CN105171234A - Device and method for automatic adjustment of defocusing amount during robot laser welding - Google Patents
Device and method for automatic adjustment of defocusing amount during robot laser welding Download PDFInfo
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- CN105171234A CN105171234A CN201510689713.8A CN201510689713A CN105171234A CN 105171234 A CN105171234 A CN 105171234A CN 201510689713 A CN201510689713 A CN 201510689713A CN 105171234 A CN105171234 A CN 105171234A
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- welding
- laser
- defocusing amount
- control system
- steel plate
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Classifications
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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
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
-
- 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
Abstract
The invention discloses a device and method for automatic adjustment of defocusing amount during robot laser welding. The device comprises a first servo motor, a laser emission gun, a second servo motor, a laser displacement sensor and a control system. When the device is used for welding a steel plate, the outline of a weld joint of the steel plate to be welded is scanned firstly by means of the laser displacement sensor so as to obtain the focal length change situation of the weld joint and adjust the position of the laser emission gun according to the corresponding focal length change situation, so that defocusing amount is kept stable; in this way, when the device is used for welding a steel plate with an uneven surface, defocusing amount can still be kept stable, and welding quality is guaranteed; the steel plate is prevented from being squeezed during welding, and the weld joint is made to look neat.
Description
Technical field
The present invention relates to laser welding apparatus, be specifically related to robotic laser and weld defocusing amount automatic regulating apparatus; The invention still further relates to the self-adjusting method of laser weld defocusing amount simultaneously.
Summary of the invention
Defocusing amount be exactly focus from the distance between working substance, the impact of defocusing amount welding quality is very large.Laser weld needs certain defocusing amount usually, because the power density of laser spot place spot center is too high, easily evaporates pore-forming, is suitable for cutting.Leave in each plane of laser spot, power density distribution is relatively uniform.Out of focus mode has two kinds: positive out of focus and negative out of focus.It is positive out of focus that focal plane is positioned at above workpiece, otherwise is negative out of focus.By theory of geometric optics, when positive and negative focal plane is equal with welding plan range, in corresponding plane, power density is similar to identical, but in fact obtained melting pool shape is different.During negative out of focus, can obtain larger
fusion penetration, this is relevant with the forming process in molten bath.When negative out of focus, material internal power density specific surface is also high, easily forms stronger fusing, vaporization, and luminous energy is more transmitted depths to material.When requiring fusion penetration larger, adopt negative out of focus; During welding thin material, positive out of focus should be used.
When Laser emission rifle is in walking up and down, there is positive and negative deviation in practical laser Focus Club and laser spot initial point distance (defocusing amount).That is defocusing amount can become.
Application number is that CN201120034656.7 discloses " a kind of defocusing amount adjusting mechanism for laser welder ",
This technology uses dial gauge measure the defocusing amount in moving process and correct, and use procedure adopts and need contact with welding material, and to welding surroundings, length, the uniformity of welding material all require higher, and promptness can not ensure.
Summary of the invention
For above-mentioned defect, the object of the invention is to provide a kind of robotic laser keeping defocusing amount stable to weld defocusing amount automatic regulating apparatus.
In order to achieve the above object, the present invention adopts following technical scheme:
Robotic laser welds defocusing amount automatic regulating apparatus, comprises the first servomotor, Laser emission rifle, the second servomotor, laser displacement sensor and control system; Wherein,
First servomotor is installed in robot, for driving laser ejecting gun;
The surface of Laser emission rifle is connected and installed with the second servomotor, for driving laser displacement transducer;
Control system is connected with the first servomotor, the second servomotor, laser displacement sensor and robot signal respectively;
Control system comprises motion-control module, for controlling the motion of the first servomotor, the second servomotor and robot; Data memory module, stores the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy; Welding effect analysis module, for analyzing Plate Welding effect, and according to welding effect, upgrades the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy that store in adjustment data memory module.
The one of welding defocusing amount automatic regulating apparatus as robotic laser of the present invention is improved, and described control system also comprises display module, for showing the Plate Welding effect situation that welding effect analysis module is analyzed.
The another kind welding defocusing amount automatic regulating apparatus as robotic laser of the present invention improves, and is provided with alarm unit in described display module.
Weld another improvement of defocusing amount automatic regulating apparatus as robotic laser of the present invention, described display module is LED display curtain.
Utilize above-mentioned robotic laser to weld defocusing amount automatic regulating apparatus and realize the self-adjusting method of welding defocusing amount, comprise the steps:
S1, robot drive the profile of laser displacement sensor to the welding gap of steel plate to be welded to scan, and obtain the focal length variations situation in welding gap, and are sent in control system by corresponding focal length variations situation information;
Motion-control module in S2, control system, according to the focal length variations situation information in step S1, controls the movement of the first servomotor, drives Laser emission rifle to rise or declines, and makes defocusing amount keep stable;
S3, laser displacement sensor measure the thickness of steel plate to be welded, and are sent in control system by the value of respective thickness;
Data memory module in S4, control system, according to the one-tenth-value thickness 1/10 sent in step S3, selects the defocusing amount of welding needed for this thickness steel plate and energy value;
S5, robot drive laser displacement sensor transversal scanning, are sent in control system by the alignment condition information at the placement situation between the steel plate to be welded of acquisition and solder design place;
Motion-control module in S6, control system is according to the alignment condition information at the placement situation between the steel plate to be welded sent in step S5 and solder design place, and the motion of adjustment robot, drives Laser emission rifle butt welded seam to weld;
S7, welded after, robot drives laser displacement sensor, obtains solder design situation, and is sent in control system by corresponding solder design situation information;
Welding effect analysis module in S8, control system is according to the welding effect of the solder design situation information analysis steel plate sent in step S7, and according to welding effect, upgrade the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy that store in adjustment data memory module.
Also comprise the steps: between the step S5 of the above-mentioned self-adjusting method of realization welding defocusing amount and S6
Moving control module for controlling second servomotor in S5 ', control system moves, the Laser emission angle of adjustment laser displacement sensor, the laser that laser displacement sensor is sent is crossing with the laser that sharp Laser emission rifle sends, and joining, in focus, sets initial defocusing amount.
Also comprise the steps: after the step S8 of the above-mentioned self-adjusting method of realization welding defocusing amount
S9, the Plate Welding effect in step S8 is sent in display module, for operating personnel's reference, determines whether retain this welding steel.
The present invention compared with prior art, has following beneficial effect:
Robotic laser of the present invention welds defocusing amount automatic regulating apparatus effects on surface uneven or rugged steel plate when welding, and also ensures that defocusing amount keeps stable, ensure that the quality of welding; When steel plate is welded, extruding can not be caused to steel plate, beautify weld seam.
Accompanying drawing explanation
Fig. 1 is the structural representation that robotic laser of the present invention welds defocusing amount automatic regulating apparatus;
Fig. 2 is the structure intention of control system;
In figure: 1, robot; 2, control system; 3, the first servomotor; 4, Laser emission rifle; 5, focus; 6, the second servomotor; 7, laser displacement sensor; 20, motion-control module; 21, data memory module; 22, welding effect analysis module; 23, display module; 230, alarm unit.
Detailed description of the invention
Accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent.
To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
Below in conjunction with the Figure of description in the present invention, be clearly and completely described the technical scheme in invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the robotic laser for present pre-ferred embodiments welds the structural representation of defocusing amount automatic regulating apparatus, comprises the first servomotor 3, Laser emission rifle 4, second servomotor 6, laser displacement sensor 7 and control system 2; Wherein,
First servomotor 3 is installed in robot 1, and the first servomotor 3 is connected and installed with Laser emission rifle 4, to drive Laser emission rifle 4;
The surface of Laser emission rifle 4 is connected and installed with on the second servomotor 6, second servomotor 6 and is connected and installed with laser displacement sensor 7, to drive laser displacement sensor 7;
Control system 2 is connected with the first servomotor 3, second servomotor 6, laser displacement sensor 7 and robot 1 signal respectively.
As shown in Figure 2, this control system 2 comprises motion-control module 20, for controlling the motion of the first servomotor 3 second servomotor 6 and robot 1; Data memory module 21, stores the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy; Welding effect analysis module 22, for analyzing Plate Welding effect, and according to welding effect, upgrades the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy that store in adjustment data memory module 21.
Wherein above-mentioned control system 2 also comprises display module 23, for showing the Plate Welding effect situation that welding effect analysis module 22 is analyzed; Be provided with alarm unit 230 in display module 23, when Plate Welding effect is failed, alarm unit 230 gives the alarm, and reminds operating personnel;
This display module 23 can be LED display curtain, but is not limited only to LED display curtain, as long as meet the function of display.
Utilize above-mentioned robotic laser to weld defocusing amount automatic regulating apparatus and realize the self-adjusting method of welding defocusing amount, comprise the steps:
S1, robot 1 drive the profile in the welding gap of laser displacement sensor 7 pairs of steel plates to be welded to scan, and obtain the focal length variations situation in welding gap, and are sent in control system 2 by corresponding focal length variations situation information;
Motion-control module 20 in S2, control system 2, according to the focal length variations situation information in step S1, controls the movement of the first servomotor 3, drives Laser emission rifle 4 to rise or decline, and makes defocusing amount keep stable;
After the operation of step S1 and S2, when the uneven or rugged steel plate of this device effects on surface welds, also ensure that defocusing amount keeps stable, ensure that the quality of welding;
S3, laser displacement sensor 7 measure the thickness of steel plate to be welded, and are sent in control system 2 by the value of respective thickness;
In S4, control system, the data memory module 21 of 2 is according to the one-tenth-value thickness 1/10 sent in step S3, selects the defocusing amount of welding needed for this thickness steel plate and energy value, thus can reduce regulating time while raising welding quality;
S5, robot 1 drive laser displacement sensor 7 transversal scanning, are sent in control system 2 by the alignment condition information at the placement situation between the steel plate to be welded of acquisition and solder design place;
Motion-control module 20 in S6, control system 2 is according to the alignment condition information at the placement situation between the steel plate to be welded sent in step S5 and solder design place, and the motion of adjustment robot 1, drives Laser emission rifle 4 butt welded seam to weld;
Through the operation of step S5 and step S6, Laser emission rifle 4 can carry out accurate welding according to the situation of weld seam, improves welding quality;
S7, welded after, robot 1 drives laser displacement sensor 7, obtains solder design situation, and is sent in control system 2 by corresponding solder design situation information;
Welding effect analysis module 22 in S8, control system 2 is according to the welding effect of the solder design situation information analysis steel plate sent in step S7, and according to welding effect, upgrade the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy that store in adjustment data memory module 21; Thus the defocusing amount described in steel plate of different-thickness scope and the reference value of energy can be fed back in time, improve the stability of this device;
Wherein, welding effect analysis module 22, mainly by the solder design situation information transmitted in step S7 is fitted to function, asks for the slope of this function, and slope is less, and to represent welding effect better, but when the value of slope is greater than the value of setting, then represents welding effect and fail.
If, material to be welded is some special materials, when data memory module 21 does not store the reference value of the defocusing amount needed for steel plate of this material different-thickness scope and energy, then need the out of focus value that artificial setting is initial, therefore can also comprise the steps: between step S5 and S6
Motion-control module 20 in S5 ', control system 2 controls the second servomotor 6 and moves, the Laser emission angle of adjustment laser displacement sensor 7, the laser that laser displacement sensor 7 is sent is crossing with the laser that sharp Laser emission rifle 4 sends, joining, in focus 5, sets initial defocusing amount;
When needs regulate Laser emission rifle 4 focal point distance position while welding, row's laser light that laser displacement sensor 7 sends can be used as positioning mark, facilitates people's naked eyes to go to see focus 5 position, the initial defocusing amount of convenient setting.
Wherein, after above-mentioned step S8, also step is comprised:
S9, the Plate Welding effect in step S8 is sent in display module 23, for operating personnel's reference, determines whether retain this welding steel;
Simultaneously as welding effect fail time, whether the alarm unit 230 of the display module 23 prompting operating personnel that give the alarm retain this welding steel.
In sum, be inventive embodiments content, and obviously working of an invention mode is not limited in this, it according to different application environment, can utilize the functional realiey corresponding demand of invention.
Claims (7)
1. robotic laser welds defocusing amount automatic regulating apparatus, it is characterized in that, comprises the first servomotor, Laser emission rifle, the second servomotor, laser displacement sensor and control system; Wherein,
First servomotor is installed in robot, for driving laser ejecting gun;
The surface of Laser emission rifle is connected and installed with the second servomotor, for driving laser displacement transducer;
Control system is connected with the first servomotor, the second servomotor, laser displacement sensor and robot signal respectively;
Control system comprises motion-control module, for controlling the motion of the first servomotor, the second servomotor and robot; Data memory module, stores the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy; Welding effect analysis module, for analyzing Plate Welding effect, and according to welding effect, upgrades the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy that store in adjustment data memory module.
2. robotic laser as claimed in claim 1 welds defocusing amount automatic regulating apparatus, and it is characterized in that, described control system also comprises display module, for showing the Plate Welding effect situation that welding effect analysis module is analyzed.
3. robotic laser as claimed in claim 2 welds defocusing amount automatic regulating apparatus, it is characterized in that, is provided with alarm unit in described display module.
4. robotic laser welds defocusing amount automatic regulating apparatus as claimed in claim 2 or claim 3, and described display module is LED display curtain.
5. utilize robotic laser as claimed in claim 1 to weld defocusing amount automatic regulating apparatus and realize the self-adjusting method of welding defocusing amount, it is characterized in that, comprise the steps:
S1, robot drive the profile of laser displacement sensor to the welding gap of steel plate to be welded to scan, and obtain the focal length variations situation in welding gap, and are sent in control system by corresponding focal length variations situation information;
Motion-control module in S2, control system, according to the focal length variations situation information in step S1, controls the movement of the first servomotor, drives Laser emission rifle to rise or declines, and makes defocusing amount keep stable;
S3, laser displacement sensor measure the thickness of steel plate to be welded, and are sent in control system by the value of respective thickness;
Data memory module in S4, control system, according to the one-tenth-value thickness 1/10 sent in step S3, selects the defocusing amount of welding needed for this thickness steel plate and energy value;
S5, robot drive laser displacement sensor transversal scanning, are sent in control system by the alignment condition information at the placement situation between the steel plate to be welded of acquisition and solder design place;
Motion-control module in S6, control system, according to the motion of the alignment condition information adjustment robot at the placement situation between the steel plate to be welded sent in step S5 and solder design place, drives Laser emission rifle butt welded seam to weld;
S7, welded after, robot drives laser displacement sensor, obtains solder design situation, and is sent in control system by corresponding solder design situation information;
Welding effect analysis module in S8, control system is according to the welding effect of the solder design situation information analysis steel plate sent in step S7, and according to welding effect, upgrade the defocusing amount needed for steel plate of welding different-thickness scope and the reference value of energy that store in adjustment data memory module.
6. as claimed in claim 5 realization welds the self-adjusting method of defocusing amount, it is characterized in that, also comprises the steps: between step S5 and step S6
Moving control module for controlling second servomotor in S5 ', control system moves, the Laser emission angle of adjustment laser displacement sensor, the laser that laser displacement sensor is sent is crossing with the laser that sharp Laser emission rifle sends, and joining, in focus, sets initial defocusing amount.
7. the self-adjusting method of realization welding defocusing amount as described in claim 5 or 6, is characterized in that, also comprise the steps: after step S8
S9, the Plate Welding effect in step S8 is sent in display module, for operating personnel's reference, determines whether retain this welding steel.
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Cited By (6)
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| CN105698900A (en) * | 2016-02-25 | 2016-06-22 | 佛山市南海区广工大数控装备协同创新研究院 | Laser high-temperature liquid height measurement and control system and method |
| CN107414287A (en) * | 2017-08-31 | 2017-12-01 | 广东工业大学 | A kind of laser welding defocus amount determining device and assay method |
| CN113604653A (en) * | 2021-08-11 | 2021-11-05 | 山东大学 | Variable-defocusing-amount-based unequal-strength laser shock processing method |
| CN114226980A (en) * | 2022-02-18 | 2022-03-25 | 武汉逸飞激光股份有限公司 | Welding method for high-reflection dissimilar materials |
| CN114289945A (en) * | 2021-12-31 | 2022-04-08 | 北京博清科技有限公司 | Welding apparatus, control method thereof, and welding system |
| CN115008012A (en) * | 2022-07-05 | 2022-09-06 | 中国科学院力学研究所 | Zoom point laser welding method and device |
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