CN106141436A - Wire filling laser welding increases material repair apparatus and method for repairing and mending - Google Patents
Wire filling laser welding increases material repair apparatus and method for repairing and mending Download PDFInfo
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- CN106141436A CN106141436A CN201610681750.9A CN201610681750A CN106141436A CN 106141436 A CN106141436 A CN 106141436A CN 201610681750 A CN201610681750 A CN 201610681750A CN 106141436 A CN106141436 A CN 106141436A
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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
- B23K26/34—Laser welding for purposes other than joining
- B23K26/342—Build-up welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention discloses a kind of wire filling laser welding and increase material repair apparatus and method for repairing and mending, this device includes controller, four-axle linked platform, laser vision sensor, infrared vision sensor, fixture, laser torch, welding wire mouth, filler wire and airway；This method for repairing and mending includes: be arranged in patcher's station by defect workpiece；Drive the three-D profile of laser vision sensor scanning defect；The three-D profile of defect rebuild by controller；Determine concrete welding parameter；Controller drives near infrared vision sensing device to be scanned molten bath, obtains the time and frequency parameter of crater image, and generates compensation control routine according to the time and frequency parameter of crater image, revises the welding parameter set in real time；After repairing terminates, again drive the three-D profile of laser vision sensor scanning defect, determine that the workpiece after repairing is the most up to standard, if the most up to standard, then defect is repaired again, until defect mending is up to standard.The simple in construction of the present invention, easy to operate, reliability is high, strong adaptability.
Description
Technical field
The present invention relates to increase material repairing technique field, particularly relate to a kind of increasing material repair apparatus for wire filling laser welding and
Its method for repairing and mending.
Background technology
Existing increasing material method for repairing and mending mainly have laser melt cover, arc surfacing, electropaining plating, plasma spray technology etc..Laser melts
Coating technique is to utilize the laser beam of high-energy-density to be allowed to the method for consolidation together with substrate surface thin layer, substrate surface formed with
It is the filling cladding layer of metallurgical binding.Arc surfacing is to utilize welding rod or electrode to be deposited over substrate surface to carry out built-up welding.Electropaining
Coating technology is to utilize unidirectional current to pass through during electrolyte electrochemical reaction occurs, and realizes metal and deposits on plating piece surface.Thermal spraying
It is to utilize certain thermal source that powder or thread metal or nonmetallic materials are heated to melted or semi-molten state, deposition and shape
Become to have a kind of technology of the face coat of various function.
Above method for repairing and mending has certain limitation, and wherein laser melts coating technique transition region stress can be caused to concentrate；Electricity
There is anchoring strength of coating and the problem of intensity deficiency own in coating technology；Arc surfacing technology and the heat affecting of plasma spray technology
Qu great, easily causes workpiece deformation.It addition, above-mentioned repairing technique fails to be accurately obtained defect profile parameter before repairing, cause
Workpiece after repairing yet suffers from certain defect, and repair efficiency is undesirable.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that one is easy to operate, reliability is high, strong adaptability
Wire filling laser welding increase material repair apparatus.
Another object of the present invention is to, it is provided that a kind of method for repairing and mending based on above-mentioned repair apparatus.
The purpose of the present invention is achieved through the following technical solutions:
A kind of wire filling laser welding increases material repair apparatus, and it mainly includes controller, is positioned at the four axle connection repaired above station
Moving platform and being arranged in linkage platform for obtaining the laser vision sensor of defect profile three-dimensional information of workpiece, use
In the infrared vision sensor, fixture, laser torch, welding wire mouth, filler wire and the airway that obtain molten bath status information.Described
Controller is connected with four-axle linked platform, laser vision sensor, infrared vision sensor, laser torch and welding wire mouth, is used for
Control the work of each unit coordinates.One end of described fixture is connected with four-axle linked platform, and the other end is fixed with laser torch.Described
Filler wire is arranged on welding wire mouth, and outwardly.Described welding wire mouth is connected with laser torch, and and laser torch between angle
Spend adjustable, to adapt to various welding occasion.Described airway is arranged in laser torch, and one end of airway is sent out with protective gas
Raw device connects, and the other end points to welding post, and the outgassing direction of airway is adjustable, so can make protective gas preferably
Cover filler wire and molten bath.
As the preferred version of the present invention, described airway uses and can be used for the Universal pipe (or ring pipe) of universal adjustment
Guide protective gas, make protective gas cover welding protection district exactly.
As the preferred version of the present invention, it is connected by angle regulating unit between described welding wire mouth and laser torch, should
Angle regulating unit includes a clamping handle and regulation bolt, and one end of described clamping handle is fastened on welding wire mouth, the other end
Protruding hinged by regulation bolt and first in laser torch, welding wire mouth and the first projection are equipped with through hole, regulate bolt
Through through hole, welding wire mouth is fixed in laser torch.When needs regulation angle, only need to unscrew regulation bolt, adjust angle
After tighten regulation bolt.The simple in construction of this angle regulating unit, easy to use, can obtain for wire feed angular adjustment
Preferably welding effect.
Concrete, described controller is connected with four-axle linked platform, the movement in three directions of control laser torch and
The rotation of horizontal direction, makes laser torch repair defect with most suitable position and angle on jig.Described
Controller is connected with laser vision sensor, for driving laser vision sensor and obtaining the three-D profile of defect, controller
The three-D profile of defect is rebuild by the data according to obtaining, and generates optimum control code.Described controller and infrared vision
Sensor connects, for driving infrared vision sensor and obtaining the real time imaging time and frequency parameter in molten bath, in mending course, root
Repair Parameters is adjusted in real time, it is thus achieved that preferably repair efficiency according to molten bath state.Described controller electrically connects with laser torch, is used for
Control watt level and the flow of protective gas of laser torch.One end of described fixture is connected with four-axle linked platform, another
End is fixed with laser torch, and four-axle linked platform drives laser torch to move and rotate by fixture, is adjusted to suitably weld
Position.
Concrete, described four-axle linked platform is for controlling the position of laser torch and adjusting the welding angle of laser torch
Degree, its composition mainly include the X-axis mobile unit moved in the X-axis direction, the Y-axis mobile unit moved along Y direction, along Z axis
Direction motion Z axis mobile unit and around be perpendicular to workpiece rotating shaft rotate A axle rotating unit.Described X-axis mobile unit is solid
Being scheduled on repairing platform, be positioned at the top repairing station, Y-axis mobile unit is arranged in X-axis mobile unit, Z axis mobile unit
Being arranged in Y-axis mobile unit, A axle rotating unit is arranged in Z axis mobile unit, can relatively Z axis mobile unit horizontally rotate.
Described A axle rotating unit is fixing with fixture to be connected, and horizontally rotates with laser torch, for adjusting the welding angle of laser torch
Degree.
As the preferred version of the present invention, described infrared vision sensor uses the shorter near infrared ray of wavelength as vision
The light source of sensor.Compared with far infrared, the degree of depth of near infrared ray detection is relatively deep, and the quantity of information of acquisition is more.Due to laser
It is welded in welding process and can produce radiant light interference, select near infrared vision sensing device can filter off jamming light source, improve molten bath
The image quality of image.Preferably, the present invention preferentially uses wavelength to be about the near-infrared light source of 950 nanometers.
As the preferred version of the present invention, described controller uses that capacity of resisting disturbance is strong, stable and reliable in work, works continuously
The industrial control computer of time length.
Another object of the present invention is achieved through the following technical solutions:
A kind of wire filling laser welding increases the method for repairing and mending of material repair apparatus, and this method for repairing and mending mainly comprises the steps:
Step S1: defect workpiece is arranged in patcher's station；
Laser vision sensor, near infrared vision sensing device are arranged on the Z of four axles (X-Y-Z-A axle) coordinated signals platform
In axle mobile unit, laser torch is arranged on A axle rotary unit.
Step S2: drive the three-D profile of laser vision sensor scanning defect；
After installing, first coordinate four-axle linked platform that laser torch is moved to relevant position, in the control of controller
Under system, laser vision sensor scanning defect (complex geometric shapes) profile is driven to obtain structure optical signal.
Step S3: controller accepts the feedback signal of laser vision sensor, rebuilds the three-D profile of defect；
According to the operation principle of laser vision sensor, in sensor, semiconductor laser emission source sends a branch of parallel swashing
Light.This laser beam is on the contour surface of workpiece, defect, and its surface source of light information is arrived by the CMOS camera calibration in sensor,
Utilize principle of triangulation, accurate defect profile structure optical signal can be obtained in the controller.Controller obtains laser video
The defect profile structure optical signal of sense sensor feedback, utilizes the method for three-dimensional reconstruction to set up defect threedimensional model.
Step S4: according to the three-D profile data genaration control routine of defect, determines that specifically melting of laser torch covers parameter；
The defect threedimensional model of reconstruction is compared by controller with original part model parameter, determines to be repaired concrete
Parameter also generates corresponding control routine.Controller drives four-axle linked platform courses laser torch according to the control routine generated
Move to the position specified, then be determined the welding parameter of laser torch by control routine.This melt cover parameter mainly include weldering
Position, bonding power, speed of welding and wire feed rate of connecing etc..
Step S5: in mending course, controller drives near infrared vision sensing device to be scanned molten bath, obtains molten bath figure
The time and frequency parameter (including time domain, frequency domain information) of picture, and generate compensation control routine according to crater image time and frequency parameter, repair in real time
The welding parameter just set.
During welding, controller determines mending option according to the defect three-D profile rebuild, and drives four-axle linked platform to position
To the position of welding, and completed the patcher of defect special, complicated by the soldering angle of A axle rotating unit adjustment welding torch
Make.
Step S6: for repairing the thermal deformation that surface of test piece occurs after arc surfacing, after completing to repair for the first time, again drive
The three-D profile of dynamic laser vision sensor scanning defect, determines that the workpiece after repairing is the most up to standard, if the most up to standard, then to defect
Again repair, until defect mending is up to standard.
As the preferred version of the present invention, when welding, when position and the shape of defect are complex, can be by driving
A axle rotating unit adjusts the welding angle of laser torch and completes defect mending, uses the method can improve repairing further
Efficiency, overcomes the deficiencies in the prior art.
Repair apparatus provided by the present invention may be mounted in the frame of robot end or portal frame, coordinates robot
Or the motion positions of portal frame is to relevant position, for the defect test specimen repaired under different occasion or need setting of repair maintenance
Standby.
Work process and the principle of the present invention be: the present invention utilizes the defect on laser vision sensor scanning workpiece, will
The three-D profile optical signal obtained sends controller to；Controller rebuilds the three-D profile of defect according to structure optical signal, and raw
Become corresponding control routine, determine the technical parameter of welding；In welding process, controller drives near infrared vision sensing device pair
Molten bath is scanned, and obtains the time and frequency parameter of crater image, arranges before generating corresponding compensation control routine, and correction in real time
Welding parameter, make final welding effect more preferable；After first welding, defective locations can be carried out by laser vision sensor
Again scanning, determine repairing situation and evaluation repair efficiency, if repair efficiency does not reaches the standard of setting, then controller drives four
Defect after repairing is repaired by axle linkage platform, laser vision sensor and infrared vision sensor again, until repairing
Till effect is up to standard.Simple in construction provided by the present invention, easy to operate, reliability is high, strong adaptability.
Compared with prior art, it also have the advantage that
(1) present invention proposes and utilizes laser vision sensor to combine four-axle linked platform measuring part defect three-dimensional wheel
It is wide, it is thus achieved that the dynamic structure optical signal of defect profile, and the method re-establishing defect threedimensional model by computer control,
Defect model accurately can be obtained by the method, effectively reduce the situation appearance lacking weldering, solder skip, weldering mistake, hence it is evident that improve weldering
Connect efficiency and welding effect.
(2) present invention proposes remanufacturing that wire filling laser welding increases material repair apparatus and 3D increase that material method for repairing and mending is combined
New method, is attached to the increasing material repair apparatus that the present invention provides on robot or portal frame, and may be used for repairing workpiece or setting
Standby defect, is effectively improved the use cycle of equipment, makes it be reused by repairing write-off equipment, plays maximum valency
Value, embodies the theory of energy-conserving and environment-protective.
(3) present invention provide method for repairing and mending not only welding time introduce near infrared vision sensing device obtain Molten Pool Shape and
Online adjustment bonding power and wire feed rate in real time, also scan defect again at postwelding laser vision sensor, with
Guarantee that defect is farthest repaired benefit and repair efficiency reaches best.By contrasting the parameter of intact piece surface,
Generate and repair defects controlling code, apply this code to determine kinematic parameter and the laser of laser torch on four axes motion platform
Welding torch melt the parameter covered, welding can be made more precisely to put in place, it is thus achieved that preferably welding effect.
(4) present invention proposes to utilize near infrared vision sensing device to be scanned molten bath state, adjusts welding parameter in real time,
Stress collection after can at utmost reducing workpiece, defect reparation neutralizes the thermal deformation caused.
(5) present invention carries out laser scanning to defective locations after repairing every time, for evaluating this effect repaired,
And repair efficiency is evaluated, it is determined whether needing again to repair, this process can significantly improve the degree of reliability of repairing, obtains
Obtain preferable repair efficiency.
(6) increasing material repair apparatus provided by the present invention can apply on robot end or portal frame defective part
Or equipment to carry out repair operation, practicality and the suitability strong.
(7) compared with arc surfacing technology, the method is not result in that heat affected area is big and workpiece deforms；With electropaining coating technology
Comparing, the method is easy to operate, and the parts reliability after repairing is high；Compared with plasma spray technology, the method environmental protection,
The suitability is strong；Compared with melting coating technique with traditional laser, the method combines the visual system of laser sensor, overcomes tradition
Thermal deformation and stress that technology causes are concentrated.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of repair apparatus provided by the present invention.
Fig. 2 is the axonometric chart of four-axle linked platform provided by the present invention.
Fig. 3 is the front view of four-axle linked platform provided by the present invention.
Fig. 4 is the right view of four-axle linked platform provided by the present invention.
Fig. 5 is the top view of four-axle linked platform provided by the present invention.
Fig. 6 is the fundamental diagram of laser vision sensor provided by the present invention.
Fig. 7 is the laser torch provided by the present invention view when welding.
Fig. 8 is workpiece, defect top view provided by the present invention.
Fig. 9 is workpiece, defect sectional view provided by the present invention.
Figure 10 is method for repairing and mending flow chart provided by the present invention.
Label declaration in above-mentioned accompanying drawing: 100-controller, 210-X axle mobile unit, 220-Y axle mobile unit, 230-Z
Axle mobile unit, 240-A axle rotating unit, 300-laser vision sensor, the infrared vision sensor of 400-, 510-Laser Welding
Torch, 520-fixture, 530-filler wire, 540-angle regulating unit, 550-welding wire mouth, 560-airway.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is described further.
Embodiment 1:
The present invention discloses a kind of repair apparatus and method for repairing and mending thereof for solving the deficiency that prior art exists.
Wherein, as it is shown in figure 1, this repair apparatus is a kind of wire filling laser welding increases material repair apparatus, controller is mainly included
100, it is positioned at the four-axle linked platform repaired above station and is arranged in linkage platform the defect profile for obtaining workpiece
The laser vision sensor 300 of three-dimensional information, for obtain the infrared vision sensor 400 of molten bath status information, fixture 520,
Laser torch 510, welding wire mouth 550, filler wire 530 and airway 560.Described controller 100 and four-axle linked platform, laser
Vision sensor 300, infrared vision sensor 400, laser torch 510 and welding wire mouth 550 connect, and are used for controlling each unit coordinates
Work.One end of described fixture 520 is connected with four-axle linked platform, and the other end is fixed with laser torch 510.Described filler wire
530 are arranged on welding wire mouth 550, and outwardly.Described welding wire mouth 550 is connected with laser torch 510, and and laser torch
Adjustable angle between 510, to adapt to various welding occasion.Described airway 560 is arranged in laser torch 510, airway 560
One end be connected with protective gas generator, the other end points to welding post, and the outgassing direction of airway 560 is adjustable, this
Sample can make protective gas preferably cover filler wire 530 and molten bath.
As the preferred version of the present invention, described airway 560 uses can be with the Universal pipe (or ring pipe) of universal adjustment
For guiding protective gas, protective gas is made to cover welding protection district exactly.
As the preferred version of the present invention, between described welding wire mouth 550 and laser torch 510, pass through angle regulating unit
540 connect, and this angle regulating unit 540 includes a clamping handle and regulation bolt, and one end of described clamping handle is fastened on weldering
On silk mouth, the other end is protruding hinged, on welding wire mouth 550 and the first projection by regulation bolt and first in laser torch 510
Being equipped with through hole, welding wire mouth 550 is fixed in laser torch 510 by regulation bolt through through hole.When needs regulation angle, only
Regulation bolt need to be unscrewed, after adjusting angle, tighten regulation bolt.The simple in construction of this angle regulating unit 540, uses
Convenient, more preferable welding effect can be obtained for wire feed angular adjustment.
Concrete, described controller 100 is connected with four-axle linked platform, and control laser torch 510 is in three directions
Move and the rotation of horizontal direction, make laser torch 510 with most suitable position and angle, defect be carried out on jig
Repair.Described controller 100 is connected with laser vision sensor 300, is used for driving laser vision sensor 300 and obtaining defect
Three-D profile, controller 100 according to obtain data the three-D profile of defect is rebuild, generate optimum control code.
Described controller 100 is connected with infrared vision sensor 400, for driving infrared vision sensor 400 and obtaining the reality in molten bath
Time image time and frequency parameter, in mending course, adjust Repair Parameters in real time according to molten bath state, it is thus achieved that preferably repair efficiency.
Described controller 100 electrically connects with laser torch 510, for controlling the watt level of laser torch 510 and the stream of protective gas
Amount.One end of described fixture 520 is connected with four-axle linked platform, and the other end is fixed with laser torch 510, and four-axle linked platform leads to
Crossing fixture 520 drives laser torch 510 to move and rotate, and is adjusted to suitable welding position.
Concrete, shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, described four-axle linked platform is used for controlling laser torch
The position of 510 also adjusts the soldering angle of laser torch 510, and its composition mainly includes the X-axis mobile unit moved in the X-axis direction
210, the Y-axis mobile unit 220 moved along Y direction, the Z axis mobile unit 230 moved along Z-direction and around being perpendicular to workpiece
Rotating shaft rotate A axle rotating unit 240.Described X-axis mobile unit 210 is fixed on repairing platform, is positioned at and repairs station
Top, Y-axis mobile unit 220 is arranged in X-axis mobile unit 210, and Z axis mobile unit 230 is arranged on Y-axis mobile unit 220
On, A axle rotating unit 240 is arranged in Z axis mobile unit 230, can relatively Z axis mobile unit 230 horizontally rotate.Described A axle
Rotating unit 240 is fixing with fixture 520 to be connected, and horizontally rotates with laser torch 510, for adjusting the weldering of laser torch 510
Connect angle.
As the preferred version of the present invention, described infrared vision sensor 400 uses the near infrared ray conduct that wavelength is shorter
The light source of vision sensor.Compared with far infrared, the degree of depth of near infrared ray detection is relatively deep, and the quantity of information of acquisition is more.Due to
Laser Welding can produce radiant light interference in welding process, selects near infrared vision sensing device can filter off jamming light source, improves
The image quality of crater image.Preferably, the present invention preferentially uses wavelength to be about the near-infrared light source of 950 nanometers.
As the preferred version of the present invention, described controller 100 uses capacity of resisting disturbance strong, stable and reliable in work, continuous
The industrial control computer of longevity of service.
Wherein, this method for repairing and mending is the method for repairing and mending that a kind of wire filling laser welding increases material repair apparatus, and this method for repairing and mending is permissible
For different workpiece materials to be repaired use corresponding filler wire 530 as filling up the filler of defect, in conjunction with Fig. 1 and Figure 10
Shown in, this method for repairing and mending mainly comprises the steps:
Step S1: defect workpiece is arranged in patcher's station；
Laser vision sensor 300, near infrared vision sensing device 400 are arranged on four axles (X-Y-Z-A axle) coordinated signals
In the Z axis mobile unit 230 of platform, laser torch 510 is arranged on A axle rotary unit.
Step S2: drive laser vision sensor 300 to scan the three-D profile of defect；
After installing, four-axle linked platform is first coordinated laser torch 510 to be moved to relevant position, at controller
Under the control of 100, drive laser vision sensor 300 to scan defect (complex geometric shapes) profile and obtain structure optical signal.
Step S3: controller 100 accepts the feedback signal of laser vision sensor 300, rebuilds the three-D profile of defect；
As shown in Figure 6, according to the operation principle of laser vision sensor 300, in sensor, semiconductor laser emission source is sent out
Go out a branch of parallel laser.This laser beam is on the contour surface of workpiece, defect, and its surface source of light information is by sensor
CMOS camera calibration arrives, and utilizes principle of triangulation, can obtain accurate defect profile structure light letter in controller 100
Number.Controller 100 obtains the defect profile structure optical signal of laser vision sensor 300 feedback, the method utilizing three-dimensional reconstruction
Set up defect threedimensional model.
Step S4: according to the three-D profile data genaration control routine of defect, determine concrete welding parameter；
The defect threedimensional model of reconstruction is compared by controller 100 with original part model parameter, determines to be repaired
Design parameter also generates corresponding control routine.Controller 100 drives four-axle linked platform courses according to the control routine generated
Laser torch 510 moves to the position specified, then be determined the welding parameter of laser torch 510 by control routine.This welding
Parameter mainly includes position, bonding power, speed of welding and wire feed rate of welding etc..
Step S5: in mending course, controller 100 drives near infrared vision sensing device 400 to be scanned molten bath, obtains
The time and frequency parameter (including time domain, frequency domain information) of crater image, and generate compensation control routine according to crater image time and frequency parameter,
Revise the welding parameter set in real time.It is illustrated in figure 7 the workpiece, defect complex for geometry, at wire filling laser welding
Increase droplet transfer during material repair apparatus reparation defect.
When workpiece defect some in surface of test piece under time, shown in Fig. 1, Fig. 8 and Fig. 9, due to A axle and laser
Having certain angle between welding torch 510, controller 100 can drive A axle rotary shaft to adjust the laser torch 510 weldering on workpiece
Connect position, thus the defect mending under completing surface of test piece.
Step S6: for repairing the thermal deformation that surface of test piece occurs after arc surfacing, after completing to repair for the first time, again drive
Dynamic laser vision sensor 300 scans the three-D profile of defect, determines that the workpiece after repairing is the most up to standard, if the most up to standard, the most right
Defect is repaired again, until defect mending is up to standard.
As the preferred version of the present invention, when welding, when position and the shape of defect are complex, can be by driving
A axle rotating unit 240 adjusts the welding angle of laser torch 510 to complete defect mending, uses the method to carry further
High repairing efficiency, overcomes the deficiencies in the prior art.
Repair apparatus provided by the present invention may be mounted in the frame of robot end or portal frame, coordinates robot
Or the motion positions of portal frame is to relevant position, for the defect test specimen repaired under different occasion or need setting of repair maintenance
Standby.
Work process and the principle of the present invention be: the present invention utilizes laser vision sensor 300 to scan the defect on workpiece,
Send the three-D profile optical signal of acquisition to controller 100；Controller 100 rebuilds the three-dimensional wheel of defect according to structure optical signal
Exterior feature, and generate corresponding control routine, determine the technical parameter of welding；In welding process, controller 100 drives near-infrared to regard
Molten bath is scanned by sense sensor 400, obtains the time and frequency parameter of crater image, generates corresponding compensation control routine, and real
The welding parameter arranged before Shi Xiuzheng, makes final welding effect more preferable；After first welding, laser vision sensor
Defective locations can be scanned by 300 again, determines repairing situation and evaluation repair efficiency, if repair efficiency does not reaches setting
Standard, then after controller 100 drives four-axle linked platform, laser vision sensor 300 and infrared vision sensor 400 to repairing
Defect again repair, until repair efficiency is up to standard.Simple in construction provided by the present invention, easy to operate, reliably
Property high, strong adaptability.
Embodiment 2:
As it is shown in figure 1, laser vision sensor 300, near infrared vision sensing device 400 are arranged on four axle (X-Y-Z-A
Axle) Motion Control Platform Z axis motion platform on, laser torch 510 is arranged on A axle rotation platform.This device can be pacified
Being contained in robot end or portal frame frame, coordinate robot or portal frame moves to relevant position to repair different occasion
Lower defect test specimen or equipment.
The work process that 3D provided by the present invention increases material repair apparatus is as follows: first coordinate four axes motion platform by laser
Welding torch 510 moves to relevant position, under computer control 100 controls, drives laser vision sensor 300 to scan defect
(complex geometric shapes) profile obtains structure optical signal.
Then, in laser vision sensor 300, semiconductor laser emission source sends a branch of parallel laser, and this laser beam is beaten
On the contour surface of workpiece, defect, its surface source of light information is arrived by the CMOS camera calibration in sensor, utilizes triangulation
Principle, can obtain accurate defect profile structure optical signal in computer control 100.(Fig. 6 is laser vision sensor
The fundamental diagram of 300)
Then, scanning, according to laser vision sensor 300, the defect profile structure optical signal that defect obtains, computer controls
Device 100 utilizes the method for three-dimensional reconstruction to set up defect threedimensional model.The model of reconstruction is compared with original Parameters of The Parts, really
Periodical repair mend design parameter and generate control routine.
Then, drive four axes motion platform courses laser torch 510 to move to relevant position, then determine by control routine
The parameters such as filler wire 530 speed of laser torch 510, watt level, melt to cover to the mode of defective locations built-up welding and repair
Mend.As it is shown in fig. 7, be wire filling laser welding droplet transfer when repairing defect, filler wire 530 through lead welding wire mouth 550 and to
Outer protrusion.Protective gas sprays from the mouth of pipe of airway 560, for protecting the metal of high temperature melting, prevents metal oxidized.Fill out
Fill the metal near welding wire 530 and workpiece, defect to melt under the effect of laser torch 510, form molten bath, fill after cooling
Welding wire 530 becomes the part into workpiece.When running into workpiece, defect shape and the complex situation in position, for this shape
The defect mending of condition (as shown in Figure 8 and Figure 9, defect some under surface of test piece), owing to A axle has with laser torch 510
Certain angle, drives A axle rotary shaft to adjust the welding position of laser torch 510, can complete the defect mending under surface of test piece.
Then, it is illustrated in figure 1 the schematic diagram of weld pool resonance when near infrared vision sensing device 400 obtains weldering, at heap repair welding
The defect crater image obtained during benefit contains the real-time repairing situation of defect, obtains molten bath by methods such as image procossing
Image time and frequency parameter, and then compensate control routine.
Finally, for repairing the thermal deformation that surface of test piece occurs after arc surfacing, after completing to repair for the first time, laser video is used
Sense sensor 300 scans defect profile.The control routine again repaired after computer processes, thus put down with four axes motion
Platform drives laser torch 510 determining to melt accordingly to cover parameter and repair defect.Laser vision sensor 300 obtains defect three-dimensional wheel
Exterior feature, near infrared vision sensing device 400 obtains the state of repairing in real time.Many heat transfer agents (laser, near infrared vision sensing device 400)
Fusion generate optimal control algorithm, including welding position, bonding power, speed of welding, the isoparametric online tune of wire feed rate
Whole.Figure 10 is the workflow diagram of this invention, and this operation (i.e. vision-based detection, weld deposit repairing) is repeated several times, until defect profile
Form is up to standard.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (9)
1. a wire filling laser welding increases material repair apparatus, it is characterised in that includes controller, be positioned at four axles repaired above station
Linkage platform and be arranged in linkage platform defect profile three-dimensional information for obtaining workpiece laser vision sensor,
For obtaining the infrared vision sensor of molten bath status information, fixture, laser torch, welding wire mouth, filler wire and airway；Institute
State controller respectively with four-axle linked platform, laser vision sensor, infrared vision sensor, laser torch and welding wire mouth even
Connect；One end of described fixture is connected with four-axle linked platform, and the other end is fixed with laser torch；Described filler wire is arranged on weldering
Silk mouth on, described welding wire mouth is connected with laser torch, and and laser torch between adjustable angle；Described airway is arranged on laser
On welding torch, outgassing direction is adjustable.
Wire filling laser welding the most according to claim 1 increases material repair apparatus, it is characterised in that described four-axle linked platform bag
Include X-axis mobile unit, Y-axis mobile unit, Z axis mobile unit and A axle rotating unit；Described X-axis mobile unit is positioned at patcher
Above Wei, Y-axis mobile unit is arranged in X-axis mobile unit, and Z axis mobile unit is arranged in Y-axis mobile unit, and A axle rotates
Unit is arranged in Z axis mobile unit, can relatively Z axis mobile unit horizontally rotate；Described A axle rotating unit is fixing with fixture even
Connect, for adjusting the soldering angle of laser torch.
Wire filling laser welding the most according to claim 1 increases material repair apparatus, it is characterised in that described infrared vision sensor
For near infrared vision sensing device.
Wire filling laser welding the most according to claim 1 increases material repair apparatus, it is characterised in that described controller uses industry
Control computer.
Wire filling laser welding the most according to claim 1 increases material repair apparatus, it is characterised in that described airway uses universal
Pipe or ring pipe.
Wire filling laser welding the most according to claim 1 increases material repair apparatus, it is characterised in that described welding wire mouth passes through angle
Regulation unit is connected with laser torch.
7. the method for repairing and mending of a wire filling laser welding increasing material repair apparatus, it is characterised in that comprise the steps:
Step S1: defect workpiece is arranged in patcher's station；
Step S2: drive the three-D profile of laser vision sensor scanning defect；
Step S3: controller accepts the feedback signal of laser vision sensor, rebuilds the three-D profile of defect；
Step S4: according to the three-D profile data genaration control routine of defect, determines that specifically melting of laser torch covers parameter；
Step S5: in mending course, drives near infrared vision sensing device to be scanned molten bath, obtains the time-frequency ginseng of crater image
Number, and generate compensation control routine according to the time and frequency parameter of crater image, revise the welding parameter set in real time；
Step S6: repair after terminating, again drives the three-D profile of laser vision sensor scanning defect, determines the work after repairing
Part is the most up to standard, if the most up to standard, then again repairs defect, until defect mending is up to standard.
Wire filling laser welding the most according to claim 7 increases the method for repairing and mending of material repair apparatus, it is characterised in that described step
Concrete operations concrete for S3 are as follows, and in laser vision sensor, semiconductor laser emission source sends a branch of parallel laser, parallel sharp
Light beam is on the contour surface of workpiece, defect, and light source information after reflection is by the CMOS phase machine examination in laser vision sensor
Measuring, utilize principle of triangulation to obtain accurate defect profile structure optical signal, it is anti-that controller receives laser vision sensor
The three-D profile of the data reconstruction defect of feedback.
Wire filling laser welding the most according to claim 7 increases the method for repairing and mending of material repair apparatus, it is characterised in that described step
Melting in S4 is covered parameter and mainly includes welding position, bonding power, speed of welding, wire feed rate parameter.
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Application publication date: 20161123 |