Inertial friction welding front workpiece geometry static dynamic size automatic detection system

Abstract

The application discloses a kind of inertial friction welding front workpiece geometric static and dynamic size automatic detection system, comprising: two distance detection adjustment modules, two distance detection adjustment modules are first distance detection adjustment module and second distance detection adjustment module, two distance detection adjustment modules are arranged in parallel, first distance detection adjustment module is used to be close to tailstock, and second distance detection adjustment module is used to be close to main shaft;Each distance detection adjustment module includes: connecting rod and N laser ranging sensor groups fixed on the connecting rod, and the geometric static and dynamic size automatic detection system of the application can obtain the coaxiality error data of main shaft workpiece and tailstock workpiece, which helps to improve detection efficiency and accuracy, and thus can improve production efficiency and reduce production cost.

Description

Technical Field

[0001] This invention belongs to the field of inertial friction welding technology, and specifically relates to an automatic detection system for the static and dynamic geometric dimensions of a workpiece before inertial friction welding. Background Technology

[0002] Inertial friction welding (IFW) is a solid-state welding process with advantages such as high joint quality and process stability. It utilizes the rotational inertia of a flywheel to store energy and convert it into power to achieve a high-quality solid-state connection between the spindle and tailstock workpieces. However, the machining and installation dimensions of the workpiece directly affect the joint quality. Excessive workpiece runout (the amount of runout of the workpiece end face relative to its axis of rotation in the radial and axial directions) or misalignment between the centers of the two workpieces during installation can easily lead to insufficient joint strength. Therefore, measuring the geometric static and dynamic dimensions of the workpiece before welding is crucial. Currently, in my country, the inspection of workpiece dimensions before IFW often relies on manual measurement. This method can only provide simple measurements of end runout and radial runout, and cannot provide accurate values ​​for overlapping areas, etc. Furthermore, it is inefficient and the measurement results are greatly affected by subjective factors.

[0003] Internationally, KUKA has proposed a method for measuring workpiece dimensions before welding using line structured light technology, but it is costly. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automatic detection system for the static and dynamic geometric dimensions of a workpiece before inertial friction welding.

[0005] This invention is achieved through the following technical solution.

[0006] An automatic detection system for the static and dynamic geometric dimensions of a workpiece before inertial friction welding includes: two distance detection and adjustment modules, namely a first distance detection and adjustment module and a second distance detection and adjustment module, which are arranged in parallel. The first distance detection and adjustment module is used to be close to the tailstock, and the second distance detection and adjustment module is used to be close to the spindle.

[0007] Each distance detection and adjustment module includes: a connecting rod and N laser rangefinder sensor groups fixed on the connecting rod, N=1 or 2. The connecting rod is fixed perpendicularly to the output shaft of a rotary motor. The rotary motor drives the connecting rod to rotate. Each laser rangefinder sensor group includes three laser rangefinder sensors, namely a first laser rangefinder sensor, a second laser rangefinder sensor, and a third laser rangefinder sensor.

[0008] The annular workpiece mounted inside the tailstock serves as the tailstock workpiece, and the annular workpiece mounted on the spindle serves as the spindle workpiece, wherein:

[0009] In the first distance detection and adjustment module, each first laser ranging sensor is always opposite to the annular end face of the tailstock workpiece; the laser emission direction of each second laser ranging sensor in the first distance detection and adjustment module is always towards the outer wall of the tailstock workpiece; and the laser emission direction of each third laser ranging sensor in the first distance detection and adjustment module is always towards the inner wall of the tailstock workpiece.

[0010] In the second distance detection and adjustment module, each first laser rangefinder is always opposite to the annular end face of the spindle workpiece, the laser emission direction of each second laser rangefinder in the second distance detection and adjustment module is always towards the outer wall of the spindle workpiece, and the laser emission direction of each third laser rangefinder in the second distance detection and adjustment module is always towards the inner wall of the spindle workpiece.

[0011] In the above technical solution, the automatic detection system for geometric static and dynamic dimensions further includes: a base, a first cylinder, a second cylinder, and a boom telescopic adjustment module. The boom telescopic adjustment module includes: a support member, a slide rail, and a slider. The slide rail is fixedly mounted on the support member, and the slider is mounted on the slide rail. The support member is inclined, and its bottom is mounted on the base and can rotate on the base. One end of the second cylinder is hinged to the base, and the other end of the second cylinder is hinged to the support member of the boom telescopic adjustment module. A plate is fixedly mounted on the slider. One end of the first cylinder is hinged to the support member, and the other end of the first cylinder is hinged to the plate. The upper part of the plate is equipped with a rotary motor. The rotary motor has dual-axis output, and each output shaft of the rotary motor is used to fix one of the distance detection and adjustment modules.

[0012] In the above technical solution, when N=2, the two laser rangefinder sensor groups on the same distance detection and adjustment module are symmetrically fixed on both sides of the center position of the connecting rod, and the center position of the connecting rod is fixed to the output shaft of the rotary motor.

[0013] In the above technical solution, the base is fixedly mounted on a three-dimensional translation stage.

[0014] In the above technical solution, two distance detection and adjustment modules are located between the main shaft and tailstock of the inertial friction welding machine.

[0015] In the above technical solution, a fifth laser ranging sensor is fixedly installed at each end of the connecting rod of the first distance detection and adjustment module. The laser emission direction of the two fifth laser ranging sensors is parallel to the length direction of the connecting rod and is far away from the center position of the connecting rod.

[0016] In the above technical solution, a fifth laser ranging sensor is fixedly installed at one end of the connecting rod of the first distance detection and adjustment module. The laser emission direction of the fifth laser ranging sensor is parallel to the length direction of the connecting rod and is far away from the center position of the connecting rod.

[0017] In the above technical solution, the distance between the tailstock workpiece and the first distance detection and adjustment module is 3~10cm.

[0018] In the above technical solution, the distance between the spindle workpiece and the second distance detection and adjustment module is 3~10cm.

[0019] The method of using the above-mentioned automatic geometric static and dynamic dimension detection system includes: aligning the output shaft axis of the rotary motor in the automatic geometric static and dynamic dimension detection system with the static center of the main shaft on the same straight line, keeping the position of the automatic geometric static and dynamic dimension detection system fixed. At this time, each first laser rangefinder in the second distance detection adjustment module is opposite to the annular end face of the main shaft workpiece, the laser emission direction of each second laser rangefinder in the second distance detection adjustment module is towards the outer wall of the main shaft workpiece, and the laser emission direction of each third laser rangefinder in the second distance detection adjustment module is towards the inner wall of the main shaft workpiece; moving the tailstock toward the main shaft, so that each first laser rangefinder in the first distance detection adjustment module is opposite to the annular end face of the tailstock workpiece, the laser emission direction of each second laser rangefinder in the first distance detection adjustment module is towards the outer wall of the tailstock workpiece, and the laser emission direction of each third laser rangefinder in the first distance detection adjustment module is towards the inner wall of the tailstock workpiece; rotating the rotary motor, during which each laser rangefinder continuously emits a laser beam.

[0020] The present invention has the following advantages due to the adoption of the above technical solutions:

[0021] 1. The automatic detection system for static and dynamic geometric dimensions of the present invention can obtain data such as the coaxiality error between the spindle workpiece and the tailstock workpiece, which helps to improve detection efficiency and accuracy, thereby improving production efficiency and reducing production costs.

[0022] 2. The automatic detection system for static and dynamic geometric dimensions of the present invention can collect and analyze dimensional data such as the coaxiality error between the spindle workpiece and the tailstock workpiece in real time.

[0023] 3. The automatic geometric static and dynamic dimension detection system of the present invention combines high-precision sensors with intelligent algorithms to achieve comprehensive monitoring of the static and dynamic dimensions of workpieces, significantly improving detection efficiency. At the same time, by providing real-time feedback on data deviations, the workpiece position can be adjusted in a timely manner, further improving overall product quality and production efficiency, and reducing production costs. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the installation position of the automatic geometric static and dynamic dimension detection system of the present invention (N=2).

[0025] Figure 2This is a structural side view of the automatic geometric static and dynamic dimension detection system of the present invention (N=2).

[0026] Figure 3 This is a front view of the structure of the automatic geometric static and dynamic dimension detection system of the present invention (N=2);

[0027] Figure 4 This is a schematic diagram showing the installation positions of two distance detection and adjustment modules in the automatic geometric static and dynamic dimension detection system of the present invention (N=2).

[0028] Figure 5 This is a schematic diagram of the boom telescopic adjustment module in the automatic geometric static and dynamic dimension detection system of the present invention;

[0029] Figure 6 This is a side view of the coordinate calculation method for the automatic detection of static and dynamic geometric dimensions of a workpiece before inertial friction welding, as described in an embodiment of the present invention.

[0030] Figure 7 This is a front view of the coordinate calculation method for the automatic detection of static and dynamic geometric dimensions of a workpiece before inertial friction welding, as described in an embodiment of the present invention.

[0031] Figure 8 This is a schematic diagram of the outer contours of the spindle workpiece and the tailstock workpiece in an embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of the inner contours of the spindle workpiece and the tailstock workpiece in an embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of the installation positions of two distance detection and adjustment modules in the automatic geometric static and dynamic dimension detection system of the present invention (N=1).

[0034] Wherein: 1: base, 2: first cylinder, 3: second cylinder, 4: boom telescopic adjustment module, 4-1: support component, 4-2: slide rail, 4-3: slider, 5: distance detection and adjustment module, 5-1: first distance detection and adjustment module, 5-2: second distance detection and adjustment module, 6: rotary motor, 7: tailstock, 8: spindle, 9: tailstock workpiece, 10: spindle workpiece, 11-1: first laser rangefinder sensor, 11-2: second laser rangefinder sensor, 11-3: third laser rangefinder sensor, 13: connecting rod, 14: fifth laser rangefinder sensor, 15: guide column, 16: plate, 17: fourth laser rangefinder sensor. Detailed Implementation

[0035] The following describes in detail, with reference to the accompanying drawings and embodiments, an automatic detection system and method for static and dynamic geometric dimensions of a workpiece before inertial friction welding according to the present invention.

[0036] Example 1

[0037] like Figures 1-5 , Figure 10 As shown, an automatic detection system for the static and dynamic geometric dimensions of a workpiece before inertial friction welding includes: a base 1, a first cylinder 2, a second cylinder 3, a boom telescopic adjustment module 4, and two distance detection and adjustment modules 5. Figure 5 As shown, the boom telescopic adjustment module 4 includes: a support member 4-1, a slide rail 4-2, and a slider 4-3. The slide rail 4-2 is fixedly mounted on the support member 4-1, and the slider 4-3 is mounted on the slide rail 4-2. The support member 4-1 is inclined. The base 1 is fixedly mounted on a three-dimensional translation stage (not shown in the figure). The bottom of the support member 4-1 is mounted on the base 1 and can rotate on the base 1. One end of the second cylinder 3 is hinged to the base 1, and the other end of the second cylinder 3 is hinged to the support member 4-1 of the boom telescopic adjustment module 4. A plate 16 is fixedly mounted on the slider 4-3 (the lower part of the slider and the plate are fixedly mounted). One end of the first cylinder 2 is hinged to the support member 4-1, and the other end of the first cylinder 2 is hinged to the plate 16. A rotary motor 6 is mounted on the upper part of the plate. The rotary motor 6 has a dual-axis output (the rotary motor 6 is in... Figures 1-3 (Not shown in the image) A distance detection and adjustment module is fixed on each output shaft of the rotary motor 6; the tilt angle of the boom extension and retraction adjustment module 4 on the base 1 can be adjusted by the second cylinder 3, and the sliding distance of the slider 4-3 on the slide rail 4-2 can be adjusted by the first cylinder 2.

[0038] like Figure 4 As shown, the two distance detection adjustment modules 5 are the first distance detection adjustment module 5-1 and the second distance detection adjustment module 5-2, as follows: Figure 1 As shown, two distance detection and adjustment modules 5 are arranged in parallel and located between the main shaft and the tailstock of the inertial friction welding machine. The first distance detection and adjustment module is closer to the tailstock 7, and the second distance detection and adjustment module is farther away from the tailstock 7 (i.e. closer to the main shaft).

[0039] Each distance detection and adjustment module includes: a connecting rod 13 and N laser rangefinder sensor groups, where N=1 or 2. Each laser rangefinder sensor group includes three laser rangefinder sensors: a first laser rangefinder sensor, a second laser rangefinder sensor, and a third laser rangefinder sensor. The N laser rangefinder sensor groups are fixedly mounted on the connecting rod 13, which is perpendicular to the output shaft of the rotary motor 6. When N=2, the center of the connecting rod 13 is perpendicular to the output shaft of the rotary motor 6, and the N laser rangefinder sensor groups are symmetrically fixed on both sides of the center of the connecting rod 13.

[0040] The output shaft axis of the rotary motor is designed to be aligned with the static center of the spindle (the center of the spindle when it is stationary). The annular workpiece mounted in the tailstock 7 serves as the tailstock workpiece, and the annular workpiece mounted on the spindle 8 serves as the spindle workpiece.

[0041] In the first distance detection and adjustment module 5-1, each first laser rangefinder 11-1 is opposite to the annular end face of the tailstock workpiece 9. The laser emission direction of each second laser rangefinder 11-2 in the first distance detection and adjustment module is towards the outer wall of the tailstock workpiece 9, and the laser emission direction of each third laser rangefinder 11-3 in the first distance detection and adjustment module is towards the inner wall of the tailstock workpiece 9.

[0042] In the second distance detection and adjustment module 5-2, each first laser rangefinder 11-1 is opposite to the annular end face of the spindle workpiece 10. The laser emission direction of each second laser rangefinder 11-2 in the second distance detection and adjustment module is towards the outer wall of the spindle workpiece 10, and the laser emission direction of each third laser rangefinder 11-3 in the second distance detection and adjustment module is towards the inner wall of the spindle workpiece 10.

[0043] The method of using the above-mentioned automatic geometric static and dynamic dimension detection system includes: moving the automatic geometric static and dynamic dimension detection system with a three-dimensional translation stage, so that the axis of the output shaft of the rotary motor in the automatic geometric static and dynamic dimension detection system is on the same straight line as the static center of the spindle (the center of the spindle when it is stationary), keeping the position of the automatic geometric static and dynamic dimension detection system fixed. At this time, each of the first laser rangefinders 11-1 in the second distance detection adjustment module is opposite to the annular end face of the spindle workpiece 10, and the laser emission direction of each of the second laser rangefinders 11-2 in the second distance detection adjustment module is towards the outer wall of the spindle workpiece 10. The laser emission direction of the third laser rangefinder 11-3 is directed toward the inner wall of the main spindle workpiece 10; the tailstock 7 is moved toward the main spindle 8, so that each first laser rangefinder 11-1 in the first distance detection and adjustment module 5-1 is opposite to the annular end face of the tailstock workpiece 9, the laser emission direction of each second laser rangefinder 11-2 in the first distance detection and adjustment module is directed toward the outer wall of the tailstock workpiece 9, and the laser emission direction of each third laser rangefinder 11-3 in the first distance detection and adjustment module is directed toward the inner wall of the tailstock workpiece 9; the rotary motor 6 is rotated, and during one revolution of the rotary motor 6, each laser rangefinder continuously emits a laser beam.

[0044] Preferably, the distance between the end face of the tailstock workpiece 9 and the first distance detection and adjustment module 5-1 is 3~10cm. The distance between the end face of the spindle workpiece 10 and the second distance detection and adjustment module 5-2 is 3~10cm.

[0045] A ring-shaped guide post 15 is installed on the side of the tailstock facing the main shaft. The guide post 15 is surrounded by multiple cylindrical roller bearings spaced apart along the circumference (the guide post 15 is perpendicular to the annular end face of the tailstock workpiece and is mounted on the tailstock 7). The guide post 15 forms a ring. When inertial friction welding is performed, the tailstock 7 moves toward the main shaft 8 until the main shaft 8 is located in the middle of the ring-shaped guide post. In order to monitor the distance that the tailstock 7 moves toward the main shaft 8 when the automatic geometric static and dynamic dimension detection system is used, a fifth laser rangefinder sensor 14 is fixed at each end of the connecting rod 13 of the first distance detection adjustment module 5-1 using the guide post. The laser emission direction of the two fifth laser rangefinder sensors 14 is parallel to the length direction of the connecting rod 13 and away from the center position of the connecting rod 13. The fifth laser rangefinder 14 can monitor whether the first distance detection and adjustment module 5-1 enters the middle of the annular guide post 15. When the first distance detection and adjustment module 5-1 enters the middle of the annular guide post 15, the fifth laser rangefinder 14 emits a laser beam that irradiates the guide post. Then, by measuring the change in distance through the fifth laser rangefinder 14, it can be identified whether the laser beam emitted by the fifth laser rangefinder 14 irradiates the guide post.

[0046] Example 2

[0047] An automatic detection method for coaxiality error of a workpiece before inertial friction welding, using the automatic detection system for static and dynamic geometric dimensions (N=1) of Example 1, includes the following steps:

[0048] S1, including S1-1 and S1-2:

[0049] S1-1, ensure that the axis of the rotary motor output shaft in the automatic geometric static and dynamic dimension detection system is on the same straight line as the static center of the main shaft (the center of the main shaft when stationary), and that the first laser rangefinder in the first distance detection and adjustment module is opposite to the annular end face of the tailstock workpiece, and that the laser emission direction of the first laser rangefinder in the first distance detection and adjustment module is perpendicular to the annular end face of the tailstock workpiece; the laser emission direction of the second laser rangefinder in the first distance detection and adjustment module is towards the outer wall of the tailstock workpiece, and the laser emission direction of the third laser rangefinder in the first distance detection and adjustment module is towards the inner wall of the tailstock workpiece;

[0050] In the second distance detection and adjustment module, the first laser rangefinder is opposite to the annular end face of the spindle workpiece, and the laser emission direction of the first laser rangefinder in the second distance detection and adjustment module is perpendicular to the annular end face of the spindle workpiece. The laser emission direction of the second laser rangefinder in the second distance detection and adjustment module is towards the outer wall of the spindle workpiece, and the laser emission direction of the third laser rangefinder in the second distance detection and adjustment module is towards the inner wall of the spindle workpiece.

[0051] The first laser rangefinder, the second laser rangefinder, and the third laser rangefinder are used to measure distances. The position of the laser spot that the laser rangefinder illuminates on the spindle workpiece or the tailstock workpiece at each distance is the measurement point.

[0052] S1-2, causing the two distance detection and adjustment modules to rotate one revolution around the output shaft axis of the rotary motor, at intervals of... The rotation angle is used to obtain the distance measured by each laser rangefinder (each laser rangefinder continuously emits a laser beam during the rotation of the distance detection and adjustment module). During the rotation of the distance detection and adjustment module, the distances obtained by each laser rangefinder at each measurement point are combined to form a distance set.

[0053] In the second distance detection and adjustment module, the distances obtained by the first laser ranging sensor at each measurement point are sequentially combined to form a distance set. In the second distance detection and adjustment module, the distances obtained by the second laser ranging sensor at each measurement point are sequentially combined to form a distance set. The distances obtained by the third laser ranging sensor at each measurement point in the second distance detection and adjustment module are sequentially combined to form a distance set. In the first distance detection and adjustment module, the distances obtained by the first laser ranging sensor at each measurement point are sequentially combined to form a distance set. The distances obtained by the second laser ranging sensor at each measurement point in the first distance detection and adjustment module are sequentially combined to form a distance set. The distances obtained by the third laser ranging sensor at each measurement point in the first distance detection and adjustment module are sequentially combined to form a distance set. ;

[0054] S2, including S2-1 and S2-2, has the following specific steps:

[0055] S2-1, take the intersection of the axis of symmetry of the two distance detection and adjustment modules and the axis of the output shaft of the rotary motor as the origin o1, take the horizontal direction as the x-axis, the direction parallel to the main shaft axis as the z-axis, and the vertical direction as the y-axis, and establish a coordinate system as the coordinate system of the measuring mechanism;

[0056] S2-2, For each distance set, perform the following steps: Based on the length of each laser beam in the distance set, calculate the three-dimensional coordinates of the measurement point corresponding to each laser beam in the coordinate system of the measuring mechanism, so that the three-dimensional coordinates of the measurement points form a point set. Among them, the point set obtained by the first laser ranging sensor in each distance detection and adjustment module. For point set That is, point set The set of three-dimensional coordinates of the measurement points corresponding to the annular end face of the spindle workpiece or tailstock workpiece; the set of points obtained by the second laser ranging sensor in each distance detection and adjustment module. For point set That is, point set The set of three-dimensional coordinates of the measurement points corresponding to the outer contour of the spindle workpiece or tailstock workpiece; the set of points obtained by the third laser ranging sensor in each distance detection and adjustment module. For point set That is, point set It is the set of three-dimensional coordinates of the measurement points corresponding to the inner contour of the spindle workpiece or tailstock workpiece.

[0057] Among them, point set Represented as: , For point set The total number of measurement points in the middle.

[0058] Get point set The method is as follows:

[0059] The measurement point of the first laser ranging sensor is used as the measurement point. Calculate the measurement points 3D coordinates ( The specific method is as follows:

[0060] ;

[0061] ;

[0062] ;

[0063] In the formula, Measurement points The angle between the corresponding laser beam and the positive x-axis of the coordinate system of the measuring mechanism is Measurement points The length of the corresponding laser beam is (distance set) middle) The distance from the projection of the center point of the first laser ranging sensor away from the laser beam emitting end onto the xo1y plane in the coordinate system of the measuring mechanism to the origin o1 is: The length of the first laser rangefinder is The distance from the center point of the first laser ranging sensor away from the laser beam emitter to the xo1y plane in the coordinate system of the measuring mechanism is... .

[0064] like Figure 6 and Figure 7 As shown, obtain the point set. The method is as follows:

[0065] The measurement point of the second laser ranging sensor is used as the measurement point. Calculate measurement points 3D coordinates ( The specific method is as follows:

[0066] ;

[0067] ;

[0068] ;

[0069] In the formula, Measurement points The angle between the corresponding laser beam and the positive x-axis of the coordinate system of the measuring mechanism is Measurement points The angle between the extension line of the corresponding laser beam and the axis of the output shaft of the rotary motor 6 is . ( (acute angle), measurement point The corresponding laser beam length is The distance from the projection point of the center point of the second laser ranging sensor away from the laser beam emitter onto the xo1y plane in the coordinate system of the measuring mechanism to the origin o1 is... The length of the second laser rangefinder is The distance from the center point of the second laser ranging sensor away from the laser beam emitter to the xo1y plane in the coordinate system of the measuring mechanism is... .

[0070] Get point set The method is as follows:

[0071] The measurement point of the third laser ranging sensor is used as the measurement point. Calculate the point set Middle measurement point 3D coordinates ( The specific method is as follows:

[0072] ;

[0073] ;

[0074] ;

[0075] In the formula, Measurement points The angle between the corresponding laser beam and the positive x-axis of the coordinate system of the measuring mechanism is Measurement points The angle between the extension line of the corresponding laser beam and the axis of the output shaft of the rotary motor 6 is . ( (acute angle), measurement point The corresponding laser beam length is The distance from the projection of the center point of the third laser ranging sensor away from the laser beam emitter onto the xo1y plane to the origin o1 is... The length of the third laser rangefinder is The distance from the center point of the third laser ranging sensor away from the laser beam emitter to the xo1y plane in the coordinate system of the measuring mechanism is... .

[0076] S3, taking the spindle workpiece and tailstock workpiece as workpieces respectively, and the distance detection and adjustment module closest to the workpiece as the nearest distance detection and adjustment module, calculate the center coordinates of the annular end face of each workpiece according to S3-1 to S3-4 below, based on the workpiece and the nearest distance detection and adjustment module of that workpiece. :

[0077] S3-1, In the coordinate system of the measuring mechanism, construct the plane equation of the plane containing the annular end face of the workpiece. And the point set obtained by the first laser rangefinder of the nearest distance detection adjustment module. (point set) Substitute the plane equation of the workpiece into the equation to obtain the plane equation relationship. Based on the plane equation relationship, use the least squares method to obtain the plane normal vector corresponding to the workpiece. According to the plane normal vector Using the Z-axis of the coordinate system of the measuring mechanism, the transformation matrix of the workpiece is constructed using Rodriguez's formula. The point set obtained from the first laser rangefinder corresponding to the workpiece. (point set) and plane normal vector Construct the workpiece's three-dimensional coordinate system.

[0078] in, B, C, and D are all constant terms. (Because the origin o1 of the coordinate system of the measuring mechanism is not inside the annular end face).

[0079] The equation of a plane is:

[0080] , The first laser rangefinder sensor of the closest distance detection adjustment module obtains the point set. The number of measurement points in the middle, representative point set 3D coordinates;

[0081] Plane normal vector ;

[0082] The point set is obtained by the first laser rangefinder of the workpiece proximity detection adjustment module. and the plane normal vector of the workpiece Construct the three-dimensional coordinate system of the workpiece: obtain the point set from the first laser rangefinder of the nearest distance detection and adjustment module of the workpiece. (point set) Any measurement point in the equation is the origin of the workpiece's three-dimensional coordinate system. Using the plane normal vector of the workpiece for The axis is the horizontal direction. Axis, perpendicular to Axial direction and axial direction Establish the workpiece's three-dimensional coordinate system using the axis.

[0083] Transformation matrix :

[0084] ;

[0085] In the formula, It is the identity matrix. , , , for antisymmetric matrix, Let the vector be a unit vector in the same direction as the z-axis of the coordinate system of the measuring mechanism. .

[0086] S3-2, Based on the point set obtained by the second laser ranging sensor of the nearest distance detection adjustment module. (point set) Obtain the center coordinates of the workpiece's outer contour, and adjust the point set obtained by the third laser rangefinder sensor of the nearest distance detection module. (point set) Obtain the coordinates of the center of the inner contour of the workpiece;

[0087] Methods for obtaining the center coordinates of the outer contour or the inner contour of a workpiece include: using the point set obtained by the second or third laser rangefinder of the nearest distance detection adjustment module. As a point set Through the transformation matrix of the workpiece The point set in the coordinate system of the measuring mechanism Transform the coordinates to the workpiece's three-dimensional coordinate system to obtain the transformed point set. Construct the equation (point set) of the outer or inner contour circle of the workpiece in the workpiece's three-dimensional coordinate system. The constructed circle is the outer contour circle of the workpiece, and the point set... The constructed circle is the inner contour circle of the workpiece, and the point set... All measurement points in the workpiece's three-dimensional coordinate system Axis coordinates and Substituting the axial coordinates into the equation of the workpiece's circle yields a system of equations; these are then simplified to obtain a matrix equation; the least squares method is used to solve the matrix equation, yielding the center coordinates of the outer or inner contour circle in the workpiece's three-dimensional coordinate system. .

[0088] in,

[0089]

[0090] In the formula, point set It can be represented as:

[0091]

[0092] In the formula, It is a constant value.

[0093] The equation of a circle is expressed as:

[0094]

[0095] In the formula, The coordinates of the center of the workpiece in the workpiece's three-dimensional coordinate system. Axis coordinates The coordinates of the center of the workpiece in the workpiece's three-dimensional coordinate system. The axis coordinate, r is the radius of the outer or inner contour circle of the workpiece;

[0096] The system of equations is as follows:

[0097]

[0098]

[0099]

[0100]

[0101] The matrix equation is as follows:

[0102]

[0103] S3-3, Calculate the average center coordinates of the workpiece. The average x-coordinate of the center of the outer contour of the workpiece and the average x-coordinate of the center of the inner contour are used as the average x-coordinate of the center of the workpiece; the average y-coordinate of the center of the outer contour of the workpiece and the average y-coordinate of the center of the inner contour are used as the average y-coordinate of the center of the workpiece; and the z-coordinate of the average center of the workpiece is zero.

[0104] S3-4, Based on the transformation matrix of the workpiece, transform the average center coordinates of the workpiece to the coordinate system of the measuring mechanism to obtain the center coordinates of the workpiece: convert the average center coordinates of the workpiece into a column vector and multiply it by the inverse of the transformation matrix of the workpiece. The coordinates of the workpiece's center in the coordinate system of the measuring mechanism are obtained. :

[0105] .

[0106] S4, Calculate the center coordinates of the spindle workpiece. Coordinates of the center of the tailstock workpiece The difference in coordinate values ​​yields the coaxiality error. Based on this coaxiality error, the positions of the spindle workpiece and the tailstock workpiece can be adjusted (reinstalled) until the coaxiality error is no greater than 0.02mm.

[0107] Example 3

[0108] An automatic detection system for the static and dynamic geometric dimensions of a workpiece before inertial friction welding, based on Embodiment 1 (N=1), further includes a second distance detection and adjustment module: a fourth laser rangefinder 17. A fourth laser rangefinder is fixedly mounted at one end of the connecting rod of the second distance detection and adjustment module, and the laser emission direction of the fourth laser rangefinder is directed towards the outer contour of the spindle. Figure 4 As shown, in order to install the fourth laser rangefinder, a rod perpendicular to the connecting rod is fixed to the end of the connecting rod of the second distance detection and adjustment module, and the fourth laser rangefinder is installed on the rod.

[0109] Preferably, the number of fourth laser ranging sensors can be set to two, that is, one fourth laser ranging sensor is fixedly installed at each end of the connecting rod of the second distance detection and adjustment module, and a rod perpendicular to the connecting rod is fixedly installed at each end of the connecting rod of the second distance detection and adjustment module, with one fourth laser ranging sensor installed on each rod.

[0110] Example 4

[0111] Based on Example 3, the method for calculating the static center coordinates of the principal axis in Example 2 based on each fourth laser ranging sensor includes:

[0112] S1, with the spindle workpiece not installed, the length direction of the connecting rod in the second distance detection adjustment module of the automatic geometric static and dynamic dimension detection system is set horizontally. With the spindle stationary, the second distance detection adjustment module rotates one revolution. Each rotation... A fourth laser rangefinder, installed on the second distance detection and adjustment module, collects the length of the laser beam that illuminates the outer contour of the main shaft in one pass, forming a distance set of the main shaft's outer contour. The method described in step S2-2 of Example 2 is then used to convert this distance set into three-dimensional coordinates in the coordinate system of the measuring mechanism, forming a point set. ;

[0113] S2, Construct the equation of the circle of the outer contour of the principal axis in the coordinate system of the measuring mechanism, and set the points... Substituting the x-axis and y-axis coordinates of all measuring points in the coordinate system of the measuring mechanism into the equation of the circle of the outer contour of the principal axis, we obtain a system of equations; after simplification, we obtain a matrix equation; we then solve the matrix equation using the least squares method to obtain the center coordinates of the circle in the coordinate system of the measuring mechanism, which are used as the static center coordinates of the principal axis. .

[0114] Among them, point set Represented as:

[0115]

[0116] In the formula, It is a constant value.

[0117] The equation of a circle is expressed as:

[0118]

[0119] In the formula, under the coordinate system of the measuring mechanism, The x-axis coordinate of the center of the outer contour of the main axis. The y-axis coordinate of the center of the outer contour of the main axis. The radius of the circle that forms the outer contour of the main axis;

[0120] The system of equations is as follows:

[0121]

[0122]

[0123]

[0124]

[0125] The matrix equation is as follows:

[0126]

[0127] When the automatic geometric static and dynamic dimension detection system includes two fourth laser rangefinders 17, a static center coordinate is obtained based on the calculation of each fourth laser rangefinder according to the above-mentioned "static center coordinate method". The static center coordinates obtained by the two fourth laser rangefinders Sum and average can improve accuracy.

[0128] Example 5

[0129] An automatic detection method for the overlapping area of ​​workpieces before inertial friction welding, employing the automatic detection system for static and dynamic geometric dimensions (N=1) of Example 1, includes the following specific steps:

[0130] S1, the point set of the second laser ranging sensor of the first distance detection and adjustment module. The point set of the second laser ranging sensor in the second distance detection and adjustment module As two point sets , to combine two point sets Transform each measurement point to polar coordinates and represent it using polar coordinates, then traverse both point sets. Polar coordinates of each measurement point: Among two measurement points with the same polar angle, select the measurement point with the smaller polar radius and add its polar coordinates to the set. In, sets are used middle Calculate the area of ​​the overlapping portion of the outer contours of the main spindle workpiece and the tailstock workpiece using polar coordinates at each measurement point. for:

[0131]

[0132] In the formula, Represents a set The Middle The polar diameter of each measurement point Represents a set The Middle The polar diameter of each measurement point Represents a set The Middle Polar angle at each measurement point Represents a set The Middle Polar angles at each measurement point.

[0133] S2, the point set obtained by the third laser ranging sensor of the first distance detection and adjustment module. The point set obtained by the third laser ranging sensor of the second distance detection and adjustment module As two point sets , to combine two point sets Transform each measurement point to polar coordinates and represent it using polar coordinates, then traverse both point sets. Among two measurement points with the same polar angle, select the polar coordinates corresponding to the measurement point with the smaller polar radius and add them to the set. In, sets are used middle Calculate the area of ​​the overlapping portion of the inner contours of the spindle workpiece and the tailstock workpiece using polar coordinates at each measurement point. for:

[0134]

[0135] In the formula, Represents a set The Middle The polar diameter of each measurement point Represents a set The Middle The polar diameter of each measurement point Represents a set The Middle Polar angle at each measurement point Represents a set The Middle Polar angles at each measurement point.

[0136] S3, based on area and area Calculate the overlapping area for:

[0137]

[0138] The polar coordinate system is defined as follows: the intersection of the axis of symmetry of the two distance detection and adjustment modules and the axis of the output shaft of the rotary motor is taken as the pole of the polar coordinate system, and the horizontal direction is taken as the polar axis.

[0139] In this embodiment, the circles corresponding to the outer contours of the spindle workpiece and the tailstock workpiece are as follows: Figure 8 As shown, the circles corresponding to the inner contours of the spindle workpiece and the tailstock workpiece are as follows: Figure 9 As shown.

[0140] The role of overlapping area: In inertial friction welding, measuring the overlapping area of ​​the spindle and tailstock workpieces at the contact interface helps determine whether they are fully bonded and flow evenly during welding. A large and symmetrically distributed overlapping area indicates that the spindle and tailstock workpieces are heated and deformed relatively evenly, resulting in a good weld bond and a low risk of internal defects. Conversely, a small overlapping area or one significantly biased towards the spindle or tailstock workpiece suggests insufficient heating or flow, which can easily lead to problems such as eccentricity, edge curling, or incomplete penetration. Measuring the overlapping area provides a direct reflection of the welding interface's matching status, offering a reference for adjusting process parameters and improving welding quality.

[0141] Example 6

[0142] Based on Example 2 (N=1), a method for calculating the end runout value of a workpiece before inertial friction welding is provided:

[0143] In the distance set of Example 2 The selected distances, during the rotation of the second distance detection and adjustment module around the output shaft axis of the rotary motor, are the distances corresponding to rotation angles of 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315°, respectively. and .

[0144] End jump value when rotation angle is 0° Set to 0; the end jump value at a rotation angle of 45° is The end jump value at a rotation angle of 90° is The end jump value at a rotation angle of 135° is The end jump value at a rotation angle of 180° is The end jump value at a rotation angle of 225° is The end jump value at a rotation angle of 270° is The end jump value at a rotation angle of 315° is .

[0145] Example 7

[0146] Based on Example 2 (N=1), a method for calculating the radial runout of a workpiece before inertial friction welding is provided:

[0147] In the distance set of Example 2 The selected distances, during the rotation of the second distance detection and adjustment module around the output shaft axis of the rotary motor, are the distances corresponding to rotation angles of 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315°, respectively. and .

[0148] The radial jump value when the rotation angle is 0° Set to 0; the radial jump value at a rotation angle of 45° is The radial jump value at a rotation angle of 90° is The radial jump value at a rotation angle of 135° is The radial jump value at a rotation angle of 180° is The radial jump value at a rotation angle of 225° is The radial jump value at a rotation angle of 270° is The radial jump value at a rotation angle of 315° is .

[0149] The end runout value reflects the axial wobble error of the end face of the spindle workpiece relative to the axis of the rotary motor output shaft, while the radial runout value reflects the radial eccentricity error of the outer contour circle of the spindle workpiece relative to the axis of the rotary motor output shaft. The end runout and radial runout values ​​allow for the calibration of the spindle workpiece before welding, reducing uneven interface stress and asymmetrical heat input caused by eccentricity during rotation, thereby improving the forming quality and welding stability of the inertial friction welded joint.

[0150] Example 8

[0151] Based on Example 3 (N=1), a method for calculating the dynamic center coordinates of the spindle of a workpiece before inertial friction welding is provided:

[0152] (1) Position the static center of the main shaft on the output shaft axis of the rotary motor of the second distance detection and adjustment module, and rotate the main shaft. During the rotation of the main shaft, ensure that the angle between the connecting rod of the second distance detection and adjustment module and the horizontal plane is . And keep the connecting rod of the second distance detection and adjustment module stationary, each of the fourth laser rangefinders 17 obtains the maximum and minimum distances during the rotation of the main shaft, wherein, making Set to 0°, 120°, and 240° respectively, select each fourth laser rangefinder sensor in each... The maximum distance Jmax obtained when the value is set is used to connect a fourth laser rangefinder sensor in three different configurations. The set of Jmax values To place another fourth laser rangefinder in three The set of Jmax values Select each fourth laser rangefinder in each The minimum distance Jmin obtained when the value is given is used to connect a fourth laser rangefinder in three different applications. The set of Jmin values To place another fourth laser rangefinder in three The set of Jmin values ;

[0153] (2) Set ,gather ,gather and set Each circle is treated as a set F, and the coordinates of its center are calculated based on each set F. And calculate the coordinates of the centers of the four sets F. The average value is used as the dynamic center coordinate of the principal axis.

[0154] Calculate the coordinates of the center of set F. The methods include:

[0155] Using the method in step S2-2 of Example 2, the three distances in set F are transformed into three coordinate points in the coordinate system of the measuring mechanism, which are respectively ;

[0156] Let the coordinates of the center of the circle be... Then the equation of the circle corresponding to set F is:

[0157]

[0158] Expanding the above equation, we get:

[0159]

[0160] make , , get:

[0161]

[0162] Will Substituting into the above equation, we obtain the following equation:

[0163]

[0164] By solving the equation, we can obtain... and The value of is then: , Obtain the coordinates of the center of the circle. .

[0165] The role of the dynamic center coordinates of the spindle: In inertial friction welding, the rotational accuracy of the spindle directly affects the stress and heat distribution at the welding interface. Due to factors such as assembly eccentricity and bearing clearance, the spindle will experience slight offsets during high-speed rotation. By measuring the dynamic center coordinates of the spindle, its rotational stability can be directly reflected, and radial runout can be assessed. This provides a basis for dynamic balancing adjustment, clamping alignment, and welding quality control, thereby improving the symmetry of the welding interface and the quality of the joint formation.

[0166] Example 9

[0167] An automatic detection method for coaxiality error of a workpiece before inertial friction welding is disclosed. This method employs the automatic geometric static and dynamic dimension detection system (N=2) of Example 1. One laser rangefinder sensor group is selected in the first distance detection adjustment module, and another laser rangefinder sensor group is selected in the second distance detection adjustment module. The "automatic detection method for coaxiality error" in Example 2 is then executed to obtain the first coaxiality error. A second coaxiality error is obtained by selecting another laser rangefinder sensor group in both the first and second distance detection adjustment modules and executing the "automatic detection method for coaxiality error" in Example 2. The two coaxiality errors are summed and averaged to obtain the coaxiality error of this embodiment.

[0168] In this embodiment, the automatic detection method for static and dynamic dimensions of the workpiece geometry before inertial friction welding of the present invention achieves a coaxiality error measurement accuracy of 0.01 mm. The time required to measure and calculate the coaxiality error, the static center coordinates of the spindle, the dynamic center coordinates of the spindle, end runout, radial runout, and overlapping area using the automatic detection method for static and dynamic dimensions of the workpiece geometry before inertial friction welding of the present invention is 15 minutes. The time required to measure and calculate the same parameters using existing technology is 4 minutes. The detection method of the present invention has a high efficiency, taking 6 hours.

[0169] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. An automatic detection system for the static and dynamic geometric dimensions of a workpiece before inertial friction welding, characterized in that, include: Two distance detection adjustment modules (5) are a first distance detection adjustment module (5-1) and a second distance detection adjustment module (5-2). The two distance detection adjustment modules (5) are arranged in parallel. The first distance detection adjustment module (5-1) is used to be close to the tailstock (7), and the second distance detection adjustment module (5-2) is used to be close to the spindle (8). Each distance detection and adjustment module (5) includes: a connecting rod (13) and N laser ranging sensor groups fixed on the connecting rod (13), N=1 or 2. The connecting rod (13) is fixed perpendicularly to the output shaft of a rotary motor (6). The rotary motor (6) drives the connecting rod (13) to rotate. Each laser ranging sensor group includes three laser ranging sensors, namely the first laser ranging sensor (11-1), the second laser ranging sensor (11-2), and the third laser ranging sensor (11-3). The annular workpiece installed in the tailstock (7) serves as the tailstock workpiece (9), and the annular workpiece installed on the spindle (8) serves as the spindle workpiece (10), wherein: In the first distance detection and adjustment module (5-1), each first laser range sensor (11-1) is always opposite to the annular end face of the tailstock workpiece (9), the laser emission direction of each second laser range sensor (11-2) in the first distance detection and adjustment module (5-1) is always towards the outer wall of the tailstock workpiece (9), and the laser emission direction of each third laser range sensor (11-3) in the first distance detection and adjustment module (5-1) is always towards the inner wall of the tailstock workpiece (9). In the second distance detection and adjustment module (5-2), each first laser rangefinder (11-1) is always opposite to the annular end face of the spindle workpiece (10), the laser emission direction of each second laser rangefinder (11-2) in the second distance detection and adjustment module (5-2) is always towards the outer wall of the spindle workpiece (10), and the laser emission direction of each third laser rangefinder (11-3) in the second distance detection and adjustment module (5-2) is always towards the inner wall of the spindle workpiece (10).

2. The automatic detection system for static and dynamic geometric dimensions according to claim 1, characterized in that, The automatic detection system for geometric static and dynamic dimensions also includes: a base (1), a first cylinder (2), a second cylinder (3), and a boom telescopic adjustment module (4). The boom telescopic adjustment module (4) includes: a support (4-1), a slide rail (4-2), and a slider (4-3). The slide rail (4-2) is fixed on the support (4-1), and the slider (4-3) is mounted on the slide rail (4-2). The support (4-1) is inclined, and the bottom of the support (4-1) is mounted on the base (1) and can rotate on the base (1). The second cylinder (3) One end of the first cylinder (2) is hinged to the base (1), and the other end of the second cylinder (3) is hinged to the support (4-1) of the boom telescopic adjustment module (4). A plate (16) is fixed on the slider (4-3). One end of the first cylinder (2) is hinged to the support (4-1), and the other end of the first cylinder (2) is hinged to the plate (16). The rotary motor (6) is installed on the upper part of the plate (16). The rotary motor (6) has dual-axis output. Each output shaft of the rotary motor (6) is used to fix a distance detection adjustment module (5).

3. The automatic detection system for static and dynamic geometric dimensions according to claim 1, characterized in that, When N=2, the two laser rangefinder sensor groups on the same distance detection and adjustment module (5) are symmetrically fixed on both sides of the center position of the connecting rod (13), and the center position of the connecting rod (13) is fixed to the output shaft of the rotary motor (6).

4. The automatic detection system for static and dynamic geometric dimensions according to claim 2, characterized in that, The base (1) is fixed on a three-dimensional translation stage.

5. The automatic detection system for static and dynamic geometric dimensions according to claim 1, characterized in that, Two distance detection and adjustment modules (5) are located between the main shaft (8) and tailstock (7) of the inertial friction welding machine.

6. The automatic geometric static and dynamic dimension detection system according to claim 1, characterized in that, A fifth laser rangefinder (14) is fixed at each end of the connecting rod (13) of the first distance detection and adjustment module (5-1). The laser emission direction of the two fifth laser rangefinders (14) is parallel to the length direction of the connecting rod (13) and far away from the center position of the connecting rod (13).

7. The automatic detection system for static and dynamic geometric dimensions according to claim 1, characterized in that, A fifth laser rangefinder (14) is fixedly mounted at one end of the connecting rod (13) of the first distance detection and adjustment module (5-1). The laser emission direction of the fifth laser rangefinder (14) is parallel to the length direction of the connecting rod (13) and far away from the center position of the connecting rod (13). The distance between the tailstock workpiece (9) and the first distance detection and adjustment module (5-1) is 3~10cm; The distance between the main spindle workpiece (10) and the second distance detection and adjustment module (5-2) is 3~10cm.

8. The method of using the automatic geometric static and dynamic dimension detection system as described in any one of claims 1 to 7, characterized in that, include: To ensure the output shaft axis of the rotary motor (6) in the automatic geometric static and dynamic dimension detection system is aligned with the static center of the main shaft (8), and to maintain the fixed position of the automatic geometric static and dynamic dimension detection system, each first laser ranging sensor (11-1) of the second distance detection adjustment module is opposite to the annular end face of the main shaft workpiece (10). The laser emission direction of each second laser ranging sensor (11-2) in the second distance detection adjustment module (5-2) is directed towards the outer wall of the main shaft workpiece (10), and the laser emission direction of each third laser ranging sensor (11-3) in the second distance detection adjustment module (5-2) is directed towards the main shaft workpiece (10). The inner wall; the tailstock (7) moves toward the main shaft (8), so that each first laser rangefinder (11-1) in the first distance detection and adjustment module (5-1) is opposite to the annular end face of the tailstock workpiece (9), the laser emission direction of each second laser rangefinder (11-2) in the first distance detection and adjustment module (5-1) is toward the outer wall of the tailstock workpiece (9), and the laser emission direction of each third laser rangefinder (11-3) in the first distance detection and adjustment module (5-1) is toward the inner wall of the tailstock workpiece (9); the rotary motor (6) rotates, and during the rotation of the rotary motor (6), each laser rangefinder continuously emits a laser beam.

9. The use of the automatic geometric static and dynamic dimension detection system as described in any one of claims 1 to 7 in testing the end runout / radial runout of a workpiece.

10. The use of the automatic geometric static and dynamic dimension detection system as described in any one of claims 1 to 7 at the dynamic center of the test spindle.

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