PI / 180) - C6 * Cos(B * PI / 180) * Cos(C * PI / 180)- WC'' * Sin(B *PI / 180) * Cos(C * PI / 180); Y3 = -C5 * Cos(C * PI / 180) - C6 * Cos(B * PI / 180) * Sin(C * PI / 180)-WC'' * Sin(B * PI / 180) * Sin(C * PI / 180); Z3 = C6 * Sin(B * PI / 180) - WC'' * Cos(B * PI / 180); Wherein, the symbol PI represents pi, and the symbols C1, C2, C3, C4, C5 and C6 represent pre-defined constants; Based on the first coordinate (X1,Y1,Z1), the second coordinate (X2,Y2,Z2), and the third coordinate (X3,Y3,Z3), the values ​​of the first intermediate variable X, the second intermediate variable Y, and the third intermediate variable Z are calculated using the following formulas. X=(Y1-Y2)*(Z3-Z2)-(Y3-Y2)*(Z1-Z2); Y=(X3-X2)*(Z1-Z2)-(X1-X2)*(Z3-Z2); Z=(X1-X2)*(Y3-Y2)-(X3-X2)*(Y1-Y2); Based on the first intermediate variable X, the second intermediate variable, and the third intermediate variable Z, calculate the required adjustment angles of the B-axis and C-axis of the BC double-swivel head five-axis friction spot welding equipment. B = Asin(Sqrt(X*X+Y*Y) / Sqrt(X * X + Y * Y+Z*Z)) / PI * 180; C = Atan(Y / X) / PI * 180; Among them, symbols B represents the angle that the B-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted, symbol... C represents the angle that the C-axis of the BC double-swivel head five-axis friction spot welding equipment needs to be adjusted. Error judgment module, used to determine the error based on the angle. B adjusts the B-axis angle of the BC double-swivel head five-axis friction spot welding equipment to obtain the updated current angle B' of the B-axis of the BC double-swivel head five-axis friction spot welding equipment; based on the angle C adjusts the C-axis angle of the BC double-swing head five-axis friction spot welding equipment to obtain the updated current angle C' of the C-axis of the BC double-swing head five-axis friction spot welding equipment, and then checks whether the normal angle between the spot welding head and the curved surface structure to be welded is within the predetermined error range. If the normal angle between the spot welding head and the curved surface structure to be welded is within a predetermined error range, then the curved surface structure to be welded is welded. If the normal angle between the spot welding head and the surface to be welded is not within the predetermined error range, then re-enter step S3 until the normal angle between the spot welding head and the surface to be welded reaches the predetermined error range.

Images