CN109014560B - The on-line measuring device and detection method of stirring-head drafts - Google Patents
The on-line measuring device and detection method of stirring-head drafts Download PDFInfo
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- CN109014560B CN109014560B CN201810918117.6A CN201810918117A CN109014560B CN 109014560 B CN109014560 B CN 109014560B CN 201810918117 A CN201810918117 A CN 201810918117A CN 109014560 B CN109014560 B CN 109014560B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/123—Controlling or monitoring the welding process
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Abstract
The present invention provides a kind of on-line measuring device of stirring-head drafts, it includes temperature control box, distance-measuring device, industrial personal computer and temperature control equipment, distance-measuring device and temperature control equipment are connect with industrial personal computer both-way communication, distance-measuring device includes first laser rangefinder and second laser rangefinder, temperature control equipment is provided with two groups, first group of temperature control equipment includes the first temperature sensor and the first temperature adjustment module, second group of temperature control equipment includes second temperature sensor and second temperature adjustment module, first temperature adjustment module and second temperature adjustment module include semiconductor chilling plate, microcontroller and peripheral circuit.Its detection system for carrying out on-line measurement to stirring-head drafts in the welding process using triangulation laser range technology, the situation of change of welding pressure is recognized that by the real-time detection to stirring-head drafts, to further realize effective control to welding pressure, the quality of welding is improved.
Description
Technical field
The present invention relates to technical field of electro-optical measurement, more particularly to a kind of stirring-head drafts on-line measuring device with
Detection method.
Background technique
Agitating friction welds the preferred weld technology connected as a kind of light alloy material, so that welding both at home and abroad to agitating friction
The research of technology is paid much attention to, and research is also gradually goed deep into.The content of research is concentrated mainly on welding machine technique, welding material and welding
Equipment etc., research hotspot include stirring-head and friction of workpiece heat production model, stir friction welding process simulation and prediction, weldering
Slit is influenced at the migration with thermoplastic metal, agitating friction weldering active force, the mechanism that defect is formed in weld seam and agitating friction are welded
Residual stresses and deformations of initiation etc., from research hotspot it can be seen that temperature caused by pressure and heat production becomes in welding process
Change, and the high-temp plastic region as caused by temperature change and thermal radiation area size have very important shadow to welding performance
It rings.
Lot of domestic and international institutions conduct correlative study, at abroad, Edison's institute of welding in the U.S. and Britain weld
Research institute has carried out numerous studies to FSW welding procedure；Lockheed * Martin's aerospace company in the U.S., Marshall space flight
Flight center, research institute, USN, south Caro Li Na university, the Stuttgart university of Germany, Australian Adelaide
University, Australian institute of welding etc. all from different angles specialize in agitating friction weldering.At home, Beijing
Match Foster Technology Co., Ltd., Harbin Institute of Technology, Shanghai Communications University, Nanjing Aero-Space University, Lanzhou science and engineering are big
And Northwestern Polytechnical University etc. have also carried out a large amount of research to agitating friction weldering.But most of research all concentrates on both at home and abroad
It is main to the research in terms of temperature field, active force and thermoplasticity area during agitating friction weldering in welding machine technique and welding material
It is especially few to the on-line checking research of welding hot property and in terms of concentrating on finite element simulation.
Influence of the active force to welding performance in welding process, has also carried out correlative study, C.D.Sorensen both at home and abroad
Etc. the distribution situation for having studied mixing needle longitudinal force, the results showed that the size of stress is at a distance from the point to the shaft shoulder on mixing needle
Directly proportional relationship；The influence for having studied lower pressure butt welding termination process in agitating friction weldering such as clear is opened, research shows that lower pressure
Size influences the peak value of welding temperature, and the higher stirring-head stress of welding temperature is smaller, and then influences welding quality；Wang Xijing etc. pairs
Agitating friction welds lower pressure and is tested, obtain revolving speed, volume under pressure and under the influence of pushing speed and being pressure principal element,
Having studied the stress field of welding material and deflection under different shaft shoulder volumes under pressure influences；Xing Li etc. has studied the docking of shaft shoulder volume under pressure
The influence of head interfacial migration and lap joint mechanical property.The result shows that control shaft shoulder volume under pressure, when shaft shoulder volume under pressure is suitable,
Lesser migration only occurs for the interface of weld seam two sides.
It will affect agitating friction heat by research discovery welding pressure, and compression played to the plastic metal after stirring and is made
With, excessive too small all connect butt welding of welding pressure has an adverse effect, and welding pressure is directly related with the drafts of stirring-head,
It is achieved that can effectively improve the quality of welding to the on-line measurement of stirring-head drafts in welding process.
Summary of the invention
In order to overcome the drawbacks of the prior art, the present invention provides on-line measuring device and the detection of a kind of stirring-head drafts
Method carries out the detection system of on-line measurement using triangulation laser range technology to stirring-head drafts in the welding process,
The situation of change of welding pressure is recognized that by the real-time detection to stirring-head drafts, to further realize to welding
Effective control of pressure, improves the quality of welding.
Specifically, the present invention provides a kind of on-line measuring device of stirring-head drafts comprising temperature control box, range measurement
Device, industrial personal computer and temperature control equipment, the distance-measuring device and temperature control equipment and the industrial personal computer are two-way
Communication connection,
The distance-measuring device includes first laser rangefinder and second laser rangefinder, the temperature control equipment
Two groups are provided with, first group of temperature control equipment includes the first temperature sensor and the first temperature adjustment module, second group of temperature
Degree control device includes second temperature sensor and second temperature adjustment module, the first temperature adjustment module and second temperature
Adjustment module includes semiconductor chilling plate, microcontroller and peripheral circuit, the microcontroller and the industrial computer communication
The industrial personal computer is connected and is controlled by,
First laser rangefinder and second laser rangefinder are arranged in the temperature control box, the first temperature adjustment module and
Second temperature adjustment module is oppositely arranged on the inner wall of the temperature control box, first temperature sensor and second temperature sensing
Device is separately mounted to the upper inner wall or lower inner wall of the temperature control box, and first temperature sensor and second temperature sensor are being set
The temperature information of detection temperature control box in fixed time interval, and temperature information is uploaded to industrial personal computer, it is set inside the industrial personal computer
It is equipped with temperature threshold, the industrial personal computer is compared the temperature information received with temperature threshold, when temperature information is beyond temperature
Temperature adjustment signal is sent to microcontroller when spending threshold range, the microcontroller is according to the temperature adjustment signal control received
The temperature of temperature control box is adjusted in semiconductor chilling plate processed,
In the welding process, the laser light light admission port that first laser rangefinder and second laser rangefinder are launched point
Be not irradiated to the surface of stirring stant and welding base metal, reflection light again by light admission port be back to first laser rangefinder with
And the receiving end of second laser rangefinder.
It preferably, further include display device, the display device connects the output end of the industrial personal computer.
Preferably, the temperature control chamber interior wall is provided with thermal insulation layer.
Preferably, first laser rangefinder and second laser rangefinder pass through metallic support respectively and are fixed in temperature control box
Middle position, the mixing needle of stirring stant is deep into the weld seam of welding base metal.
Preferably, temperature threshold range is 18 DEG C -22 DEG C.
Preferably, the present invention also provides a kind of online test methods of stirring-head drafts comprising following steps:
S1, the temperature in temperature control box is adjusted before opening range measurement, using manual adjustment mode, by cooling piece
Operating mode be placed under high power work mode, the temperature in temperature control box is adjusted to 20 DEG C within one minute, later will
Regulative mode is set as automatic adjustment mode, and temperature control equipment controls the temperature in temperature control box in temperature threshold；
S2, measuring device is moved to by welding jig, opens two laser range finders using the software on industrial personal computer,
First laser rangefinder and second laser rangefinder are adjusted, them is made to be respectively radiated to the surface of stirring stant and welding base metal,
When mixing needle first enters weld seam, the distance value that two laser range finders measure is reached into industrial personal computer, two groups of data pass through data
After pretreatment, the average value of two groups of data is calculated separately out, and acquires the difference of two average value, this difference is set as demarcating
Value；
The depth of S3, mixing needle in weld seam remains unchanged, and welding base metal is in constantly movement at this time, two laser
Rangefinder starts to carry out real-time measurement, and range data is reached industrial personal computer, data of adjusting the distance carry out respectively Kalman filtering and
Wild point is rejected, range data is compared with calibration value by treated, and gained difference is the changing value of drafts, finally will
The change curve of drafts, can be to stirring according to the situation of change of drafts in carrying out real-time display on the display screen of industrial personal computer
The height of head adjusts, to guarantee welding quality.
Preferably, temperature threshold range is 18 DEG C -22 DEG C in step S1.
Preferably, smothing filtering and excluding outlier are carried out to data using kalman filter method in step S3, utilized
The estimated value and practical measured value for measuring distance carry out optimum estimation, and evaluated error and measurement error are substituted with white noise；
S31, state-space expression is determined, during actual measurement, drafts can only change in very low range, needle
For discrete measurement data, the relationship between two state variables, i.e., the optimal estimation value of previous measurement point are indicated using formula (1)
With the relationship of current point range estimation:
Xk|k-1=Xk-1|k-1 (1)
Wherein Xk|k-1Indicate the estimated value of kth point, Xk-1|k-1Indicate that the optimal estimation value of -1 point of kth, above-mentioned expression formula are hidden
Random evaluated error is contained, random evaluated error and measurement error regard white noise as, wherein the variance of observation error is remembered
For R, variance of estimaion error is denoted as Q, determines the interative computation of progress step S3 after the value of Q and R；
S32, the variance R of observation error are determining by formula (2), and variance of estimaion error is then tested by multiple data processing
It determines, judges that filter effect, S are determined that wherein N is the sum of measurement data, when the value of S by formula (3) by the size of numerical value S
When between 0.01~0.03, illustrate that filter result is preferable at this time, so that it is determined that the relational expression of Q and R is formula (4),
The variance of observation error is constantly updated with the movement of current point, in formula (2), Zk-iIndicate all kth points it
Preceding measured value, Xk-i|k-iIt indicates the optimal estimation value before all kth points, the measurement variance of kth point is calculated with formula (2)；
Through all actual measured values compared with optimal estimation value, thus obtain judging the standard of filter effect, it is true according to this standard
Determine the relationship between observation error variance and estimation error variance, and determined by formula (4), wherein the determination of a, b, c parameter with
The length of mixing needle and the thickness of welding base metal are related, carry out iterative process below after determining above-mentioned parameter；
S33, iterative process according to formula (5)~(8) carry out, in the filtering to each data point along with
Rejecting operation to exceptional value, successively judges measured value Z according to formula (9)kIt whether is exceptional value,
pk|k-1=pk|k-1+Q (5)
Xk|k=Xk|k-1+Kgk·(Zk-Xk|k-1) (7)
pk|k=(1-Kgk)·pk|k- 1(8)
P in formula (5)~(8)k|k-1Correspond to the estimation error covariance of kth point, pk-1|k-1Correspond to -1 point of kth
Estimation error covariance, by the kalman gain Kg for calculating kth pointk, obtain the optimal estimation value X of kth pointk|k, then ask again
X outk|kCorresponding estimation error covariance pk|k, R in formula (9)k-1The observational variance for indicating -1 point of kth, using following initial
Change mode initializes interative computation process, and the filtering to all measurement points can be completed；
S34, the optimal estimation value X that the average value for taking first three measured value is first measurement point1|1, corresponding error
Estimate covariance p1It is set as Z1With X1|1Square of difference, i.e. formula (10):
p1=(Z1-X1|1)2 (10)
After S35, initiation parameter, p is constantly updated by loop iteration processk|kWith Xk|k, not due to the first two measured value
It is filtered operation, so entire iterative process will carry out N-3 times.
Compared with prior art, the invention has the following advantages:
(1) pressure amount detecting device measurement accuracy of the invention is high, and measurement error is can be controlled within 0.01mm；
(2) measurement frequency of the invention is high, and the laser range finder of 2.5kHz is reached using measurement frequency, is welding to realize
In the process to the real-time measurement of drafts, and substantially reduce target object bring range measurement error in displacement process；
(3) laser measuring device for measuring of the invention is placed in the nearly constant temperature control box of temperature, ensure that the steady of laser measurement
Qualitative and precision；
(4) present invention is handled data using Kalman filtering, abnormal data elimination algorithm, further reduces survey
Error is measured, to obtain more accurate drafts situation of change；
(5) measurement process of the invention relies on software control, realizes the automatic measurement and result of drafts in welding process
Analysis.
Detailed description of the invention
Fig. 1 is drafts detecting system schematic diagram；
Fig. 2 is temperature control and detection device schematic diagram；
Fig. 3 is drafts and control device schematic diagram；
Fig. 4 is drafts test experience data processed result；
Fig. 5 is experiment drafts change curve.
Specific embodiment
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect.It is identical attached in attached drawing
Icon note indicates element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, unless special
It does not point out, it is not necessary to attached drawing drawn to scale.
The detection system of stirring-head drafts of the present invention is as shown in Figure 1 comprising distance-measuring device and temperature control
Device processed, distance detection device are mainly made of first laser rangefinder 5, second laser rangefinder 13 and industrial personal computer 1, and two
Both-way communication, 2, second groups of the main first group of temperature adjustment module of temperature control equipment are carried out between laser range finder and industrial personal computer
Temperature adjustment module 6, the first temperature sensor 4 and second temperature sensor 7 form, and temperature adjustment module includes semiconductor system
Cold and the necessary electric appliance composition of independent microcon-troller and periphery of its work is controlled, microcontroller need to obtain control from industrial personal computer and refer to
It enables, then refrigerator is controlled with the program stored in microcontroller, industrial personal computer can monitor the operation feelings of microcontroller
Condition, and be adjusted in a manner of manually-operated.
Temperature of the present invention control with detection device as shown in Fig. 2, and in conjunction with described in Fig. 1, first laser rangefinder 5 with
Second laser rangefinder 13 is placed in temperature control box 1, and temperature control chamber interior wall is equipped with thermal insulation layer 3, first group of temperature adjustment module 2 and second
Group temperature adjustment module 6 is separately mounted on two opposite inner walls of temperature control box 1, realizes the operation of temperature control box internal cooling, the
One temperature sensor 4 and second temperature sensor 7 are separately mounted to the inner wall up and down of temperature control box, detect primary temperature every 0.5s
The temperature inside case is controlled, and by temperature data uploading to industrial personal computer 14, i.e. temperature control modules are opened before being subjected to
Temperature in temperature control box is adjusted to 20 DEG C by beginning work, when being subjected to, automatically adjusts temperature by the rate of change of temperature
Temperature in temperature control box is controlled the real time temperature change curve between 18 DEG C -22 DEG C, in temperature control box by the power of control module
It can be by being checked on the display panel of industrial personal computer.
The drafts Detection & Controling device as shown in figure 3, and in conjunction with described in Fig. 1, first laser rangefinder 5, second
Laser range finder 13 is fixed on the middle position in temperature control box by metallic support 11,12 respectively, and it is female that mixing needle is deep into welding
In the weld seam 15 of material, in the welding process, the laser light that first laser rangefinder 5, second laser rangefinder 13 are launched is viscous
There is the light admission port 8 of fused silica glass to be respectively radiated to the surface of stirring stant 10 Yu welding base metal 9, reflection light is again by light passing
Mouthfuls 8 are back to the receiving end of laser range finder, to realize the purpose of ranging, institute's ranging is from being uploaded to industrial personal computer 14.
The major parameter of laser range finder used herein is as shown in table 1, and such range sensor is suitable for quickly surveying
The distance of hot rubescent metal measured object is measured, blue laser can reduce working environment bring adverse effect, and make laser more
Few is projected into testee surface, to realize more accurate measurement.
Table 1
Drafts detection process:
(1) temperature in temperature control box is adjusted before opening range measurement, due to temperature control box initial temperature compared with
To be constant, so the operating mode of cooling piece is placed under high power work mode using manual adjustment mode, one minute it
The interior temperature by temperature control box is adjusted to 20 DEG C, and regulative mode is set as automatic adjustment mode at this time, and temperature control module will be according to temperature
The real time temperature situation of change in case is controlled, and combination temperature rate of change changes refrigeration work consumption, the temperature in temperature control box is controlled
Between 18 DEG C -22 DEG C；
(2) measuring device is moved to by welding jig, opens two laser range finders using the software on industrial personal computer,
First laser rangefinder 5 and second laser rangefinder 13 are adjusted, them is made to be respectively radiated to stirring stant 10 and welding base metal 9
The distance value that two laser range finders measure when mixing needle first enters weld seam, is reached industrial personal computer, two groups of data are passed through by surface
After data prediction, the average value of two groups of data is calculated separately out, and acquires the difference of two average value, this difference is set as
Calibration value；
(3) depth of the mixing needle in weld seam remains unchanged, and welding base metal is in constantly movement at this time, two laser
Rangefinder starts to carry out real-time measurement, and range data is reached industrial personal computer, data of adjusting the distance carry out respectively Kalman filtering and
Wild point is rejected, range data is compared with calibration value by treated, and gained difference is the changing value of drafts, finally will
The change curve of drafts is in carrying out real-time display on the display screen of industrial personal computer.
Data processing method of the invention:
Smothing filtering and excluding outlier are carried out to data using kalman filter method, utilize the estimated value of measurement distance
Optimum estimation is carried out with practical measured value, evaluated error and measurement error are substituted with white noise；
(1), state-space expression is determined, during actual measurement, drafts can only change in very low range, needle
For discrete measurement data, the relationship between two state variables, i.e., the optimal estimation value of previous measurement point are indicated using formula (1)
With the relationship of current point range estimation:
Xk|k-1=Xk-1|k-1 (1)
Wherein Xk|k-1Indicate the estimated value of kth point, Xk-1|k-1Indicate that the optimal estimation value of -1 point of kth, above-mentioned expression formula are hidden
Random evaluated error is contained, random evaluated error and measurement error regard white noise as, wherein the variance of observation error is remembered
For R, variance of estimaion error is denoted as Q, determines the interative computation of progress step 3 after the value of Q and R；
(2), the variance R of observation error is determined by formula (2), and variance of estimaion error is then tested by multiple data processing
It determines, judges that filter effect, S are determined that wherein N is the sum of measurement data, when the value of S by formula (3) by the size of numerical value S
When between 0.01~0.03, illustrate that filter result is preferable at this time, so that it is determined that the relational expression of Q and R is formula (4),
The variance of observation error is constantly updated with the movement of current point, in formula (2), Zk-iIndicate all kth points it
Preceding measured value, Xk-i|k-iIt indicates the optimal estimation value before all kth points, the measurement variance of kth point is calculated with formula (2)；
Through all actual measured values compared with optimal estimation value, thus obtain judging the standard of filter effect, it is true according to this standard
Determine the relationship between observation error variance and estimation error variance, and determined by formula (4), wherein the determination of a, b, c parameter with
The length of mixing needle and the thickness of welding base metal are related, carry out iterative process below after determining above-mentioned parameter；
(3), iterative process according to formula (5)~(8) carry out, in the filtering to each data point along with
Rejecting operation to exceptional value, successively judges measured value Z according to formula (9)kIt whether is exceptional value,
pk|k-1=pk|k-1+Q (5)
Xk|k=Xk|k-1+Kgk·(Zk-Xk|k-1) (7)
pk|k=(1-Kgk)·pk|k-1 (8)
P in formula (5)~(8)k|k-1Correspond to the estimation error covariance of kth point, pk-1|k-1Correspond to -1 point of kth
Estimation error covariance, by the kalman gain Kg for calculating kth pointk, obtain the optimal estimation value X of kth pointk|k, then ask again
X outk|kCorresponding estimation error covariance pk|k, R in formula (9)k-1The observational variance for indicating -1 point of kth, utilizes following initialization
Mode initializes interative computation process, and the filtering to all measurement points can be completed；
(4), take the average value of first three measured value for the optimal estimation value X of first measurement point1|1, corresponding error
Estimate covariance p1It is set as Z1With X1|1Square of difference, i.e. formula (10):
p1=(Z1-X1|1)2 (10)
After initiation parameter, p is constantly updated by loop iteration processk|kWith Xk|k, due to the first two measured value without
Filtering operation, so entire iterative process will carry out N-3 times.
The test experience of drafts in welding process, institute in experiment are carried out using above-mentioned detection device and data processing method
The welding base metal used is 2195 aluminum alloy materials, and board dimension 300mm*100mm*3mm, the mixing needle used is right-hand thread
Cylinder mixing needle, mixing needle diameter are 5mm, and mixing needle length is 3mm, and stirring-head shaft shoulder diameter is 13mm.When experiment, according to institute
Detection process (1) is stated, temperature control the temperature inside the box is quickly adjusted to set temperature, keeps the temperature in temperature control box substantially permanent later
Fixed, then according to detection process (2), mixing needle is inserted into after weld seam is suitble to depth and stops 5~10s, during this period, two laser rangings
Instrument respectively measures welding base metal surface and welding support surface, and two groups of data take the difference of two average values after filtering
As calibration data, in this experiment, the calibration results 50.75mm, mixing needle is constantly advanced in weld seam to complete to weld later
It connects, wherein the revolving speed of mixing needle is 750r/min, and travel speed 60mm/min, two laser range finders are in mixing needle traveling process
In real-time range measurement continuously is carried out to the surface of stirring stant and welding base metal, data processor is to collected apart from number
According to being filtered, two groups through filtered data and curves as shown in figure 4, in mixing needle traveling process, two groups of distance values
It can be fluctuated up and down in minimum range, the relative position of this expression stirring-head and welding base metal is in continuous variation
Show the details of change curve, what is shown in figure is only partial data curve, and according to calibration value, the variation for obtaining drafts is bent
Line pushes the specific situation of change that variable quantity characterizes relative position between stirring-head and welding base metal, in real time as shown in Fig. 5
Distance change situation be to describe one of the important evidence of welding pressure variation.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (8)
1. a kind of on-line measuring device of stirring-head drafts, it is characterised in that: it includes temperature control box, distance-measuring device, work
Control machine and temperature control equipment, distance-measuring device and temperature control equipment are connect with the industrial personal computer both-way communication,
The distance-measuring device includes first laser rangefinder and second laser rangefinder, the temperature control equipment setting
There are two groups, first group of temperature control equipment includes the first temperature sensor and the first temperature adjustment module, second group of temperature control
Device processed includes second temperature sensor and second temperature adjustment module, and the first temperature adjustment module and second temperature are adjusted
Module includes semiconductor chilling plate, microcontroller and peripheral circuit, and the microcontroller is connect with the industrial computer communication
And it is controlled by the industrial personal computer,
First laser rangefinder and second laser rangefinder are arranged in the temperature control box, the first temperature adjustment module and second
Temperature adjustment module is oppositely arranged on the inner wall of the temperature control box, first temperature sensor and second temperature sensor point
It is not mounted on the upper inner wall or lower inner wall of the temperature control box, first temperature sensor and second temperature sensor are in setting
The temperature information of detection temperature control box in time interval, and temperature information is uploaded to industrial personal computer, the industrial personal computer is internally provided with
Temperature threshold, the industrial personal computer are compared the temperature information received with temperature threshold, when temperature information exceeds temperature threshold
Temperature adjustment signal is sent to microcontroller when being worth range, the microcontroller is according to the temperature adjustment signal control half received
The temperature of temperature control box is adjusted in conductor cooling piece,
In the welding process, the laser light light admission port that first laser rangefinder and second laser rangefinder are launched respectively according to
It is mapped to the surface of stirring stant and welding base metal, reflection light is back to first laser rangefinder and again by light admission port
The receiving end of dual-laser rangefinder.
2. the on-line measuring device of stirring-head drafts according to claim 1, it is characterised in that: further include display dress
It sets, the display device connects the output end of the industrial personal computer.
3. the on-line measuring device of stirring-head drafts according to claim 1, it is characterised in that: the temperature control chamber interior wall
It is provided with thermal insulation layer.
4. the on-line measuring device of stirring-head drafts according to claim 1, it is characterised in that: first laser rangefinder
And second laser rangefinder passes through metallic support respectively and is fixed on the middle position in temperature control box, the mixing needle of stirring stant is deep
Enter into the weld seam of welding base metal.
5. the on-line measuring device of stirring-head drafts according to claim 1, it is characterised in that: temperature threshold range is
18℃-22℃。
6. a kind of method that the on-line measuring device based on stirring-head drafts described in claim 1 carries out on-line checking,
Be characterized in that: itself the following steps are included:
S1, the temperature in temperature control box is adjusted before opening range measurement, using manual adjustment mode, by the work of cooling piece
Operation mode is placed under high power work mode, and the temperature in temperature control box is adjusted to 20 DEG C within one minute, will be adjusted later
Mode is set as automatic adjustment mode, and temperature control equipment controls the temperature in temperature control box in temperature threshold；
S2, measuring device is moved to by welding jig, opens two laser range finders using the software on industrial personal computer, adjusts
First laser rangefinder and second laser rangefinder make them be respectively radiated to the surface of stirring stant and welding base metal, stirring
When needle first enters weld seam, the distance value that two laser range finders measure is reached into industrial personal computer, two groups of data are located in advance by data
After reason, the average value of two groups of data is calculated separately out, and acquires the difference of two average value, this difference is set as calibration value；
The depth of S3, mixing needle in weld seam remains unchanged, and welding base metal is in constantly movement at this time, two laser rangings
Instrument starts to carry out real-time measurement, and range data is reached industrial personal computer, and data of adjusting the distance carry out Kalman filtering and rejecting respectively
It is wild, will treated that range data is compared with calibration value, gained difference is the changing value of drafts, and by drafts
Changing value be plotted as curve in carrying out real-time display on the display screen of industrial personal computer, according to the situation of change of drafts in real time to stirring
The height for mixing head adjusts, and closed-loop control is formed, to guarantee welding quality.
7. the method for on-line checking according to claim 6, it is characterised in that: temperature threshold range is 18 in step S1
℃-22℃。
8. the method for on-line checking according to claim 6, it is characterised in that: use kalman filter method in step S3
Smothing filtering and excluding outlier are carried out to data, carry out optimum estimation using the estimated value and practical measured value of measurement distance,
Evaluated error and measurement error are substituted with white noise, specifically includes the following steps:
S31, state-space expression is determined, during actual measurement, drafts can only change in very low range, be directed to
Discrete measurement data, using formula (1) indicate two state variables between relationship, i.e., the optimal estimation value of previous measurement point with work as
The relationship of preceding range estimation:
Xk|k-1=Xk-1|k-1 (1)
Wherein Xk|k-1Indicate the estimated value of kth point, Xk-1|k-1Indicate that the optimal estimation value of -1 point of kth, above-mentioned expression formula imply
Random evaluated error, random evaluated error and measurement error regard white noise as, wherein the variance of observation error is denoted as R,
Variance of estimaion error is denoted as Q, determines the interative computation of progress step S3 after the value of Q and R；
S32, the variance R of observation error are determining by formula (2), and variance of estimaion error is then tested by multiple data processing Lai really
It is fixed, judge that filter effect, S are determined that wherein N is the sum of measurement data, when the value of S is in by formula (3) by the size of numerical value S
When between 0.01~0.03, indicate that filter result is good at this time, so that it is determined that the relational expression of Q and R is formula (4),
The variance of observation error is constantly updated with the movement of current point, in formula (2), Zk-iBefore indicating all kth points
Measured value, Xk-i|k-iIt indicates the optimal estimation value before all kth points, the measurement variance of kth point is calculated with formula (2)；Pass through
All actual measured values are compared with optimal estimation value, to obtain judging the standard of filter effect, are determined and seen according to this standard
The relationship between error variance and estimation error variance is surveyed, and is determined by formula (4), the wherein determination and stirring of a, b, c parameter
The length of needle and the thickness of welding base metal are related, carry out iterative process below after determining above-mentioned parameter；
S33, iterative process are carried out according to formula (5)~(8), along with to different in the filtering to each data point
The rejecting of constant value operates, and successively judges measured value Z according to formula (9)kIt whether is exceptional value,
pk|k-1=pk|k-1+Q (5)
Xk|k=Xk|k-1+Kgk·(Zk-Xk|k-1) (7)
pk|k=(1-Kgk)·pk|k-1 (8)
P in formula (5)~(8)k|k-1Correspond to the estimation error covariance of kth point, pk-1|k-1Correspond to the error of -1 point of kth
Estimate covariance, by the kalman gain Kg for calculating kth pointk, obtain the optimal estimation value X of kth pointk|k, then find out again
Xk|kCorresponding estimation error covariance pk|k, R in formula (9)k-1The observational variance for indicating -1 point of kth, utilizes following initialization sides
Formula initializes interative computation process, and the filtering to all measurement points can be completed；
S34, the optimal estimation value X that the average value for taking first three measured value is first measurement point1|1, corresponding estimation error
Covariance p1It is set as Z1With X1|1Square of difference, i.e. formula (10):
p1=(Z1-X1|1)2 (10)
After S35, initiation parameter, p is constantly updated by loop iteration processk|kWith Xk|k, due to the first two measured value without
Filtering operation, so entire iterative process carries out N-3 times.
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