CN105397283A - Weld joint track correction method for microwave assembly - Google Patents

Weld joint track correction method for microwave assembly Download PDF

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Publication number
CN105397283A
CN105397283A CN201510922178.6A CN201510922178A CN105397283A CN 105397283 A CN105397283 A CN 105397283A CN 201510922178 A CN201510922178 A CN 201510922178A CN 105397283 A CN105397283 A CN 105397283A
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CN
China
Prior art keywords
angle
straight line
region
workpiece
search
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CN201510922178.6A
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Chinese (zh)
Inventor
周水清
邓斌
赵瓛
万喜新
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CETC 48 Research Institute
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CETC 48 Research Institute
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Priority to CN201510922178.6A priority Critical patent/CN105397283A/en
Publication of CN105397283A publication Critical patent/CN105397283A/en
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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
    • 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 provides a weld joint track correction method for a microwave assembly. The method includes the steps that firstly, a welding track code is manually generated according to the shape of a weld joint of a workpiece; secondly, image information of the workpiece to be welded on a work region on a workbench is acquired; thirdly, a search region in the obtained image information is searched for a feature image; fourthly, the search region is searched for multiple X-direction edge pairs and edge pair feature points are obtained; fifthly, a first straight line is fit through the edge pair feature points and a first angle between the first straight line and the X axis is obtained; sixthly, the same method is adopted for checking multiple Y-direction edge pairs and edge pair feature points of the edge pairs and a second straight line and a second angle are fit; seventhly, an intersection of the first straight line and the second straight line is worked out; eighthly, angle information is worked out according to the first angle and the second angle; and ninthly, the obtained intersection information and the angle information are transmitted to a system for weld joint track correction, so that the workpiece is welded. The method has the beneficial effects of being simple in principle, easy and convenient to implement, capable of improving alignment accuracy and the like.

Description

A kind of seam track modification method for microwave components
Technical field
The present invention is mainly concerned with laser weld field, refers in particular to a kind of seam track modification method for microwave components.
Background technology
Laser weld carrys out molten material using high power focused laser beam as thermal source, thus form a kind of welding method of the high-accuracy high-efficiency rate of welding point.Relative to traditional soldering method, laser weld has the features such as local small heated perimeter, thermal pressure are little, the welding that can be adapted to special-shaped workpiece.A lot of device producer starts the method for packing adopting laser weld as microwave components.
In traditional scheme, the track correct mode of laser weld is mainly divided into be revised and auto modification manually, and artificial hand correcting mode is mainly applicable to weld the application scenario that quantity is few, efficiency is not high.But when welding quantity and being very large, in order to accelerate welding efficiency, automatic orbit correcting mode can be adopted.Laser weld track auto modification mode is all generally based on image recognition technology.But realize the identification of straight bead track correct or independent solder joint only from present laser welding profession track correct, the situation of the curved welding seam larger for some curvature or to be all weld seam be ring packing then cannot realize.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existed for prior art, the invention provides the seam track modification method for microwave components that a kind of principle is simple, easy and simple to handle, can improve aligning accuracy.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
For a seam track modification method for microwave components, step is:
S1: the weld shape according to example workpiece manually generates a welding track code;
S2: the image information being gathered workpiece to be welded working region on the table by vision system;
S3: search characteristics image in the region of search in gained image information, to determine translation and the rotation of whole image-region;
S4: search several X to " while to " in region of search; Described " while to " be pair of parallel and isometric line segment, calculate the mid point of every bar sideline section, and then draw the mid point of these two mid points, be referred to as: while to characteristic point;
S5: simulate straight line to characteristic point by several limits, is referred to as the first straight line, and calculates the angle of the first straight line and X-axis, is the first angle;
S6: adopt the method similar to limit with X by checking several Y-direction opposite side and formation characteristic point thereof, then simulating second straight line, calculate the angle of the second straight line and X-axis, is the second angle;
S7: the intersection point calculating the first straight line and the second straight line;
S8: go out angle information by the first angle and the second angle calculation;
S9: above-mentioned intersection point information and angle information are passed to system and carries out seam track correction, to complete the welding of workpiece.
As a further improvement on the present invention: in described step S2, workpiece to be welded is put into the optional position to the vision system camera on workbench, after the camera object distance of adjustment vision system, the image information in collecting work region.
As a further improvement on the present invention: in described step when determining region of search, region of search to be reduced as far as possible.
As a further improvement on the present invention: the shape that in described step, limit is right has following characteristics: after four end points connections that limit is right, form a rectangle.
As a further improvement on the present invention: adopt from left to right when searching limit pair in described step, from top to bottom, carry out searching identification with the color mode of " lime is white ".
Compared with prior art, the invention has the advantages that: the seam track modification method for microwave components of the present invention, principle is simple, easy and simple to handle, contrast with traditional weld seam recognition, the present invention only needs the welding starting point and the operation angle value that find workpiece, can realize the weld seam recognition of laser weld, simple to operate, and can position aligning time be reduced, improve the precision of contraposition.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the inventive method.
Fig. 2 is the present invention's example workpiece W1 seam track schematic diagram in application example.
Fig. 3 is the present invention's workpiece W2 seam track schematic diagram to be welded in application example.
Fig. 4 is the schematic diagram of the present invention limit LX in application example.
Fig. 5 is the schematic diagram of the present invention limit LY in application example.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 1, the seam track modification method for microwave components of the present invention, the steps include:
S1: the weld shape according to example workpiece manually generates welding track code, such as a G code;
S2: the image information being gathered workpiece to be welded working region on the table by vision system; The optional position to the vision system camera on workbench is put into by workpiece to be welded, after the camera object distance of adjustment vision system, the image information in collecting work region.
S3: search characteristics image in the region of search in gained image information, to determine translation and the rotation of whole image-region.
S4: search several X to " while to " in region of search, described limit, to being pair of parallel and isometric line segment, calculating the mid point of every bar sideline section, and then draws the mid point of these two mid points, be referred to as: while to characteristic point.
S5: simulate straight line to characteristic point by several limits, is referred to as the first straight line, and calculates the angle of the first straight line and X-axis, is the first angle.
S6: the method similar to limit with X checks several Y-direction opposite side and characteristic points thereof by search, and then simulating second straight line, calculate the angle of the second straight line and X-axis, is the second angle.
S7: the intersection point calculating the first straight line and the second straight line.
S8: go out angle information by the first angle and the second angle calculation.
S9: above-mentioned intersection point information and angle information are passed to system and carries out welding of workpiece.
In embody rule example, preferably, in above-mentioned steps when determining region of search, region of search should be reduced as far as possible, to reduce image procossing amount, speeding recognition speed.
In embody rule example, preferably, the shape that in above-mentioned steps, limit is right has following characteristics: can form a rectangle after four end points connections that limit is right.
In embody rule example, preferably, can adopt from left to right when searching limit pair in above-mentioned steps on (Y-direction limit to), from top to bottom (X to limit to), carry out searching identification with the color mode of " lime is white ", to speed recognition speed.
The present invention is when embody rule, and the device that can adopt comprises: XY workbench, Z axis lifting platform, servomotor, servo-driver, CNC controller, industrial computer (comprising two displays), vision system etc.Workbench provides the environment needed for laser weld, XY workbench, Z axis lifting platform, servomotor, servo-driver, CNC controller realize precise motion and the control of mechanism, industrial computer is used for G code file to be preserved, download, changes, wherein a display screen is used for providing man-machine operation interface, another display is used for the real-time monitoring of welding image, and vision system comprises CCD camera, image process controller, is mainly used to process and recognition image.
In an embody rule example, detailed step of the present invention is as follows:
S1: the weld shape according to example workpiece manually generates a welding track code, is G code in this example.The seam track of signal workpiece as shown in Figure 2.
S2: workpiece to be welded is put into the optional position to the vision system camera on workbench, after the camera object distance of adjustment vision system, the image information in collecting work region.
S3: the region of search search characteristics image in as shown in Figure 3, to determine translation and the rotation of whole image-region.
S4: search N number of X to " while to " (wherein N>=2 generally can choose N=6) in region of search, N=6 in this example, as shown in Figure 4.For each limit to there being four end points: US i(X uSi, Y uSi), UE i(X uEi, Y uEi), DS i(X dSi, Y dSi), DEi (X dEi, Y dEi) (wherein i=1 ~ N).
Therefore the mid point UM of upper line segment icoordinate be: X U M i = ( X U S i + X U E i ) 2 , Y U M i = ( Y U S i + Y U E i ) 2 .
The mid point DM of lower line segment icoordinate be: X D M i = ( X D S i + X D E i ) 2 , Y D M i = ( Y D S i + Y D E i ) 2 .
Therefore characteristic point P lXithe coordinate of (mid points of two mid points): Y P LX 1 = ( Y D S i + Y D E i + Y D S i + Y D E i ) 4
S5: by P lXi(i=1 ~ N, N=6) this N number of characteristic point simulates straight line LX, and calculates the angle theta of straight line LX and X-axis lX.
S6: with X to limit to similar method by searching several Y-direction opposite side and characteristic point P thereof lYi, as shown in Figure 4.
S7: by P lYi(i=1 ~ N, N=6) this N number of characteristic point simulates straight line LY, and calculates the angle theta of straight line LY and X-axis lY.
S8: the intersection point A calculating straight line LX and straight line LY 1(X 1, Y 1).
S9: calculate angle information
S10: according to the welding information A at zero point found out above 1(X 1, Y 1) writing the G code file described in (1) with angle information θ, system is welded workpiece.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.

Claims (5)

1. for a seam track modification method for microwave components, it is characterized in that, step is:
S1: the weld shape according to example workpiece manually generates a welding track code;
S2: the image information being gathered workpiece to be welded working region on the table by vision system;
S3: search characteristics image in the region of search in gained image information, to determine translation and the rotation of whole image-region;
S4: search several X to " while to " in region of search; Described " while to " be pair of parallel and isometric line segment, calculate the mid point of every bar sideline section, and then draw the mid point of these two mid points, be referred to as: while to characteristic point;
S5: simulate straight line to characteristic point by several limits, is referred to as the first straight line, and calculates the angle of the first straight line and X-axis, is the first angle;
S6: adopt the method similar to limit with X by checking several Y-direction opposite side and formation characteristic point thereof, then simulating second straight line, calculate the angle of the second straight line and X-axis, is the second angle;
S7: the intersection point calculating the first straight line and the second straight line;
S8: go out angle information by the first angle and the second angle calculation;
S9: above-mentioned intersection point information and angle information are passed to system and carries out seam track correction, to complete the welding of workpiece.
2. the seam track modification method for microwave components according to claim 1, it is characterized in that, in described step S2, workpiece to be welded is put into the optional position to the vision system camera on workbench, after the camera object distance of adjustment vision system, the image information in collecting work region.
3. the seam track modification method for microwave components according to claim 1, is characterized in that, in described step when determining region of search, will reduce region of search as far as possible.
4. the seam track modification method for microwave components according to claim 1 or 2 or 3, it is characterized in that, the shape that in described step, limit is right has following characteristics: form a rectangle after four end points connections that limit is right.
5. the seam track modification method for microwave components according to claim 1 or 2 or 3, is characterized in that, adopts from left to right, from top to bottom, carry out searching identification with the color mode of " lime is white " when searching limit pair in described step.
CN201510922178.6A 2015-12-11 2015-12-11 Weld joint track correction method for microwave assembly Pending CN105397283A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN109732255A (en) * 2019-03-15 2019-05-10 广东工业大学 A kind of welding method and welding robot
CN114025907A (en) * 2019-05-15 2022-02-08 康宁公司 System and method for aligning a workpiece for cutting
CN114985929A (en) * 2022-06-30 2022-09-02 广东金橙子科技有限公司 Laser motion track processing method and device and laser equipment
CN115533394A (en) * 2022-12-05 2022-12-30 深圳市镭沃自动化科技有限公司 Control method of welding apparatus, and storage medium

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN107175406B (en) * 2017-05-19 2019-09-17 大族激光科技产业集团股份有限公司 The control method and system of welding track
CN109732255A (en) * 2019-03-15 2019-05-10 广东工业大学 A kind of welding method and welding robot
CN114025907A (en) * 2019-05-15 2022-02-08 康宁公司 System and method for aligning a workpiece for cutting
CN114985929A (en) * 2022-06-30 2022-09-02 广东金橙子科技有限公司 Laser motion track processing method and device and laser equipment
CN114985929B (en) * 2022-06-30 2023-01-17 广东金橙子科技有限公司 Laser motion trajectory processing method and device and laser equipment
CN115533394A (en) * 2022-12-05 2022-12-30 深圳市镭沃自动化科技有限公司 Control method of welding apparatus, and storage medium

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Application publication date: 20160316