CN104400217A - Full-automatic laser welding method and full-automatic laser welding device - Google Patents
Full-automatic laser welding method and full-automatic laser welding device Download PDFInfo
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- CN104400217A CN104400217A CN201410555647.0A CN201410555647A CN104400217A CN 104400217 A CN104400217 A CN 104400217A CN 201410555647 A CN201410555647 A CN 201410555647A CN 104400217 A CN104400217 A CN 104400217A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
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- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides a full-automatic laser welding method and a full-automatic laser welding device. The method is divided into a preparatory stage and a welding stage. The preparatory stage comprises the following steps: storing track information of to-be-welded welding seams into a computer; marking any one or multiple positions in a pick-up head photographing range which includes a to-be-welded region; setting a welding seam search region based on marks by taking the marks as reference. The welding stage comprises the following steps: collecting image information; searching the mark quantity and position information in images; performing linear detection to obtain the position and angle information of the welding seams and finally generating the actual position and outline tracks of the welding seams. The method can be used for realizing full-automatic laser welding, not only is automatic welding of straight welding seams realized, but also the automatic welding of random welding seam tracks such as circular arcs and curves is realized, to-be-welded workpieces are positioned without fixtures, multiple workpieces on the top of a workbench can be randomly placed each time and automatic welding is realized; track welding can be realized without special mechanical parts.
Description
Technical field
The present invention relates to the fully-automatic laser welding field of production and manufacture field, particularly arbitrary line or curve and combined trajectories thereof automatically, be specially a kind of fully-automatic laser welding method and device.
Background technology
Laser welding technology is widely used in the fields such as industrial electronic, automobile making and Aero-Space, is a kind of efficient, high accuracy, highly reliable connected mode.In order to improve welding efficiency and quality conformance, some full automatic method for laser welding are developed.From the data retrieved, the basic fundamental that fully-automatic laser welding method utilizes has two kinds, and the first is based on image recognition technology, and the second is based on automatic fixture.
Shenyang Inst of Automation, Chinese Academy of Sciences and Japanese IHI company coact and develop a Laser Tailor-welded Production Line.The docking that this production line is only used for doing two block plates is welded, and weld seam is straight line (see document China the 1st article of fully-automatic laser welding production line appearance .Science Brief, July 2008:61).In addition, the precious friendly steel processing and distribution center of Changchun one vapour, Wuhan Thyssen Krupp laser assembly solder Co., Ltd, species abundance in Baosteel in Shanghai A Sailuo laser assembly solder Co., Ltd, Guangzhou Huadu Bao Jing laser assembly solder plate Co., Ltd etc. have similar fully-automatic laser welding production line (see document Yan Zhi ripple, Liu Peiyue, Wang Changming. the composition of Laser Tailor-welded Production Line and application. application laser .October2008, Vol.28, No.5:379 ~ 382).The operation principle of this welding manner is by camera online acquisition image, and then weld seam is found in image recognition, and then guides laser beam to weld.But at present, it can only weld straight bead, welding cannot be realized for small-radius arc weld seam.
" a kind of Full-automatic laser welding machine " patent (China of the application such as Wen Lielong, patent No. 201210039174.X and 201220055927.1), mainly carry out from the angle of loading and unloading, its square shaped workpiece can realize automatic loading/unloading, positional precision is mechanically realized by positioning fixture, cannot realize welding to the workpiece arbitrarily put.
" Full-automatic laser welding machine " patent (China, the patent No. 201310165935.0) of the application such as Wen Lielong, is also the full-automation that ensures from the aspect of full-automatic fixture to weld, cannot realizes welding to the workpiece arbitrarily put.
" a kind of Full-automatic laser welder device and operational method " patent (China of the application such as Wu Xuan, the patent No. 201210147237.3) be ensure the automatic welding of bulk article by the use of rotating disk fixture and differing heights cushion block, it is it is emphasised that the full-automation of fixture, cannot realize welding for the workpiece arbitrarily put, laser can not adjust accordingly because of the skew of the location of workpiece.
" automatic laser welding device for fibre-optical active component " patent (China of the application such as Li Shengyi, patent No. 200510032570.X) be adjust light source position by the angular slope platform of two dimension and two identical micromotion platforms of orthogonal displacement structure to realize fully-automatic laser welding, be only applicable to the structure of docking, for arbitrary line or curve and combined trajectories helpless.
" automatic laser welding machine " patent (China that mountain pass Wins applies for, the patent No. 201220551765.0) be utilize the laser welding system that is fixed on four-axle linked guide rail and coordinate rotating servo motor to carry out the laser weld of arbitrfary point, implementation space, laser can be realized reach arbitrfary point, space structure, but not relate to the adaptability of laser machine to the workpiece arbitrarily put.
In arc welding field, the automation equipment realizing circumferential weld is developed that (Xi pacifies the people see document, Liu Ying, Di Chunliang. the research of seal casinghousing Full-automatic welding machine. building-block machine and automation process technology .1999,4:27 ~ 29), this equipment welds for lower casing on freezer compressor specially, and its seam track is realized, for adaptability and the flexible production scarce capacity of different cultivars product by special mechanical device.
Robot has been successfully applied to welding field to realize Full-automatic welding, and especially in spot welding and arc-welding, application is comparatively ripe.The application arc welding robots such as the Zhang Bingxian of industry Xi'an airplane industry Co., Ltd of Air China successfully solve the Welding Problems of undercarriage (see document Zhang Bingxian, Zhuan Mingxiang. undercarriage robot welding technical study. aero-manufacturing technology .2012,13:156 ~ 159).But domestic arc welding robot mainly belongs to teaching in line style and off-line programing type, automaticity is lower, senior intelligent welding robot is still (beautiful see document Wang Qi in the middle of research and development, Chen Zhiqiang, in the youth. the current situation of China's welding robot. modern parts .2013,3:77 ~ 78; Chen Shanben. intelligent robot's solder technology progress. Robotics and application .2007,3:8 ~ 11).
Based on the fully-automatic laser solder technology of robot also at development.Mainly carry out spot welding by this technology in current auto industry and carry out substitutional resistance weldering.The laser welding robot based on dynamic simulation analysis of people's exploitations such as the Cao Jingxing of FamTom Hegima Co., Ltd can solve High Precision Automatic laser weld problem, for robotic laser's solder technology specifies a developing direction, but this technology is still (emerging see document Cao Jing in the middle of research at present, Zhang Jianfu. the laser welding robot based on dynamic simulation analysis applies. modern parts .2013,2:84 ~ 86).
From the automaticity of current laser weld industry, adopt image recognition technology can realize the automatic welding of straight bead or independent solder joint, the curved welding seam larger for curvature or sealing circumferential weld then helpless.Adopt automation fixture or welding robot can to realize the automatic welding of various forms weld seam, but only use image recognition technology and do not use automation fixture to realize the automatic laser welding of any circumferential weld, also do not see that ripe technology occurs in industry.The present invention proposes for practical laser welding demand just under this background.
Summary of the invention
Object of the present invention is exactly the fully-automatic laser Welding Problems for solving arbitrary line or curve and combined trajectories thereof, proposes a kind of fully-automatic laser welding method and device.
Technical scheme of the present invention is:
Described a kind of fully-automatic laser welding method, is characterized in that: comprise the following steps:
Step 1: preparatory stage: by the trace information of weld seam to be welded stored in computer; Any one or more positions within the scope of the camera capture comprising to-be-welded region mark; To be labeled as reference point, the weld seam region of search based on mark is set;
Step 2: welding stage:
Step 2.1: adjustment camera object distance, and utilize the image information of camera collection working region;
Step 2.2: the quantity using images match search to obtain marking in image in the image of gained and positional information;
Step 2.3: using the position marked as benchmark, uses straight-line detection to obtain position and the angle information of weld seam in the region that step 2.2 sets;
Step 2.4: the position of the weld seam obtained according to step 2.3 and angle information, the trace information of the weld seam to be welded prestored in integrating step 1, generates position and the profile traces of weld seam reality;
Step 2.5: according to position and the interlock of profile traces guiding laser head, motion platform and each axle of weld seam reality, complete automatic laser welding.
Further preferred version, described a kind of fully-automatic laser welding method, is characterized in that: mark adopts square mark, and there is cross shape at foursquare center; Mark shape in same workpiece is unified, and mark position deviation is no more than ± 0.1mm, and mark angular deviation is no more than 5 °.
Further preferred version, described a kind of fully-automatic laser welding method, is characterized in that: the trace information of weld seam to be welded with G-code describing mode stored in computer.
Described a kind of fully-automatic laser welding, is characterized in that: comprise glove box, XY motion platform, servomotor, servo-driver, motion controller, industrial camera, light source, optical table, computer; Glove box provides the environment needed for laser weld, XY motion platform, servomotor, servo-driver, motion controller realize precise motion and the control of mechanism, optical table is used for place work piece, industrial camera, light source are used for image illumination and gather, laser range finder is for measuring solder side height, and XY motion platform, servomotor, servo-driver, motion controller, industrial camera connect computer.
Beneficial effect
Compared with above-mentioned existing welding manner, the present invention can realize fully-automatic laser welding.Not only can realize the automatic welding of straight bead, also can realize the automatic welding of any seam track such as circular arc or curve.Treating welding work pieces without the need to relying on fixture to position, once multiple workpiece arbitrarily can be placed in after on work top and realize automatic welding, and welding track realizing without the need to special mechanical part.
Accompanying drawing explanation
Fig. 1 marks exemplary plot;
Fig. 2 mark and position while welding schematic diagram;
Fig. 3 weld seam actual start coordinate calculates schematic diagram;
Fig. 4: the position view of weld seam starting point and workpiece;
Fig. 5: the field range schematic diagram of industrial camera.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described:
The device that the present invention adopts comprises: glove box, XY motion platform, servomotor, servo-driver, motion controller, industrial camera, light source, optical table, computer etc.Glove box provides the environment needed for laser weld, XY motion platform, servomotor, servo-driver, motion controller realize precise motion and the control of mechanism, optical table is used for place work piece, industrial camera, light source are used for image illumination and gather, laser range finder is for measuring solder side height, and computer is used for software control and software and hardware resources is coordinated.
Concrete implementation step is:
Step 1: preparatory stage:
(1) encode: according to the concrete form (as autocad file) of the trace information by weld seam to be welded, change or write G-code (the numerical control processing track descriptive language that a kind of laser-beam welding machine is used) stored in computer, what G-code described is the relative co-ordinate information of seam track, but does not comprise the absolute location information of weld seam.
(2) mark is made: utilize the equipment such as laser marking machine, seal or ink jet numbering machine in workpiece cover plate to be welded, any one or more positions comprised within the scope of the camera capture of to-be-welded region mark; And to be labeled as reference point, the weld seam region of search based on mark is set.Square mark such as shown in Fig. 1, internal spider chord position is in foursquare center.It is for the starting point of weld seam that position is printed on the ground, position of mark, as shown in Figure 4.
Mark and workpiece the nearest left side of starting point and the distance on base be respectively left side distance and bottom margin.When making mark, the shape of the mark of same workpiece need unify and position deviation is no more than ± 0.1mm, and angular deviation is no more than 5 °.
(3) focus: travelling table, make to make below mark ground workpiece movable to camera, adjustment workbench ground upper-lower height, i.e. adjusting focal length, make being marked in screen of surface of the work the most clear, and using the height of now Z axis and focal length H as program parameters stored in system, realize automatic focus adjustable at the like product of welding next batch.
(4) modeling is identified: the X of travelling table, Y-direction, appearing at of the border circular areas complete display as shown in Figure 5 on cover plate is made to be fixed on industrial camera above Z axis within sweep of the eye, by the image steganalysis instrument in software systems, telltale mark is drawn a circle to approve in Frame of pattern recognition, adjust the size and recognition threshold parameter that identify frame, carry out modeling to the telltale mark image identified in frame, after building up model, memory model is to locate as follow-up identification.The adjust the distance nearest left side of telltale mark and base of Straight Line Identification instrument in recycling software identifies, namely obtains the distance of the angle Theta on the left side and base and base and left side Distance positioning mark center namely: Dl left side distance and Db base distance.
(5) preserve: will to generate in above-mentioned data and H (focal length), Dl (left side distance), Db (base distance), Theta (anglec of rotation) and (1) and the G-code imported jointly generates the programming file of a workpiece and preserves.
Step 2: welding stage:
(1) material loading: be placed on work top by the workpiece having changed cover plate, the placing direction of all workpiece needs consistent, i.e. the X-direction of workpiece X-direction and workbench, the Y direction of workpiece and the deflection angle of Y-axis should within the scope of+45 degree.
(2) focus: the programming file recalling this kind of product that step 1 has established, according to H (focal length) focusing in file.
(3) phase is got in scanning: due to the needs for accuracy of identification, the field range of industrial camera is much smaller than the scope of work top, therefore need guide workbench carry out step-scan back and forth so that all workpiece images above workbench all can catch by camera.
(4) identify: image recognition is got with scanning and synchronously carried out mutually, even if scanning, while get phase, limit identifies, telltale mark template according to having set up identifies the image obtained, after having scanned, software can identify the workpiece putting position in face and specifically labelled coordinate Xi on the table, Yi (i: for identifying the quantity of rear workpiece), can also identify and measure Dl (left side distance), Db (base distance), Theta (anglec of rotation) simultaneously.
(5) machining locus is generated: program can according to the specifically labelled absolute coordinate Xi of the above each workpiece identified, and Yi, Dl, Db, Theta generate the weld seam machining locus of workpiece automatically.
(6) soldering and sealing: according to weld seam machining locus, procedure auto-control laser switch and laser power guide working table movement to weld the workpiece of workbench one by one, until last part workpiece on workbench has welded.Program stops automatically.
Claims (4)
1. a fully-automatic laser welding method, is characterized in that: comprise the following steps:
Step 1: preparatory stage: by the trace information of weld seam to be welded stored in computer; Any one or more positions within the scope of the camera capture comprising to-be-welded region mark; To be labeled as reference point, the weld seam region of search based on mark is set;
Step 2: welding stage:
Step 2.1: adjustment camera object distance, and utilize the image information of camera collection working region;
Step 2.2: the quantity using images match search to obtain marking in image in the image of gained and positional information;
Step 2.3: using the position marked as benchmark, uses straight-line detection to obtain position and the angle information of weld seam in the region that step 2.2 sets;
Step 2.4: the position of the weld seam obtained according to step 2.3 and angle information, the trace information of the weld seam to be welded prestored in integrating step 1, generates position and the profile traces of weld seam reality;
Step 2.5: according to position and the interlock of profile traces guiding laser head, motion platform and each axle of weld seam reality, complete automatic laser welding.
2. a kind of fully-automatic laser welding method according to claim 1, is characterized in that: mark adopts square mark, and there is cross shape at foursquare center; Mark shape in same workpiece is unified, and mark position deviation is no more than ± 0.1mm, and mark angular deviation is no more than 5 °.
3. a kind of fully-automatic laser welding method according to claim 1, is characterized in that: the trace information of weld seam to be welded with G-code describing mode stored in computer.
4. one kind realizes the device of method described in claim 1 and it is characterized in that: comprise glove box, XY motion platform, servomotor, servo-driver, motion controller, industrial camera, light source, optical table, computer; Glove box provides the environment needed for laser weld, XY motion platform, servomotor, servo-driver, motion controller realize precise motion and the control of mechanism, optical table is used for place work piece, industrial camera, light source are used for image illumination and gather, laser range finder is for measuring solder side height, and XY motion platform, servomotor, servo-driver, motion controller, industrial camera connect computer.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364349A (en) * | 2015-12-01 | 2016-03-02 | 徐州市产品质量监督检验中心 | Detecting method for welding seam track of welding robot |
| CN105397283A (en) * | 2015-12-11 | 2016-03-16 | 中国电子科技集团公司第四十八研究所 | Weld joint track correction method for microwave assembly |
| CN107175406A (en) * | 2017-05-19 | 2017-09-19 | 大族激光科技产业集团股份有限公司 | The control method and system of welding track |
| CN107234338A (en) * | 2017-08-07 | 2017-10-10 | 镇江金海创科技有限公司 | A kind of Intelligent laser scanning galvanometer system and laser marking device |
| CN107748428A (en) * | 2017-10-18 | 2018-03-02 | 歌尔股份有限公司 | Screen detects Atomatic focusing method and device |
| CN108296588A (en) * | 2018-04-09 | 2018-07-20 | 欧朗电子科技有限公司 | High-effect sun-sensor flexible board welder |
| CN109865929A (en) * | 2019-02-28 | 2019-06-11 | 中国航空制造技术研究院 | A kind of electro-beam welding method of body structure hollow weld seam |
| CN111230326A (en) * | 2020-02-14 | 2020-06-05 | 苏州爱果乐科技有限公司 | Double-shaft distance measurement positioning method based on infrared induction technology |
| CN111571082A (en) * | 2020-06-02 | 2020-08-25 | 深圳市超准视觉科技有限公司 | Automatic welding method and device, mobile terminal and readable storage medium |
| CN113182681A (en) * | 2021-05-24 | 2021-07-30 | 广东利元亨智能装备股份有限公司 | Method for obtaining welding track of side seam of shell cover and welding method |
| CN114612474A (en) * | 2022-05-11 | 2022-06-10 | 杭州众硅电子科技有限公司 | Method and device for detecting state of wafer cleaning and drying module and planarization equipment |
| CN115488503A (en) * | 2022-09-23 | 2022-12-20 | 广州卫亚汽车零部件有限公司 | Method and system for searching curve track based on robot welding |
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Cited By (16)
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| CN105364349A (en) * | 2015-12-01 | 2016-03-02 | 徐州市产品质量监督检验中心 | Detecting method for welding seam track of welding robot |
| CN105397283A (en) * | 2015-12-11 | 2016-03-16 | 中国电子科技集团公司第四十八研究所 | Weld joint track correction method for microwave assembly |
| CN107175406A (en) * | 2017-05-19 | 2017-09-19 | 大族激光科技产业集团股份有限公司 | The control method and system of welding track |
| CN107234338A (en) * | 2017-08-07 | 2017-10-10 | 镇江金海创科技有限公司 | A kind of Intelligent laser scanning galvanometer system and laser marking device |
| CN107748428A (en) * | 2017-10-18 | 2018-03-02 | 歌尔股份有限公司 | Screen detects Atomatic focusing method and device |
| CN108296588A (en) * | 2018-04-09 | 2018-07-20 | 欧朗电子科技有限公司 | High-effect sun-sensor flexible board welder |
| CN109865929A (en) * | 2019-02-28 | 2019-06-11 | 中国航空制造技术研究院 | A kind of electro-beam welding method of body structure hollow weld seam |
| CN109865929B (en) * | 2019-02-28 | 2022-04-29 | 中国航空制造技术研究院 | Electron beam welding method for box body structure square-shaped welding seam |
| CN111230326B (en) * | 2020-02-14 | 2021-11-02 | 苏州爱果乐智能家居有限公司 | Double-shaft distance measurement positioning method based on infrared induction technology |
| CN111230326A (en) * | 2020-02-14 | 2020-06-05 | 苏州爱果乐科技有限公司 | Double-shaft distance measurement positioning method based on infrared induction technology |
| CN111571082A (en) * | 2020-06-02 | 2020-08-25 | 深圳市超准视觉科技有限公司 | Automatic welding method and device, mobile terminal and readable storage medium |
| CN113182681A (en) * | 2021-05-24 | 2021-07-30 | 广东利元亨智能装备股份有限公司 | Method for obtaining welding track of side seam of shell cover and welding method |
| CN114612474A (en) * | 2022-05-11 | 2022-06-10 | 杭州众硅电子科技有限公司 | Method and device for detecting state of wafer cleaning and drying module and planarization equipment |
| CN114612474B (en) * | 2022-05-11 | 2023-12-19 | 杭州众硅电子科技有限公司 | Method and device for detecting state of wafer cleaning and drying module and flattening equipment |
| CN115488503A (en) * | 2022-09-23 | 2022-12-20 | 广州卫亚汽车零部件有限公司 | Method and system for searching curve track based on robot welding |
| CN115488503B (en) * | 2022-09-23 | 2023-08-15 | 广州卫亚汽车零部件有限公司 | Curve track locating method and system based on robot welding |
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Application publication date: 20150311 |