CN105171234B - Robotic laser welds defocusing amount automatic regulating apparatus and its automatic adjusting method - Google Patents
Robotic laser welds defocusing amount automatic regulating apparatus and its automatic adjusting method Download PDFInfo
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- CN105171234B CN105171234B CN201510689713.8A CN201510689713A CN105171234B CN 105171234 B CN105171234 B CN 105171234B CN 201510689713 A CN201510689713 A CN 201510689713A CN 105171234 B CN105171234 B CN 105171234B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 title abstract 2
- 238000003466 welding Methods 0.000 claims abstract description 122
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 52
- 239000010959 steel Substances 0.000 claims abstract description 52
- 238000006073 displacement reaction Methods 0.000 claims abstract description 32
- 230000000694 effects Effects 0.000 claims description 33
- 238000013500 data storage Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 9
- 230000006641 stabilisation Effects 0.000 abstract 2
- 238000011105 stabilization Methods 0.000 abstract 2
- 239000000463 material Substances 0.000 description 9
- 230000006872 improvement Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000008016 vaporization Effects 0.000 description 1
- 238000009834 vaporization Methods 0.000 description 1
Classifications
-
- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses robotic laser welding defocusing amount automatic regulating apparatus and its method, the device includes the first servomotor, Laser emission rifle, the second servomotor, laser displacement sensor and control system；When the present apparatus is welded to steel plate, the profile in the welding gap of steel plate to be welded is scanned first with laser displacement sensor, obtain the focal length variations situation in welding gap, and the position of Laser emission rifle is adjusted according to corresponding focal length variations situation, to keep defocusing amount to keep stabilization, when being welded to surface irregularity or rugged steel plate so as to the present apparatus, also ensure that defocusing amount keeps stabilization, it is ensured that the quality of welding；When being welded to steel plate, extruding will not be caused to steel plate, beautify weld seam.
Description
Technical Field
The invention relates to laser welding equipment, in particular to an automatic defocusing amount adjusting device for robot laser welding; meanwhile, the invention also relates to a method for automatically adjusting the defocusing amount of laser welding.
Disclosure of Invention
The defocusing amount is the distance between the focus and the action material, and the defocusing amount has great influence on the welding quality. Laser welding usually needs a certain amount of defocus because the power density of the spot center at the laser focus is too high, and the hole is easily evaporated and formed, and is suitable for cutting. The power density distribution is relatively uniform in each plane away from the laser focal point. The defocusing mode has two types: positive defocus and negative defocus. The focal plane is located above the workpiece and is out of focus positively, otherwise, is out of focus negatively. According to the geometrical optics theory, when the distances between the positive defocusing plane and the negative defocusing plane are equal to the distance between the welding plane and the welding plane, the power densities on the corresponding planes are approximately the same, but actually, the obtained molten pool shapes are different. When the negative defocus is negative, a larger defocus can be obtainedPenetration depthThis is related to the formation process of the melt pool. When the negative defocusing is carried out, the power density in the material is higher than that of the surface, so that stronger melting and vaporization are easily formed, and the light energy is transmitted to the deeper part of the material. When the melting depth is required to be larger, negative defocusing is adopted; when welding thin materials, the welding rod should be defocused.
When the laser emission gun travels up and down, positive and negative deviations occur between the actual laser focus and the original point distance (defocusing amount) of the laser focus. That is, the defocus amount may be changed.
Application number CN 201120034656.7 discloses "a defocus adjusting mechanism for laser welder",
the technology uses a dial indicator to measure and correct defocusing amount in the moving process, the dial indicator needs to be in contact with a welding material in the using process, the requirements on the welding environment and the length and uniformity of the welding material are high, and the timeliness cannot be guaranteed.
Disclosure of Invention
In view of the above-mentioned drawbacks, the present invention aims to provide an automatic defocus adjustment device for robot laser welding, which can maintain a stable defocus.
In order to achieve the purpose, the invention adopts the following technical scheme:
the automatic defocusing amount adjusting device for robot laser welding comprises a first servo motor, a laser emission gun, a second servo motor, a laser displacement sensor and a control system; wherein,
the first servo motor is arranged on the robot and used for driving the laser emission gun;
the surface of the laser emission gun is connected with and provided with a second servo motor which is used for driving the laser displacement sensor;
the control system is respectively in signal connection with the first servo motor, the second servo motor, the laser displacement sensor and the robot;
the control system comprises a motion control module, a first servo motor, a second servo motor and a robot, wherein the motion control module is used for controlling the motion of the first servo motor, the second servo motor and the robot; the data storage module is used for storing defocusing amount and energy reference values required by welding steel plates in different thickness ranges; and the welding effect analysis module is used for analyzing the welding effect of the steel plate and updating and adjusting the defocusing amount and the reference value of energy required by welding the steel plates with different thickness ranges stored in the data storage module according to the welding effect.
As an improvement of the device for automatically adjusting the defocusing amount of the robot during laser welding, the control system further comprises a display module for displaying the welding effect condition of the steel plate analyzed by the welding effect analysis module.
As another improvement of the device for automatically adjusting the defocusing amount during the laser welding of the robot, an alarm unit is arranged in the display module.
As a further improvement of the automatic defocusing amount adjusting device for robot laser welding, the display module is an LED display screen.
The method for realizing the automatic adjustment of the welding defocusing amount by using the automatic adjustment device of the laser welding defocusing amount of the robot comprises the following steps:
s1, the robot drives the laser displacement sensor to scan the outline of the welding seam of the steel plate to be welded, the focal length change condition of the welding seam is obtained, and the corresponding focal length change condition information is transmitted to the control system;
s2, controlling the movement of the first servo motor by a movement control module in the control system according to the focal length change information in the step S1 to drive the laser emission gun to ascend or descend so as to keep the defocusing amount stable;
s3, measuring the thickness of the steel plate to be welded by the laser displacement sensor, and transmitting the value of the corresponding thickness to the control system;
s4, selecting the defocusing amount and the energy value required by welding the steel plate with the thickness according to the thickness value transmitted in the step S3 by a data storage module in the control system;
s5, the robot drives the laser displacement sensor to transversely scan, and the obtained information of the placement condition between the steel plates to be welded and the alignment condition at the welding seam connection position is transmitted to the control system;
s6, adjusting the movement of the robot by a movement control module in the control system according to the placement condition between the steel plates to be welded and the alignment condition information of the welding seam connection part transmitted in the step S5, and driving a laser emission gun to weld the welding seam;
s7, after welding, the robot drives the laser displacement sensor to obtain the welding seam connection condition and transmits the corresponding welding seam connection condition information to the control system;
and S8, analyzing the welding effect of the steel plate by the welding effect analysis module in the control system according to the welding seam connection condition information transmitted in the step S7, and updating and adjusting the defocusing amount and the reference value of energy required for welding the steel plates in different thickness ranges stored in the data storage module according to the welding effect.
The steps between S5 and S6 of the method for automatically adjusting the welding defocus amount further include the following steps:
s5', a motion control module in the control system controls the second servo motor to move, and adjusts the laser emission angle of the laser displacement sensor, so that the laser emitted by the laser displacement sensor is intersected with the laser emitted by the laser emission gun, the intersection point is on the focus, and the initial defocusing amount is set.
Step S8 of the above method for automatically adjusting the welding defocus amount further includes the following steps:
s9, the steel plate welding effect in the step S8 is transmitted to a display module for the reference of an operator to decide whether to reserve the welding steel plate.
Compared with the prior art, the invention has the following beneficial effects:
when the automatic defocusing amount adjusting device for robot laser welding is used for welding steel plates with uneven surfaces or hollow areas, the defocusing amount is also kept stable, and the welding quality is guaranteed; when the steel plate is welded, the steel plate is not extruded, and the welding seam is beautified.
Drawings
FIG. 1 is a schematic structural diagram of an automatic defocusing amount adjusting device for robot laser welding according to the present invention;
FIG. 2 is a structural view of a control system;
in the figure: 1. a robot; 2. a control system; 3. a first servo motor; 4. a laser emitting gun; 5. a focal point; 6. a second servo motor; 7. a laser displacement sensor; 20. a motion control module; 21. a data storage module; 22. a welding effect analysis module; 23. a display module; 230. and an alarm unit.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent.
It will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the specification of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a schematic structural diagram of an automatic defocus adjustment apparatus for robot laser welding according to a preferred embodiment of the present invention includes a first servo motor 3, a laser emission gun 4, a second servo motor 6, a laser displacement sensor 7, and a control system 2; wherein,
the first servo motor 3 is arranged on the robot 1, and the laser emission gun 4 is connected and arranged on the first servo motor 3 so as to drive the laser emission gun 4;
a second servo motor 6 is connected and mounted on the surface of the laser emission gun 4, and a laser displacement sensor 7 is connected and mounted on the second servo motor 6 so as to drive the laser displacement sensor 7;
the control system 2 is respectively in signal connection with the first servo motor 3, the second servo motor 6, the laser displacement sensor 7 and the robot 1.
As shown in fig. 2, the control system 2 includes a motion control module 20 for controlling the first servo motor 3, the second servo motor 6 and the motion of the robot 1; the data storage module 21 is used for storing defocusing amount and energy reference values required by welding steel plates with different thickness ranges; and the welding effect analysis module 22 is configured to analyze the welding effect of the steel plates, and update the defocusing amount and the reference value of energy required for welding the steel plates with different thickness ranges stored in the adjustment data storage module 21 according to the welding effect.
The control system 2 further includes a display module 23 for displaying the welding effect of the steel plate analyzed by the welding effect analysis module 22; the display module 23 is provided with an alarm unit 230, and when the welding effect of the steel plate is not satisfactory, the alarm unit 230 gives an alarm to remind an operator;
the display module 23 may be an LED display screen, but is not limited to the LED display screen, as long as the display function is satisfied.
The method for realizing the automatic adjustment of the welding defocusing amount by using the automatic adjustment device of the laser welding defocusing amount of the robot comprises the following steps:
s1, the robot 1 drives the laser displacement sensor 7 to scan the outline of the welding seam of the steel plate to be welded, the focal length change condition of the welding seam is obtained, and the corresponding focal length change condition information is transmitted to the control system 2;
s2, the motion control module 20 in the control system 2 controls the movement of the first servo motor 3 according to the focal length change information in the step S1, and drives the laser emission gun 4 to ascend or descend so as to keep the defocusing amount stable;
after the operations of the steps S1 and S2, when the device is used for welding steel plates with uneven surfaces or hollow parts, the defocusing amount is kept stable, and the welding quality is guaranteed;
s3, measuring the thickness of the steel plate to be welded by the laser displacement sensor 7, and transmitting the value of the corresponding thickness to the control system 2;
s4, the data storage module 21 of the control system 2 selects the defocusing amount and the energy value required by welding the steel plate with the thickness according to the thickness value transmitted in the step S3, so that the welding quality is improved, and the adjustment time can be reduced;
s5, the robot 1 drives the laser displacement sensor 7 to transversely scan, and the obtained information of the placement condition between the steel plates to be welded and the alignment condition at the welding seam connection part is transmitted to the control system 2;
s6, the motion control module 20 in the control system 2 adjusts the motion of the robot 1 according to the placement condition between the steel plates to be welded and the alignment condition information of the weld joint transmitted in the step S5, and drives the laser emission gun 4 to weld the weld joint;
through the operations of the step S5 and the step S6, the laser emission gun 4 can perform accurate welding according to the condition of the welding seam, and the welding quality is improved;
s7, after welding, the robot 1 drives the laser displacement sensor 7 to obtain the welding seam connection condition, and transmits the corresponding welding seam connection condition information to the control system 2;
s8, the welding effect analysis module 22 in the control system 2 analyzes the welding effect of the steel plate according to the welding seam connection condition information transmitted in the step S7, and updates and adjusts the defocusing amount and the reference value of energy required for welding the steel plates in different thickness ranges stored in the data storage module 21 according to the welding effect; therefore, the defocusing amount and the reference value of energy of the steel plates in different thickness ranges can be fed back in time, and the stability of the device is improved;
the welding effect analysis module 22 mainly fits the information of the weld joint connection condition transmitted in step S7 into a function, and obtains the slope of the function, where a smaller slope represents a better welding effect, but a value of the slope is greater than a set value, and represents a poor welding effect.
If the material to be welded is a special material and the data storage module 21 does not store the defocus amount and the reference value of energy required for the steel plate with different thickness ranges of the material, the initial defocus amount value needs to be manually set, so the following steps can be further included between steps S5 and S6:
s5', the motion control module 20 in the control system 2 controls the second servo motor 6 to move, and adjusts the laser emission angle of the laser displacement sensor 7, so that the laser emitted by the laser displacement sensor 7 is intersected with the laser emitted by the laser emission gun 4, the intersection point is on the focus 5, and the initial defocusing amount is set;
when the laser emission gun 4 needs to be adjusted to be out of focus away from the position of a weld joint, a row of laser lights emitted by the laser displacement sensor 7 can be used as positioning marks, so that the position of the focus 5 can be conveniently seen by human eyes, and the initial out-of-focus amount can be conveniently set.
After the step S8, the method further includes the steps of:
s9, transmitting the welding effect of the steel plate in the step S8 to the display module 23 for the operator to refer to and decide whether to reserve the welding steel plate;
meanwhile, if the welding effect is not satisfactory, the alarm unit 230 of the display module 23 sends an alarm to remind the operator whether to keep the welded steel plate.
In summary, the embodiments of the present invention are not limited to the above, and the functions of the present invention can be utilized to meet the corresponding requirements according to different application environments.
Claims (7)
1. The device for automatically adjusting the defocusing amount of the robot during laser welding is characterized by comprising a first servo motor, a laser emission gun, a second servo motor, a laser displacement sensor and a control system; wherein,
the first servo motor is arranged on the robot and used for driving the laser emission gun;
the surface of the laser emission gun is connected with and provided with a second servo motor which is used for driving the laser displacement sensor;
the control system is respectively in signal connection with the first servo motor, the second servo motor, the laser displacement sensor and the robot;
the control system comprises a motion control module, a first servo motor, a second servo motor and a robot, wherein the motion control module is used for controlling the motion of the first servo motor, the second servo motor and the robot; the data storage module is used for storing defocusing amount and energy reference values required by welding steel plates in different thickness ranges; and the welding effect analysis module is used for analyzing the welding effect of the steel plate and updating and adjusting the defocusing amount and the reference value of energy required by welding the steel plates with different thickness ranges stored in the data storage module according to the welding effect.
2. The apparatus for automatically adjusting defocus amount in robotic laser welding according to claim 1, wherein the control system further comprises a display module for displaying the welding effect of the steel plate analyzed by the welding effect analysis module.
3. The apparatus for automatically adjusting defocus amount in robot laser welding according to claim 2, wherein an alarm unit is provided in the display module.
4. The automatic defocus amount adjusting apparatus for robot laser welding according to claim 2 or 3, wherein the display module is an LED display screen.
5. The method for realizing automatic adjustment of welding defocusing amount by using the automatic adjusting device of the robot laser welding defocusing amount according to claim 1, characterized by comprising the following steps:
s1, the robot drives the laser displacement sensor to scan the outline of the welding seam of the steel plate to be welded, the focal length change condition of the welding seam is obtained, and the corresponding focal length change condition information is transmitted to the control system;
s2, controlling the movement of the first servo motor by a movement control module in the control system according to the focal length change information in the step S1 to drive the laser emission gun to ascend or descend so as to keep the defocusing amount stable;
s3, measuring the thickness of the steel plate to be welded by the laser displacement sensor, and transmitting the value of the corresponding thickness to the control system;
s4, selecting the defocusing amount and the energy value required by welding the steel plate with the thickness according to the thickness value transmitted in the step S3 by a data storage module in the control system;
s5, the robot drives the laser displacement sensor to transversely scan, and the obtained information of the placement condition between the steel plates to be welded and the alignment condition at the welding seam connection position is transmitted to the control system;
s6, adjusting the movement of the robot by a movement control module in the control system according to the placement condition between the steel plates to be welded and the alignment condition information of the welding seam connection part transmitted in the step S5, and driving a laser emission gun to weld the welding seam;
s7, after welding, the robot drives the laser displacement sensor to obtain the welding seam connection condition and transmits the corresponding welding seam connection condition information to the control system;
and S8, analyzing the welding effect of the steel plate by the welding effect analysis module in the control system according to the welding seam connection condition information transmitted in the step S7, and updating and adjusting the defocusing amount and the reference value of energy required for welding the steel plates in different thickness ranges stored in the data storage module according to the welding effect.
6. The method for realizing automatic adjustment of welding defocus according to claim 5, further comprising the following steps between step S5 and step S6:
s5', a motion control module in the control system controls the second servo motor to move, and adjusts the laser emission angle of the laser displacement sensor, so that the laser emitted by the laser displacement sensor is intersected with the laser emitted by the laser emission gun, the intersection point is on the focus, and the initial defocusing amount is set.
7. The method for realizing automatic adjustment of welding defocus according to claim 5 or 6, further comprising the following steps after step S8:
s9, the steel plate welding effect in the step S8 is transmitted to a display module for the reference of an operator to decide whether to reserve the welding steel plate.
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| CN201510689713.8A CN105171234B (en) | 2015-10-23 | 2015-10-23 | Robotic laser welds defocusing amount automatic regulating apparatus and its automatic adjusting method |
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| CN105698900B (en) * | 2016-02-25 | 2019-02-19 | 佛山市南海区广工大数控装备协同创新研究院 | Laser high-temp liquid height TT&C 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 |
| CN113604653B (en) * | 2021-08-11 | 2022-04-12 | 山东大学 | Variable-defocusing-amount-based unequal-strength laser shock processing method |
| CN114289945B (en) * | 2021-12-31 | 2024-07-05 | 北京博清科技有限公司 | Welding equipment, control method thereof and welding system |
| 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 |
| 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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| ITTO20030263A1 (en) * | 2003-04-04 | 2004-10-05 | Fiat Ricerche | PROCEDURE FOR THE QUALITY CONTROL OF A |
| KR100597908B1 (en) * | 2005-01-05 | 2006-07-06 | 고등기술연구원연구조합 | Laser welding apparatus for removing the hole of end point, and laser welding method thereof |
| CN102463823A (en) * | 2010-11-17 | 2012-05-23 | 星云电脑股份有限公司 | Laser engraving machine capable of defocusing automatically |
| CN202183030U (en) * | 2010-12-20 | 2012-04-04 | 山西飞虹激光科技有限公司 | Intelligent computer numerical control system for laser cutting machine |
| CN201988843U (en) * | 2011-01-31 | 2011-09-28 | 武汉凯奇特种焊接设备有限责任公司 | Defocusing amount adjusting mechanism for laser welder |
| CN102419159A (en) * | 2011-08-18 | 2012-04-18 | 上海大学 | Measuring device with rotating laser beam scanning in conical surface manner |
| CN103983203B (en) * | 2014-05-29 | 2017-12-15 | 苏州大学 | A kind of laser melting coating molten bath defocus measuring device and its measuring method |
| CN104807410B (en) * | 2015-04-14 | 2017-10-20 | 西安交通大学 | Laser cladding rapid forming floor height measurement apparatus and closed loop control method |
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