CN104722922A - Dynamic welding method of laser welding machine - Google Patents
Dynamic welding method of laser welding machine Download PDFInfo
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- CN104722922A CN104722922A CN201410809150.7A CN201410809150A CN104722922A CN 104722922 A CN104722922 A CN 104722922A CN 201410809150 A CN201410809150 A CN 201410809150A CN 104722922 A CN104722922 A CN 104722922A
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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
- B23K26/26—Seam welding of rectilinear seams
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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
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/16—Bands or sheets of indefinite length
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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
- B23K2103/00—Materials to be soldered, welded or cut
- B23K2103/02—Iron or ferrous alloys
- B23K2103/04—Steel or steel alloys
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Abstract
The invention discloses a dynamic welding method of a laser welding machine. Through the dynamic welding method of the laser welding machine, it can be well guaranteed that welding joints are linear. The head edge and the tail edge of a front stainless steel roll and the head edge and the tail edge of a rear stainless steel roll are fed to a welding machine, it is guaranteed that the edges to be welded to are located in the actual welding area of the welding machine, shears of the welding machine shear the edges of strip steel, the width of the strip steel is measured through an external sensor, and the adjustment process of a center line is achieved; accurate welding parameters are called according to actual material specifications, and a laser head moves from the driving side to the operating side so that the welding process of the strip steel can be completed. First, data of the actual welding joints are acquired; second, the data are analyzed and screened, and calculation of deviation points is performed; third, displacement adjustment reference data are generated according to data deviation. The dynamic welding method of the laser welding machine has the advantages that it is guaranteed that the welding joints are linear, a longitudinal traction track of a welding gun vertically coincides with the welding joints in a three-dimensional space, the labor intensity of production and operation staff is relieved, efficiency and stability of equipment are improved, the welding success rate is increased, and the automation degree is improved.
Description
Technical field
The present invention relates to the dynamic welding method of a kind of laser welder.
Background technology
Along with the market demand and plant-scale expansion and development, metallurgical industry, when carrying out investment or the enlarging treatment process production line of cold-rolled products, has started a large amount of design and installation continuous annealing pickling line as the PROCESS FOR TREATMENT of stainless steel product and quality improving.This just means that the application of the automatic welder(welding machine) for steel band welding is more and more extensive.
Existing cold rolling factory CAPL production line have employed advanced laser automatic welder(welding machine), mainly contains welding quality good, the features such as heat affected area is little.This welding machine realizes whole-course automation welding step and performs, and is equipped with other ancillary equipment simultaneously and carries out being with the mass monitoring system (QAS) before and after steel location and welding.The welding manner that this welding machine adopts parallel docking welding wire to fill up, it is higher that butt welded seam forms quality requirement.Weld seam forms the main servomotor of driving side and fore side that relies on and realizes accurately controlling, and control accuracy can reach 0.01mm.But in practical application, affect by factors such as equipment installation, mechanical transmission component tolerances, actual welds control effects can not reach designing requirement.Cause operating personnel to need in welding process, adjust welding parameter or carry out data calibration, affect normal production operation greatly.Laser generator produces and is with on steel by finally acting on after the speculum refraction of difference in functionality.Last plane mirror sheet is arranged on welding arm, needs to move in orbit with welding arm, and track can carry out bidirectional trimming.In actual applications, form when track remains installation cannot be ensured, affect by vibration equipment etc., distortion to a certain degree or skew can occur.Cause laser action also can offset in the position of band steel, cause laser can not coincide with actual welds.Laser head can carry out position correction (zero adjustment), but the single adjustment of absolute position can only be realized, its object just carries out the position correction of laser head according to position while welding, namely in welding process, laser head remains at unique position, can not action.Cause the situation that laser action point can not mate completely with weld seam like this, have a strong impact on welding quality and production efficiency.
It is high that laser welder has welding efficiency compared with other welding manner, the feature such as the large and heat affected area of the welding degree of depth is little.But by vertically moving the restriction of control mode, it requires that welding medium splicing state is higher, under traditional design and application model, welding effect can not meet high-precision welding quality demand, main manifestations is: laser welder needs to guarantee that weld seam that medium splices is in line state, require that longitudinal traction track and weld seam are vertical in solid space to overlap simultaneously, otherwise the situation of practical laser focus application point and welding seam bias can be caused, in stainless steel manufacture field, situation because welding poor effect weld stress declines will be caused when the situation of failure welding occurs, now can cause broken belt or tear, the production operation scene of reality is caused and has a strong impact on.In the counter-measure of routine, usually take artificial visual to check the remedial measure of pedestrian's work repair welding of going forward side by side, this kind of coping style adds labor operation intensity, and the mode of manually welding simultaneously can not carry out the welding of steel completely.This can cause actual production scheduling slow, production efficiency and technology controlling and process bad, finally produce economic benefit impact.
Because laser welder fuel factor region is little, track or other facility as drawn laser head movement in welding process depart from, and practical laser focus will be caused can not to act on the problems such as welding object junction completely.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of dynamic welding method of laser welder that weld seam is linearly of can well guaranteeing.
For solving the problems of the technologies described above, the technical solution used in the present invention is: the dynamic welding method of a kind of laser welder,
By side that is automatic and Non-follow control, the feeding of edge end to end of former and later two stainless-steel rolls, to welding machine place, guarantees that edge to be welded is in the actual welding region of welding machine, before and after welding machine, fixture is respectively used to fixing front and back band steel (head-tail of stainless-steel roll); Welding machine scissors is sheared steel edge portion, guarantees that remainder can adapt to the centering of fixture and form weld seam; Carry out the measurement of strip width by external sensor and realize the adjustment process of center line; Material specification according to reality calls correct welding parameter, and the self-driven side direction fore side of laser head moves, and completes the welding process of band steel; After having welded, the equipment such as fixture get back to initial and holding fix,
Wherein, the first step: actual welds data acquisition,
Before carrying out welding action, before and after welding machine, front and back band steel is undertaken stepping up and fixing by telescopic hydraulic cylinder driving mechanical clamping plate by fixture, scissors device is utilized steel edge portion to be trimmed to the reserved band of requirement, by both sides position control motor, front and back fixture is carried out neutralization adjustment, now, both sides band steel presses close to be formed actual welds form, then utilize high-speed camera in rolling line steel pipe measurement system by the data acquisition to front and back band steel edge, belt steel thickness can be obtained, width, gap, the real data such as center line, after DAS synthesis in rolling line steel pipe measurement system, the accurate data of current band steel can be obtained, accurately effective weld seam morphological data is obtained with this, belt steel thickness, width, gap, the real data such as center line are measured system collection by rolling line steel pipe and are completed, belt steel thickness, width, gap, the real data such as center line are after PLC computation and analysis, using in the process of band steel actual welding as laser head reference by location foundation, according to the known actual welds of data of collection and the deviation of standard weld, the weld width measured everywhere is averaged, average weld width value can be obtained, known by computing formula, weld width measured value-average weld width value=weld seam deviation, can reduce by automatically controlling laser head or eliminate deviation,
Second step: data analysis is screened, deviation point calculates,
Screening and the calculating of data is completed through PLC control system, thus the bias data of actual welds and standard weld can be obtained, PLC system is when carrying out weld width and analyzing, each 50 the data d1 ~ d50 in main collection current weld seam both sides, show that average weld width is as actual welds benchmark by the mode of averaging, (d1+d2...d50) the average weld width of/50=, can obtain weld seam reference center line by being averaged by average for both sides weld width.PLC system weld seam is analyzed packet and is contained: the band steel position of actual welds, Weld pipe mill line position, weld seam developed width, calculate the key data indexs such as rear laser head shift position reference, the computation and analysis result of this step is deposited in plc data block, wherein save the deviate of the actual form that corresponding current strip steel weld joint is formed, carry out coordinate direction according to steel edge portion to define, the sides aligned parallel direction of steel edge portion is defined as longitudinal coordinate, its vertical direction is lateral coordinates, other measurement and control data are all with the definition of this travel direction, when laser head moves to corresponding longitudinal coordinate position, call to should the deviate of position as the reference position of laser head movement, according to the deviation situation of actual welds, laser head remains the state of real-time dynamic mobile, thus effectively can follow the tracks of actual welds,
3rd step: according to data deviation, produces adjustment of displacement reference data,
According to the change of actual longitudinal run location of laser head in welding process, utilize the dynamic adjustments that servo-control system is real-time, actual welds and standard weld is enable to keep synchronous and mate, that eliminates laser spot and weld seam departs from situation, the weld seam reference center line produced by second step and the calculation deviation value of actual welds center line, as the reference by location of servomotor transverse shifting, calculated value is actual be servomotor reference displacement input, servomotor drive laser head produce actual act export.
Advantage of the present invention is: guarantee that weld seam is linearly, and the longitudinal traction track of welding gun overlaps with weld seam is vertical in solid space simultaneously, reduces the labour intensity of production operation personnel, improves device efficiency and stability, promotes and is welded into power and automaticity.
Detailed description of the invention
Introduce the lower dynamic welding method of laser welder of the present invention below in detail, in this case embodiment, equipment Weldability scope is: can be 0.3-5.0mm to thickness; Width is the corrosion resistant plate of 300-1600mm.
In the design process of control system, carried out setting and the test of welding parameter for the steel plate of each thickness specification, data are stored in PLC system.According to the steel plate specification of current welding, the welding parameter that system Automatically invoked is corresponding.(QAS forms actual form for weld seam carry out the data analysis of being correlated with and treatment system as this case embodiment, the analysis of weld seam form is only applied in original equipment composition, its image data does not participate in actual weld seam formation control and welding adjustment)
Comprise the following steps:
The feeding of edge end to end of former and later two stainless-steel rolls is to welding machine place, and guarantee that edge to be welded is in the actual welding region of welding machine by side that is automatic and Non-follow control, before and after welding machine, fixture is respectively used to fixing front and back band steel; Welding machine scissors is sheared steel edge portion, guarantees that remainder can adapt to the centering of fixture and form weld seam; Carry out the measurement of strip width by external sensor and realize the adjustment process of center line; Material specification according to reality calls correct welding parameter, and the self-driven side direction fore side of laser head moves, and completes the welding process of band steel; After having welded, the equipment such as fixture get back to initial and holding fix,
Wherein, the first step: actual welds data acquisition,
Before carrying out welding action, before and after welding machine, front and back band steel is undertaken stepping up and fixing by telescopic hydraulic cylinder driving mechanical clamping plate by fixture, scissors device is utilized steel edge portion to be trimmed to the reserved band of requirement, by both sides position control motor, front and back fixture is carried out neutralization adjustment, now, both sides band steel presses close to be formed actual welds form, then rolling line steel pipe is utilized to measure high-speed camera in system (QAS) by the data acquisition to front and back band steel edge, belt steel thickness can be obtained, width, gap, the real data such as center line, after DAS synthesis in rolling line steel pipe measurement system, the accurate data of current band steel can be obtained, accurately effective weld seam morphological data is obtained with this, belt steel thickness, width, gap, the real data such as center line are measured system collection by rolling line steel pipe and are completed, belt steel thickness, width, gap, the real data such as center line are after PLC computation and analysis, using in the process of band steel actual welding as laser head reference by location foundation, according to the known actual welds of data of collection and the deviation of standard weld, the weld width measured everywhere is averaged, average weld width value can be obtained, known by computing formula, weld width measured value-average weld width value=weld seam deviation, can reduce by automatically controlling laser head or eliminate deviation,
Second step: data analysis is screened, deviation point calculates,
Screening and the calculating of data is completed through PLC control system, thus the bias data of actual welds and standard weld can be obtained, PLC system is when carrying out weld width and analyzing, each 50 the data d1 ~ d50 in main collection current weld seam both sides, show that average weld width is as actual welds benchmark by the mode of averaging, (d1+d2...d50) the average weld width of/50=, weld seam reference center line can be obtained by being averaged by average for both sides weld width, PLC system weld seam is analyzed data and is mainly contained: the band steel position of actual welds, Weld pipe mill line position, weld seam developed width, calculate the key data indexs such as rear laser head shift position reference, the computation and analysis result of this step is deposited in plc data block, wherein save the deviate of the actual form that corresponding current strip steel weld joint is formed, carry out coordinate direction according to steel edge portion to define, the sides aligned parallel direction of steel edge portion is defined as longitudinal coordinate, its vertical direction is lateral coordinates, other measurement and control data are all with the definition of this travel direction, when laser head moves to corresponding longitudinal coordinate position, call to should the deviate of position as the reference position of laser head movement, according to the deviation situation of actual welds, laser head remains the state of real-time dynamic mobile, thus effectively can follow the tracks of actual welds,
3rd step: according to data deviation, produces adjustment of displacement reference data,
According to the change of actual longitudinal run location of laser head in welding process, utilize the dynamic adjustments that servo-control system is real-time, actual welds and standard weld is enable to keep synchronous and mate, that eliminates laser spot and weld seam departs from situation, the weld seam reference center line produced by second step and the calculation deviation value of actual welds center line, as the reference by location of servomotor transverse shifting, calculated value is actual be servomotor reference displacement input, servomotor drive laser head produce actual act export.
In practical application or design, need the compilation carrying out data acquisition program logic, according to maximum effective weld width of welding machine, and welding precision requirement, formulate data acquisition quantity.Meanwhile, need to use servo-control system to carry out the accurate control of laser lateral coordinates.
In this case embodiment, can be applicable to thickness is 0.3mm-5.0mm; Width is the stainless steel band of 300mm-1600mm.
According to the dynamic welding method for carbon dioxide laser welding machine, can problems of the prior art be solved, reduce the labour intensity of production operation personnel, improve device efficiency and stability, promote and be welded into power and automaticity.In the production process of cold rolled continuous annealing pickling unit, the process of coil of strip is successively through uncoiler, soldering, cleaning by degreasing, heating furnace annealing/cooling and multistage pickling, surfacing/stretcher leveling, coiling machine.Due to the special producing state of continuous annealing pickling line, under normal circumstances in order to ensure the continuous running status of production line, need to be equipped with automatic welder(welding machine) equipment at PROCESS FOR TREATMENT leading portion, carry out in mode rapidly and efficiently the welding sequence being with steel, thus meet the demand of PROCESS FOR TREATMENT.
When utilizing QAS equipment to measure actual welds, because of laser head traction track deformation effect, the monitoring result of monitoring system butt welded seam presents serious bending situation, and according to measurement result analysis, laser head traction track obviously offsets in driving side outlet band steel direction.In like manner can determine, in welding process, laser action point in the skew of driving side outlet band steel direction, will can not act on actual welds place, causes driving side region failure welding situation in a big way to occur.Can not tension test be met at the band steel carried out in such cases, crack conditions can be produced in actual job process.
In this example, first the direct current generator being used for carrying out laser head position correction in prior art is needed to be replaced by servomotor, servo drive should be equipped with simultaneously, servo-drive system is compared with common DC motor, there is higher control accuracy and dynamic response, apply comparatively extensive in the field needing accurate position or Angle ambiguity.In example, because of the restriction by installing space, have selected the servodrive of FAUCHABER company, this device supports CAN communication protocol, therefore needs to use the existing Profibus network of coupler access welder equipment.
Example Program control system uses Siemens S7 300 series of PLC, and it is as follows that concrete function realizes program:
1. change the welding step of former control program, increase the adjustment of weld measurement position and QAS detection
The first step: in order to improve the precision that weld seam is formed, should carry out preanalysis and judgement to adjustment process before carrying out final position while welding and controlling.Be implemented as: when carrying out weld seam and forming action, first control outlet side band steel by servo drive and be advanced into the position being less than target weld seam, namely control cincture steel does not arrive final goal position completely.In example, control cincture steel premeasuring position is: target location+0.2mm
Example: weld seam sets: 0.1mm, then: premeasuring position: 0.1+0.2=0.3mm
QAS carries out analysis and image data in premeasuring position to band steel state, and after its data carry out Step2 calculating, whether known weld seam control accuracy reaches requirement, then can carry out control adjustment immediately as there is deviation.
2. in original program, increase the data block detecting data for preserving QAS
Second step: according to effective welding stroke of actual welding machine, 250 groups of data at this data block inediting, often organize data and all contain: a. laser head longitudinal coordinate position; B. left side band steel position; C. right side band steel position; D. Weld pipe mill position; E. weld width.Produce when above data are measured by QAS, PLC reads corresponding real time data according to laser head longitudinal coordinate equi-spaced apart.At QAS, state-detection is carried out to established weld seam, maximum 250 coordinates will be defined as by measuring tape steel, produce the analysis data needed at each coordinate place.This step requires that QAS can carry out Data Detection accurately to band steel, thus obtains correct analysis and the numerical value for calculating.Specific procedure is interpreted as: QAS equipment is drawn by servo drive equipment and vertically moves and implement to gather to band steel position data, when band steel medium not detected, data are produced as zero (can be determined as invalid data in PLC program), position according to transmission device is fed back as foundation, taking the mode of fixed intervals to read QAS data is saved in plc data block, according to by the width difference of measuring tape steel, the number of the valid data of generation is different.QAS detect first group of data and last group data while, its lengthwise position value of feedback as the region deviding value of laser head in welding process, and for store data data block mark also indicate as the region of data analysis.Such as: when first group of data and last group produce, data deposit in DBW160 and DBW660 in data block respectively, then represent that all calculating data are according between DBW160 and DBW660, other region is invalid data.
3. upgrade control data, form final weld seam
After 3rd step: PLC obtains QAS data, united analysis and calculating are carried out to all data, as the distortion of laser head curved in tracks or strip edge edge become irregular curve form, data should be different everywhere, namely there is deviation in actual welds width and QAS internal analysis data, to measure weld width is averaged everywhere, an average weld width value (Ave Gap) can be obtained, known by simple calculating formula: QAS measured value (QAS Gap)-weld seam mean value (Ave Gap)=weld seam deviation (Gap diff), known with this:
Premeasuring Wei Zhi – target location+Gap diff=Gap offset (weld seam adjustment correction value).Obtain the departure value in weld seam process of establishing by this method and revise, thus improving the precision of weld seam formation.
4th step: according to working control result and the deviation controlling benchmark, produces actual displacement
PLC can obtain the centreline data (Pre Gap center) produced when QAS detects weld seam simultaneously, according to above-mentioned actual conditions, the Pre Gap center numerical value at each point place is different, each point data and center reference value is compared, the actual deviation of known each point, such as:
Weld seam setting (Gap set): 0.1mm, then: pre-adjustment weld seam (Pre gap): 0.1+0.2=0.3mm
With reference to Weld pipe mill position (Nominal gap center)=0.05; Pre-adjustment Weld pipe mill position (Pre gap center)=0.15
Suppose: the actual center line (center line)=0.18 (being greater than average centerline 0.18-0.15=0.03) recording P1 point
The reference laser light position of P1 point: with reference to axis of a weld (nominal center)+0.03=laser offset reference value (laser cross reference)
Laser datum position is in entrance side band steel edge, then laser cross reference=0.05+0.03=0.08mm, when laser head longitudinally moves to P1 place, Synchronization Control laser head transverse shifting 0.08mm, thus actual welds position can be found accurately.
According to an exemplary embodiment of the present invention for the dynamic welding method of carbon dioxide laser welding machine, effectively solve laser weld in actual application because installing by equipment, the factor impacts such as environment, produce welding coverage rate and be welded into the low situation of power, and the accurate analysis achieved actual welds and adjustment, by dynamically welding control to follow the tracks of for the purpose of weld seam form.Avoid stainless steel belt to depart from welding process, propose a kind of data analysis and account form of efficient stable simultaneously.Real-time and accuracy are greatly improved in actual applications to make laser welder technology.
Claims (1)
1. the dynamic welding method of laser welder, is characterized in that: comprise the following steps:
The feeding of edge end to end of former and later two stainless-steel rolls is to welding machine place, and guarantee that edge to be welded is in the actual welding region of welding machine by side that is automatic and Non-follow control, before and after welding machine, fixture is respectively used to fixing front and back band steel; Welding machine scissors is sheared steel edge portion, guarantees that remainder can adapt to the centering of fixture and form weld seam; Carry out the measurement of strip width by external sensor and realize the adjustment process of center line; Material specification according to reality calls correct welding parameter, and the self-driven side direction fore side of laser head moves, and completes the welding process of band steel; After having welded, the equipment such as fixture get back to initial and holding fix,
Wherein, the first step: actual welds data acquisition,
Before carrying out welding action, before and after welding machine, front and back band steel is undertaken stepping up and fixing by telescopic hydraulic cylinder driving mechanical clamping plate by fixture, scissors device is utilized steel edge portion to be trimmed to the reserved band of requirement, by both sides position control motor, front and back fixture is carried out neutralization adjustment, now, both sides band steel presses close to be formed actual welds form, then utilize high-speed camera in rolling line steel pipe measurement system by the data acquisition to front and back band steel edge, belt steel thickness can be obtained, width, gap, the real data such as center line, after DAS synthesis in rolling line steel pipe measurement system, the accurate data of current band steel can be obtained, accurately effective weld seam morphological data is obtained with this, belt steel thickness, width, gap, the real data such as center line are measured system collection by rolling line steel pipe and are completed, belt steel thickness, width, gap, the real data such as center line are after PLC computation and analysis, using in the process of band steel actual welding as laser head reference by location foundation, according to the known actual welds of data of collection and the deviation of standard weld, the weld width measured everywhere is averaged, average weld width value can be obtained, known by computing formula, weld width measured value-average weld width value=weld seam deviation, can reduce by automatically controlling laser head or eliminate deviation,
Second step: data analysis is screened, deviation point calculates,
Screening and the calculating of data is completed through PLC control system, thus the bias data of actual welds and standard weld can be obtained, PLC system is when carrying out weld width and analyzing, each 50 the data d1 ~ d50 in main collection current weld seam both sides, show that average weld width is as actual welds benchmark by the mode of averaging, (d1+d2...d50) the average weld width of/50=, weld seam reference center line can be obtained by being averaged by average for both sides weld width, the weld seam of PLC system is analyzed data and is mainly contained: the band steel position of actual welds, Weld pipe mill line position, weld seam developed width, calculate the key data indexs such as rear laser head shift position reference, the computation and analysis result of this step is deposited in plc data block, wherein save the deviate of the actual form that corresponding current strip steel weld joint is formed, carry out coordinate direction according to steel edge portion to define, the sides aligned parallel direction of steel edge portion is defined as longitudinal coordinate, its vertical direction is lateral coordinates, other measurement and control data are all with the definition of this travel direction, when laser head moves to corresponding longitudinal coordinate position, call to should the deviate of position as the reference position of laser head movement, according to the deviation situation of actual welds, laser head remains the state of real-time dynamic mobile, thus effectively can follow the tracks of actual welds,
3rd step: according to data deviation, produces adjustment of displacement reference data,
According to the change of actual longitudinal run location of laser head in welding process, utilize the dynamic adjustments that servo-control system is real-time, actual welds and standard weld is enable to keep synchronous and mate, that eliminates laser spot and weld seam departs from situation, the weld seam reference center line produced by second step and the calculation deviation value of actual welds center line, as the reference by location of servomotor transverse shifting, calculated value is actual be servomotor reference displacement input, servomotor drive laser head produce actual act export.
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| CN110711934A (en) * | 2019-11-14 | 2020-01-21 | 珠海市润星泰电器有限公司 | Friction stir welding equipment and process |
| CN110711934B (en) * | 2019-11-14 | 2022-03-29 | 珠海市润星泰电器有限公司 | Friction stir welding equipment and process |
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| CN116224891A (en) * | 2023-05-06 | 2023-06-06 | 苏州海卓伺服驱动技术有限公司 | Dynamic control method and system for servo motor |
| CN116833599A (en) * | 2023-08-31 | 2023-10-03 | 武汉创恒激光智能装备有限公司 | Three-station laser automatic welding platform for motor stator silicon steel sheet |
| CN116833599B (en) * | 2023-08-31 | 2023-12-22 | 武汉创恒激光智能装备有限公司 | Three-station laser automatic welding platform for motor stator silicon steel sheet |
| CN117452222A (en) * | 2023-12-21 | 2024-01-26 | 深圳市安仕新能源科技有限公司 | BMS production line quality control method, system and medium |
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