CN107052571A - A kind of laser welding apparatus and method for laser welding - Google Patents

A kind of laser welding apparatus and method for laser welding Download PDF

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Publication number
CN107052571A
CN107052571A CN201611231634.3A CN201611231634A CN107052571A CN 107052571 A CN107052571 A CN 107052571A CN 201611231634 A CN201611231634 A CN 201611231634A CN 107052571 A CN107052571 A CN 107052571A
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CN
China
Prior art keywords
welding
laser
workpiece
plumb joint
control
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CN201611231634.3A
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Chinese (zh)
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CN107052571B (en
Inventor
肖海兵
刘明俊
周泳全
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深圳信息职业技术学院
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Priority to CN201611231634.3A priority Critical patent/CN107052571B/en
Publication of CN107052571A publication Critical patent/CN107052571A/en
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Publication of CN107052571B publication Critical patent/CN107052571B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/046Automatically focusing the laser beam
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03Observing, e.g. monitoring, the workpiece
    • B23K26/032Observing, e.g. monitoring, the workpiece using optical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/042Automatically aligning the laser beam
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/044Seam tracking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/064Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • B23K26/702Auxiliary equipment
    • B23K26/703Cooling arrangements

Abstract

The present invention provides a kind of laser welding apparatus and method for laser welding, wherein, laser welding apparatus includes welding equipment main body, welding bench, support, dynamic focusing vibration mirror welding system, vision detection system, workpiece locating mechanism, plumb joint regulation drive mechanism and control system.The present invention obtains the view data of workpiece by vision detection system, to be accurately positioned to the weld seam on workpiece, and control plumb joint to move quickly into position while welding by control system, dynamic focusing vibration mirror welding system is launched laser pulse and fast and accurately laser scanning welding is carried out to workpiece, simultaneously in laser scanning welding process, the defocus error for the laser pulse launched by dynamic focusing vibration mirror welding system it enters Mobile state compensation, to realize the dynamic focusing of laser pulse, the welding efficiency and precision of laser welding can be greatly improved, reduce cost of labor.

Description

A kind of laser welding apparatus and method for laser welding

Technical field

The embodiment of the present invention belongs to technical field, more particularly to a kind of laser welding apparatus and method for laser welding.

Background technology

With the continuous development of scientific technology, various industrial products are emerged in an endless stream, and laser welding apparatus is welded in industrial products The instant noodles such as connect to be widely used.

However, existing laser welding apparatus needs the position by manual calibration plumb joint, automaticity is low, welding Precision is low, it is impossible to which the product higher to welding required precision to electrokinetic cell etc. is fast and accurately welded, so as to seriously drop The low welding efficiency of laser welding and add cost of labor.

The content of the invention

The embodiment of the present invention provides a kind of laser welding apparatus and method for laser welding, and work is obtained by vision detection system The view data of part, to be accurately positioned to the weld seam on workpiece, and controls plumb joint to move quickly into by control system Position while welding, carries out fast and accurately laser scanning to workpiece and welds, can greatly improve the welding efficiency and essence of laser welding Degree, reduces cost of labor.

On the one hand the embodiment of the present invention provides a kind of laser welding apparatus, and it includes welding equipment main body, welding bench, branch Frame, dynamic focusing vibration mirror welding system, vision detection system, workpiece locating mechanism, plumb joint regulation drive mechanism and control system System;

The welding bench is arranged on the side of the welding equipment main body, and the dynamic focusing vibration mirror welding system passes through institute State and be located at the welding on the top that support is supported and fixed on the welding equipment main body, the dynamic focusing vibration mirror welding system One end directly over platform is provided with plumb joint, and the vision detection system is mechanically connected with the plumb joint, the workpiece positioning Mechanism is arranged on the welding bench, and the plumb joint regulation drive mechanism is mechanically connected with the plumb joint, the control system System be arranged on the welding equipment main body side and respectively with the dynamic focusing vibration mirror welding system, the vision-based detection system System, the workpiece locating mechanism and plumb joint regulation drive mechanism are electrically connected with;

The position that the workpiece locating mechanism is used for workpiece to being placed on the welding bench is adjusted, and by institute When stating workpiece and being fixed in the detection range of the vision detection system, trigger the vision detection system and start;

The vision detection system is used for the view data for obtaining the workpiece in real time upon actuation;

The view data progress Treatment Analysis that the control system is used for the workpiece obtains the weld seam on the workpiece Positional information;

The plumb joint regulation drive mechanism is used to drive the plumb joint to move to the weldering according to the positional information The top of seam, and the position of the plumb joint is finely adjusted, make the plumb joint just to the weld seam;

The dynamic focusing vibration mirror welding system is used for when the plumb joint is just to the weld seam, to preset scan frequency The laser pulse for launching predeterminated frequency and default pulsewidth carries out laser scanning welding to the weld seam, and is welded in laser scanning The defocus error for the laser pulse launched in journey it enters Mobile state compensation, to realize the dynamic focusing of laser pulse;

The control system is additionally operable to the dynamic focusing vibration mirror welding system, the vision detection system, the work The working condition of part detent mechanism and plumb joint regulation drive mechanism carries out Comprehensive Control.

It is preferred that, the vision detection system is additionally operable in laser beam welding, obtains completed on the workpiece in real time The amount of distortion of pad in the scanning patter of laser scanning welding portion;

The control system is additionally operable to the amount of distortion analyze and process that to obtain each in the scan image pre- If the two dimensional surface function of distortion range, so as to obtain amount of distortion of each default distortion range, and according to it is described each The amount of distortion of default distortion range controls the dynamic focusing vibration mirror welding system to carry out school to the welding position of the plumb joint Just.

It is preferred that, the vision detection system includes the first image unit, the second image unit and mechanical motion unit;

The mechanical motion unit respectively with first image unit, second image unit and the control module Connection, for driving first image unit and second image unit to move to the initial position specified, to demarcate State the initial position of the first image unit and second image unit;

First image unit is used for the view data for obtaining the first mark point on the workpiece;

Second image unit is used for the view data for obtaining the second mark point on the workpiece, first mark Point and second mark point are located at two angle steel joints on the workpiece to be processed respectively;

The control module is additionally operable to be taken the photograph according to the initial position of first image unit and current location, described second As the initial position and current location, the view data of first mark point, the view data of second mark point of unit And the view data of the workpiece, analyze and process and obtain the position of first mark point and the second mark point on the workpiece Put.

It is preferred that, the laser welding apparatus also includes cooling system, and the cooling system is arranged on the welding equipment Close to the side of the dynamic focusing vibration mirror welding system in main body, the laser machine with the dynamic focusing vibration mirror welding system Tool is connected and is electrically connected with the control system.

It is preferred that, the cooling system is outer circulation laser water chiller, including water tank, heat exchanger, filter, magnetic Pump, water temperature protector and traffic protection device;

The heat exchanger is arranged on the laser side of the dynamic focusing vibration mirror welding system, its water inlet and water outlet Mouth is connected with the water tank, for taking away the heat that the laser is distributed;

The filter is arranged on the water inlet of the heat exchanger, and the cooling water of the heat exchanger is flowed into for filtering In debris;

The magnet pump is connected between the water tank and the heat exchanger by water circulation pipe, for extracting side by side The water gone out in the water circulation pipe, to realize water circulation;

The water temperature protector is arranged on the water inlet of the heat exchanger, for detecting the inflow heat exchanger Cooling water temperature be more than preset temperature when send overtemperature warning;

The traffic protection device is arranged on the water inlet of the heat exchanger, for detecting the inflow heat exchanger Cooling water flow be less than preset flow when send undercurrent alarm.

It is preferred that, the dynamic focusing vibration mirror welding system includes laser and galvanometer scanning system;

The laser includes light-conducting system, beam expanding lens, half-reflecting mirror, the laser that setting is sequentially coaxially connected by optical fiber Resonant cavity, completely reflecting mirror and laser-adjusting mechanism, the laser are used to launch predeterminated frequency and pre- with default scan frequency If the laser pulse of pulsewidth carries out laser scanning welding to the weld seam;

The galvanometer scanning system includes high-precision motor, motor driving plate, speculum, F- θ lens and direct current supply electricity Source, the galvanometer scanning system is used for the focusing laser pulses for launching the laser in the weld seam, and in laser scanning The defocus error for the laser pulse launched in welding process the laser enters Mobile state compensation, to realize the dynamic of laser pulse State is focused on.

It is preferred that, the plumb joint regulation drive mechanism includes plumb joint governor motion and plumb joint drive mechanism;

The plumb joint governor motion and the plumb joint are mechanically connected simultaneously to be electrically connected with the control system, for pair The position of the plumb joint is carried out perpendicular to the vertical direction regulation of the welding bench plane and parallel to the welding bench plane Horizontal direction regulation;

The plumb joint drive mechanism is mechanically connected with the plumb joint and is electrically connected with the control system, for root The plumb joint is driven to move to the position just to the weld seam according to the positional information of the weld seam on the workpiece.

It is preferred that, the control system includes control main frame and display unit;

The control main frame is electrically connected with the display unit, for carrying out Treatment Analysis to described image data, and The dynamic focusing vibration mirror welding system, the vision detection system, the workpiece locating mechanism and the plumb joint are adjusted The working condition of drive mechanism carries out Comprehensive Control;

The display unit is used for the Treatment Analysis result for showing the control main frame and inputted to the dynamic focusing vibration Mirror welding system, the vision detection system, the workpiece locating mechanism or the plumb joint adjust the work shape of drive mechanism State carries out the control instruction of Comprehensive Control.

On the other hand the embodiment of the present invention also provides a kind of method for laser welding, and it is real based on above-mentioned laser welding apparatus Existing, the method for laser welding includes:

Control workpiece locating mechanism adjustment is placed on the position of the workpiece on welding bench, the workpiece is fixed on vision inspection In the detection range of examining system;

Trigger the vision detection system to start, to obtain the view data of the workpiece in real time;

View data to the workpiece carries out the positional information that Treatment Analysis obtains the weld seam on the workpiece;

Control plumb joint regulation drive mechanism drives the plumb joint to move to the weld seam according to the positional information Top, and the position of the plumb joint is finely adjusted, make the plumb joint just to the weld seam;

Dynamic focusing vibration mirror welding system is controlled to launch predeterminated frequency and the laser arteries and veins of default pulsewidth to preset scan frequency Punching carries out laser scanning welding to the weld seam, and the defocus for the laser pulse launched in laser scanning welding process it is missed Difference enters Mobile state compensation, to realize the dynamic focusing of laser pulse.

It is preferred that, the method for laser welding also includes:

In laser beam welding, obtained in real time by the vision detection system and laser scanning weldering is completed on the workpiece The amount of distortion of pad in the scanning patter of socket part point;

To the amount of distortion carry out analyze and process obtain each in the scan image preset distortion range two dimension put down Surface function, so as to obtain the amount of distortion of each default distortion range;

The dynamic focusing vibration mirror welding system is controlled to described according to the amount of distortion of each default distortion range The welding position of plumb joint is corrected.

The embodiment of the present invention obtains the view data of workpiece by vision detection system, accurate to be carried out to the weld seam on workpiece It is determined that position, and control plumb joint to move quickly into position while welding by control system, launch dynamic focusing vibration mirror welding system Laser pulse carries out fast and accurately laser scanning to workpiece and welded, while in laser scanning welding process, it is poly- by dynamic The defocus error for the laser pulse that burnt galvanometer welding system is launched it enters Mobile state compensation, is gathered with the dynamic for realizing laser pulse Jiao, can greatly improve the welding efficiency and precision of laser welding, reduce cost of labor.

Brief description of the drawings

Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for ability For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached Figure.

Fig. 1 and 2 is the mechanical structure schematic diagram for the laser welding apparatus that one embodiment of the present of invention is provided;

Fig. 3 is the mechanical structure schematic diagram for the dynamic focusing vibration mirror welding system that one embodiment of the present of invention is provided;

Fig. 4 is the structured flowchart for the laser welding apparatus that one embodiment of the present of invention is provided;

Fig. 5 is the structured flowchart for the laser welding apparatus that one embodiment of the present of invention is provided.

Embodiment

In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention Accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention one The embodiment divided, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing Go out the every other embodiment obtained under the premise of creative work, should all belong to the scope of protection of the invention.

Term " comprising " and their any deformations in description and claims of this specification and above-mentioned accompanying drawing, meaning Figure is to cover non-exclusive include.Process, method or system, product or equipment for example comprising series of steps or unit do not have The step of being defined in the step of having listed or unit, but alternatively also include not listing or unit, or alternatively also wrap Include for the intrinsic other steps of these processes, method, product or equipment or unit.In addition, term " first ", " second " and " 3rd " etc. is to be used to distinguish different objects, not for description particular order.

As illustrated in fig. 1 and 2, the embodiment of the present invention provides a kind of laser welding apparatus 100, and it includes welding equipment main body 101st, welding bench 102, support 103, dynamic focusing vibration mirror welding system 10, vision detection system 20, workpiece locating mechanism 30, weldering Joint adjusts drive mechanism 40 and control system 50.

In the present embodiment, welding equipment main body is used for welding bench, dynamic focusing vibration mirror welding system, vision-based detection System, workpiece locating mechanism, plumb joint regulation drive mechanism and control system by mechanical connection manner be fixed together by The housing that metal material or composite are made, it can be manufactured into according to actual needs arbitrarily meets laser welding requirement In shape design, the present embodiment, the shape and structure of welding equipment body are not particularly limited.

As illustrated in fig. 1 and 2, welding bench 102 is arranged on the side of welding equipment main body 101, needs to be soldered for carrying Workpiece.

In a particular application, the size for the workpiece that the size of welding bench can be soldered as needed is rationally set Put.The laser welding apparatus that the present embodiment is provided is fast at high speed due to its welding precision, is mainly used in electrokinetic cell lug Welded Deng the workpiece higher to welding required precision.In an instantiation, the size of welding bench can specifically be set For long 1.4 meters of (m), wide 1 meter (m), high 0.8 meter (m).

Dynamic focusing vibration mirror welding system 10 is supported and fixed on the top of welding equipment main body 101 by support 103, is used for Laser scanning welding is carried out to the weld seam on workpiece with the laser pulse for presetting scan frequency transmitting predeterminated frequency and default pulsewidth, And the defocus error for the laser pulse launched in laser scanning welding process it enters Mobile state compensation, to realize laser pulse Dynamic focusing.

In a particular application, presetting scan frequency, predeterminated frequency and default pulsewidth can be according to welding precision and welding speed Degree requirement is configured.In an instantiation, when being welded to electrokinetic cell lug, default scan frequency can be 200 Individual to complete the welding of 200 electrokinetic cell lugs per hour per hour, corresponding, speed of welding is 1~20 point every Second, i.e., it is per second to complete the welding to 1~20 solder joint on electrokinetic cell lug.

In a particular application, the laser galvanometer system that dynamic focusing vibration mirror welding system is concretely commonly used, is generally included Laser, galvanometer, beam expanding lens, X-Y optical scanning heads, optical reflecting lens, laser light path system etc..Not to dynamic in the present embodiment The concrete structure that state focuses on galvanometer welding system is particularly limited.

As shown in figure 3, in one embodiment of the invention, dynamic focusing vibration mirror welding system 10 include laser 11, Galvanometer scanning system 12 and plumb joint 13, wherein, laser 11, which is specifically included, sequentially coaxially connects leading for setting by optical fiber 111 Photosystem 112, beam expanding lens 113, half-reflecting mirror 114, laser resonance cavity 115, completely reflecting mirror 116 and laser-adjusting mechanism 117.

In one embodiment of the invention, galvanometer scanning system specifically can be by high-precision motor, motor driving plate, anti- Penetrate mirror, F- θ lens and direct current supply power supply composition.The wherein focal length f=100mm (or 160mm) of F- θ lens, work breadth be 110mm×110mm。

In a particular application, the structure of support can be arranged to arbitrary shape construction according to actual needs, as long as can rise To the top that dynamic focusing vibration mirror welding system is supported and fixed on to welding equipment main body, and ensure dynamic focusing vibration mirror welding system The plumb joint of system and certain coverage is spaced between being placed on welding bench it is easy to launch laser pulse.The present embodiment In, support 103 is lived to constitute by six roots of sensation cylindrical support.

As illustrated in fig. 1 and 2, plumb joint 104 be arranged on dynamic focusing vibration mirror welding system 10 be located at welding bench 102 just on One end of side.

In a particular application, the welding core beam of plumb joint can use rectangular core beam, and rectangular core beam is provided with brass Pad and type groove is processed on copper lining, it is ensured that in workpiece welding process, double-faced forming and radiating to weld seam, laser Pulse uses plane form with work piece interface, it is ensured that the good contact of laser pulse and workpiece weld seam.

As illustrated in fig. 1 and 2, vision detection system 20 is mechanically connected with plumb joint 104, for obtaining work in real time upon actuation The view data of part.

In a particular application, vision detection system includes the view data that at least one image unit is used to obtain workpiece, Image unit can be specifically ccd video camera, and it necessarily also includes corresponding imaging sensor, analog-digital converter, IMAQ Card etc..

In one embodiment of the invention, vision detection system includes the first image unit, the second image unit and machine Tool moving cell, wherein, mechanical motion unit is connected with the first image unit, the second image unit and control module respectively, is used In driving the first image unit and the second image unit to move to the initial position specified, to demarcate the first image unit and second The initial position of image unit;First image unit is used for the view data for obtaining the first mark point on workpiece;Second shooting Unit is used for the view data for obtaining the second mark point on workpiece, and the first mark point and the second mark point are located to be processed respectively Two angle steel joints on workpiece;Control module is used for according to the initial position of the first image unit and current location, the second shooting The initial position of unit and current location, the view data of the first mark point, the view data of the second mark point and workpiece View data, analyzing and processing obtains the position of the first mark point and the second mark point on workpiece.

As shown in Fig. 2 workpiece locating mechanism 30 is arranged on welding bench 102, for the work to being placed on welding bench 102 The position of part is adjusted, in the detection range that workpiece righting is fixed on to vision detection system 20, and in workpiece by righting When being fixed in the detection range of vision detection system 20, triggering vision detection system 20 starts.

In a particular application, workpiece locating mechanism can be fixed using one side, and the mode of another side pneumatic clamping is by workpiece Righting is fixed, to facilitate the weld seam on workpiece to be aligned in the detection range of vision detection system, so as to obtain the picture number of workpiece According to.

As shown in Fig. 2 plumb joint regulation drive mechanism 40 is mechanically connected with plumb joint 104, for driving plumb joint 104 to transport The top of weld seam is moved, and the position of butt joint 104 is finely adjusted, and makes weld seam of the plumb joint 104 just to workpiece.

In one embodiment of the invention, plumb joint regulation drive mechanism includes plumb joint governor motion and plumb joint drives Motivation structure.Wherein, plumb joint governor motion is mechanically connected with plumb joint and is electrically connected with control system, for butt joint Position adjusted perpendicular to the vertical direction regulation of welding bench plane and parallel to the horizontal direction of welding bench plane;Plumb joint Drive mechanism is mechanically connected with plumb joint and is electrically connected with control system, for being driven according to the positional information of the weld seam on workpiece Dynamic plumb joint moves to the position just to weld seam.

In a particular application, spacing of the vertical direction regulation mainly between regulation tungsten electrode termination and workpiece, i.e. setting weldering The length of electric arc is connect, the voltage of welding arc is established;Regulation mainly regulation tungsten electrode tip in water direction makes it be aligned with weld seam.For Be easy to the handling of workpiece, plumb joint governor motion can be designed as it is pneumatic enter gun apparatus, in welding, plumb joint is automatically lowered Welding position, after welding is finished, plumb joint automatic returning to home position.Plumb joint drive mechanism includes AC inverter driving system electricity Machine, in welding process, driving plumb joint fast and accurately to move to position while welding, it can realize butt joint movement speed The stepless speed regulation of degree, can the quick carriage return of idle running.

As shown in figure 4, control system 50 respectively with dynamic focusing vibration mirror welding system 10, vision detection system 20, workpiece Detent mechanism 30 and plumb joint regulation drive mechanism 40 are electrically connected with, and carrying out Treatment Analysis for the view data to workpiece obtains The positional information of weld seam on workpiece, is additionally operable to dynamic focusing vibration mirror welding system 10, vision detection system 20, workpiece positioning The working condition of mechanism 30 and plumb joint regulation drive mechanism 40 carries out Comprehensive Control.

In a particular application, control system 50 can specifically select PC or PLC industrial computers, can also be by general integrated Circuit, such as CPU (Central Processing Unit, central processing unit), or pass through ASIC (Application Specific Integrated Circuit, application specific integrated circuit) realize, its internal corresponding algorithm routine of write-in, can be with The positional information of workpiece is obtained to analysis of image data, processing and identification, so as to realize the positioning to workpiece.

In one embodiment of the invention, vision detection system is additionally operable in laser beam welding, and work is obtained in real time The amount of distortion of pad in the scanning patter of laser scanning welding portion is completed on part;

Control system is additionally operable to that amount of distortion analyze and process to obtain the default distortion range of each in scan image Two dimensional surface function, so that the amount of distortion of each default distortion range is obtained, and according to the abnormal of each default distortion range The welding position of Variable Control dynamic focusing vibration mirror welding system butt joint is corrected.

As shown in Fig. 2 in one embodiment of the invention, control system 50 includes control main frame 51 and display unit 52;Wherein, control main frame 51 is electrically connected with display unit 52, for carrying out Treatment Analysis to view data, and poly- to dynamic The working condition progress that burnt galvanometer welding system, vision detection system, workpiece locating mechanism and plumb joint adjust drive mechanism is comprehensive Close control;Display unit 52 is used for the Treatment Analysis result of display control main frame 51 and inputs to weld dynamic focusing vibration mirror System, vision detection system, workpiece locating mechanism or plumb joint adjust the control of the working condition progress Comprehensive Control of drive mechanism Instruction.

In a particular application, display unit is specifically as follows touching display screen, control system can also corresponding configuration keyboard, The control instruction input equipment such as mouse, control button.

In a particular application, laser-processing system can also necessarily include the data for being used to transmit data between modules Line and the data-interface being correspondingly arranged in each module, it would however also be possible to employ in wireless transmission data, the present embodiment Data transfer mode is not particularly limited.

The embodiment of the present invention obtains the view data of workpiece by vision detection system, accurate to be carried out to the weld seam on workpiece It is determined that position, and control plumb joint to move quickly into position while welding by control system, launch dynamic focusing vibration mirror welding system Laser pulse carries out fast and accurately laser scanning to workpiece and welded, while in laser scanning welding process, it is poly- by dynamic The defocus error for the laser pulse that burnt galvanometer welding system is launched it enters Mobile state compensation, is gathered with the dynamic for realizing laser pulse Jiao, can greatly improve the welding efficiency and precision of laser welding, reduce cost of labor.

As shown in figure 5, in one embodiment of the invention, laser welding apparatus 100 also includes cooling system 60, cooling System 60 is arranged on close to the side of dynamic focusing vibration mirror welding system 10 in welding equipment main body 101, with dynamic focusing vibration mirror The laser mechanical of welding system 10 is connected and is electrically connected with control system 50.

In one embodiment of the invention, cooling system is specifically as follows outer circulation laser water chiller, and it includes water Case, heat exchanger, filter, magnet pump, water temperature protector and traffic protection device.

Heat exchanger is arranged on the laser side of dynamic focusing vibration mirror welding system, and its water inlet and delivery port are and water Case is connected, for taking away the heat that laser is distributed.

Filter is arranged on the water inlet of heat exchanger, the debris in cooling water for filtering inflow heat exchanger.

Magnet pump is connected between water tank and heat exchanger by water circulation pipe, for extracting and discharging water circulation pipe In water, to realize water circulation.

Water temperature protector is arranged on the water inlet of heat exchanger, for the temperature in the cooling water for detecting inflow heat exchanger Degree sends overtemperature warning when being more than preset temperature.

Traffic protection device is arranged on the water inlet of heat exchanger, for the stream in the cooling water for detecting inflow heat exchanger Amount sends undercurrent alarm when being less than preset flow.

In a particular application, water temperature protector and traffic protection device may each comprise audio alert unit, audio alert list Member can be specifically buzzer or the sound broadcasting device being made up of speech chip and loudspeaker.Water temperature protector and traffic protection device It can also be electrically connected with respectively with control system, alarm is sent to control system in the form of the alert signal that sends datagram, so that The display unit of control system can show corresponding warning message.

The embodiment of the present invention ensure that laser by setting the water-cooling system with overtemperature alarm and undercurrent warning function Welding equipment still can normally be run in the case where working long hours, and reduce the generation of equipment fault, improve welding efficiency.

One embodiment of the present of invention also provides a kind of method for laser welding, and it is based on above-mentioned laser welding apparatus 100 Realize, the method for laser welding includes:

Control workpiece locating mechanism adjustment is placed on the position of the workpiece on welding bench, the workpiece is fixed on vision inspection In the detection range of examining system;

Trigger the vision detection system to start, to obtain the view data of the workpiece in real time;

View data to the workpiece carries out the positional information that Treatment Analysis obtains the weld seam on the workpiece;

Control plumb joint regulation drive mechanism drives the plumb joint to move to the weld seam according to the positional information Top, and the position of the plumb joint is finely adjusted, make the plumb joint just to the weld seam;

Dynamic focusing vibration mirror welding system is controlled to launch predeterminated frequency and the laser arteries and veins of default pulsewidth to preset scan frequency Punching carries out laser scanning welding to the weld seam, and the defocus for the laser pulse launched in laser scanning welding process it is missed Difference enters Mobile state compensation, to realize the dynamic focusing of laser pulse.

In one embodiment of the invention, the method for laser welding also includes:

In laser beam welding, obtained in real time by the vision detection system and laser scanning weldering is completed on the workpiece The amount of distortion of pad in the scanning patter of socket part point;

To the amount of distortion carry out analyze and process obtain each in the scan image preset distortion range two dimension put down Surface function, so as to obtain the amount of distortion of each default distortion range;

The dynamic focusing vibration mirror welding system is controlled to described according to the amount of distortion of each default distortion range The welding position of plumb joint is corrected.

In a particular application, above-mentioned method for laser welding can be performed by control system 50, and above method step is specific It can be the software program in control system 50.

Step in present invention method can be sequentially adjusted, merged and deleted according to actual needs.

One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

1. a kind of laser welding apparatus, it is characterised in that the laser welding apparatus includes welding equipment main body, welding bench, branch Frame, dynamic focusing vibration mirror welding system, vision detection system, workpiece locating mechanism, plumb joint regulation drive mechanism and control system System;
The welding bench is arranged on the side of the welding equipment main body, and the dynamic focusing vibration mirror welding system passes through the branch Frame, which is supported and fixed on the top of the welding equipment main body, the dynamic focusing vibration mirror welding system, is being located at the welding bench just One end of top is provided with plumb joint, and the vision detection system is mechanically connected with the plumb joint, the workpiece locating mechanism It is arranged on the welding bench, the plumb joint regulation drive mechanism is mechanically connected with the plumb joint, and the control system is set Put in the side of the welding equipment main body and respectively with the dynamic focusing vibration mirror welding system, the vision detection system, The workpiece locating mechanism and plumb joint regulation drive mechanism are electrically connected with;
The position that the workpiece locating mechanism is used for workpiece to being placed on the welding bench is adjusted, and by the work When part is fixed in the detection range of the vision detection system, triggers the vision detection system and start;
The vision detection system is used for the view data for obtaining the workpiece in real time upon actuation;
The control system is used to carry out the view data of the workpiece position that Treatment Analysis obtains the weld seam on the workpiece Confidence ceases;
The plumb joint regulation drive mechanism is used to drive the plumb joint to move to the weld seam according to the positional information Top, and the position of the plumb joint is finely adjusted, make the plumb joint just to the weld seam;
The dynamic focusing vibration mirror welding system is used for when the plumb joint is just to the weld seam, is launched with default scan frequency Predeterminated frequency and the laser pulse of default pulsewidth carry out laser scanning welding to the weld seam, and in laser scanning welding process The defocus error for the laser pulse launched it enters Mobile state compensation, to realize the dynamic focusing of laser pulse;
The control system is additionally operable to determine the dynamic focusing vibration mirror welding system, the vision detection system, the workpiece The working condition of position mechanism and plumb joint regulation drive mechanism carries out Comprehensive Control.
2. laser welding apparatus as claimed in claim 1, it is characterised in that the vision detection system is additionally operable in Laser Welding In termination process, the amount of distortion of pad in the scanning patter that laser scanning welding portion is completed on the workpiece is obtained in real time;
The control system is additionally operable to that the amount of distortion analyze and process to obtain the default mistake of each in the scan image The two dimensional surface function of true scope, so as to obtain amount of distortion of each default distortion range, and according to it is described each preset The amount of distortion of distortion range controls the dynamic focusing vibration mirror welding system to be corrected the welding position of the plumb joint.
3. laser welding apparatus as claimed in claim 1, it is characterised in that it is single that the vision detection system includes the first shooting Member, the second image unit and mechanical motion unit;
The mechanical motion unit connects with first image unit, second image unit and the control module respectively Connect, it is described to demarcate for driving first image unit and second image unit to move to the initial position specified The initial position of first image unit and second image unit;
First image unit is used for the view data for obtaining the first mark point on the workpiece;
Second image unit is used for the view data for obtaining the second mark point on the workpiece, first mark point and Second mark point is located at two angle steel joints on the workpiece to be processed respectively;
The control module is additionally operable to according to the initial position of first image unit and current location, the second shooting list Member initial position and current location, the view data of first mark point, the view data of second mark point and The view data of the workpiece, analyzing and processing obtains the position of first mark point and the second mark point on the workpiece.
4. laser welding apparatus as claimed in claim 1, it is characterised in that the laser welding apparatus also includes cooling system System, the cooling system is arranged in the welding equipment main body close to the side of the dynamic focusing vibration mirror welding system, with The laser mechanical connection of the dynamic focusing vibration mirror welding system is simultaneously electrically connected with the control system.
5. laser welding apparatus as claimed in claim 4, it is characterised in that the cooling system is outer circulation laser water cooling unit Group, including water tank, heat exchanger, filter, magnet pump, water temperature protector and traffic protection device;
The heat exchanger is arranged on the laser side of the dynamic focusing vibration mirror welding system, and its water inlet and delivery port are equal It is connected with the water tank, for taking away the heat that the laser is distributed;
The filter is arranged on the water inlet of the heat exchanger, is flowed into for filtering in the cooling water of the heat exchanger Debris;
The magnet pump is connected between the water tank and the heat exchanger by water circulation pipe, for extracting and discharging institute The water in water circulation pipe is stated, to realize water circulation;
The water temperature protector is arranged on the water inlet of the heat exchanger, for detecting the cold of the inflow heat exchanger But overtemperature warning is sent when the temperature of water is more than preset temperature;
The traffic protection device is arranged on the water inlet of the heat exchanger, for detecting the cold of the inflow heat exchanger But undercurrent alarm is sent when the flow of water is less than preset flow.
6. laser welding apparatus as claimed in claim 1, it is characterised in that the dynamic focusing vibration mirror welding system includes swashing Light device and galvanometer scanning system;
The laser includes light-conducting system, beam expanding lens, half-reflecting mirror, the laser resonance that setting is sequentially coaxially connected by optical fiber Cavity, completely reflecting mirror and laser-adjusting mechanism, the laser are used to launch predeterminated frequency and default arteries and veins with default scan frequency Wide laser pulse carries out laser scanning welding to the weld seam;
The galvanometer scanning system includes high-precision motor, motor driving plate, speculum, F- θ lens and direct current supply power supply, institute Stating galvanometer scanning system is used to weld the focusing laser pulses that the laser is launched in the weld seam, and in laser scanning The defocus error for the laser pulse launched in journey the laser enters Mobile state compensation, is gathered with the dynamic for realizing laser pulse It is burnt.
7. laser welding apparatus as claimed in claim 1, it is characterised in that the plumb joint regulation drive mechanism includes welding Head governor motion and plumb joint drive mechanism;
The plumb joint governor motion is mechanically connected with the plumb joint and is electrically connected with the control system, for described The position of plumb joint is carried out perpendicular to the vertical direction regulation of the welding bench plane and parallel to the water of the welding bench plane Square to regulation;
The plumb joint drive mechanism is mechanically connected with the plumb joint and is electrically connected with the control system, for according to institute The positional information for stating the weld seam on workpiece drives the plumb joint to move to the position just to the weld seam.
8. laser welding apparatus as claimed in claim 1, it is characterised in that the control system includes control main frame and display Unit;
The control main frame is electrically connected with the display unit, for carrying out Treatment Analysis to described image data, and to institute State dynamic focusing vibration mirror welding system, the vision detection system, the workpiece locating mechanism and plumb joint regulation driving The working condition of mechanism carries out Comprehensive Control;
The display unit is used to the Treatment Analysis result for showing the control main frame and inputted weld the dynamic focusing vibration mirror The working condition that welding system, the vision detection system, the workpiece locating mechanism or the plumb joint adjust drive mechanism is entered The control instruction of row Comprehensive Control.
9. a kind of method for laser welding, it is characterised in that method for laser welding is based on as described in any one of claim 1~8 Laser welding apparatus realizes that the method for laser welding includes:
Control workpiece locating mechanism adjustment is placed on the position of the workpiece on welding bench, the workpiece is fixed on vision-based detection system In the detection range of system;
Trigger the vision detection system to start, to obtain the view data of the workpiece in real time;
View data to the workpiece carries out the positional information that Treatment Analysis obtains the weld seam on the workpiece;
Control plumb joint regulation drive mechanism moves to the top of the weld seam according to the positional information driving plumb joint, And the position of the plumb joint is finely adjusted, make the plumb joint just to the weld seam;
Dynamic focusing vibration mirror welding system is controlled to launch predeterminated frequency and the laser pulse pair of default pulsewidth to preset scan frequency The weld seam carries out laser scanning welding, and the defocus error for the laser pulse launched in laser scanning welding process it is entered Mobile state is compensated, to realize the dynamic focusing of laser pulse.
10. method for laser welding as claimed in claim 9, it is characterised in that the method for laser welding also includes:
In laser beam welding, completion laser scanning weld part on the workpiece is obtained by the vision detection system in real time The amount of distortion of pad in the scanning patter divided;
The amount of distortion analyze and process and obtains the two dimensional surface letter that each in the scan image presets distortion range Number, so as to obtain the amount of distortion of each default distortion range;
The dynamic focusing vibration mirror welding system is controlled to the welding according to the amount of distortion of each default distortion range The welding position of head is corrected.
CN201611231634.3A 2016-12-27 2016-12-27 A kind of laser welding apparatus and method for laser welding CN107052571B (en)

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CN107598367A (en) * 2017-09-28 2018-01-19 惠州市洛玛科技有限公司 Welding equipment and its welding method
CN108941926A (en) * 2018-08-01 2018-12-07 东莞盛翔精密金属有限公司 Four-axle linked marking equipment based on automated imaging technology
CN108941894A (en) * 2018-07-20 2018-12-07 富通尼激光科技(东莞)有限公司 A kind of laser processing device and method
CN108971752A (en) * 2018-08-01 2018-12-11 东莞盛翔精密金属有限公司 Automatic identification and the welding equipment of welding position can be grabbed
CN109807478A (en) * 2017-11-20 2019-05-28 大族激光科技产业集团股份有限公司 Laser welding apparatus, laser welding control method and storage medium
CN110238521A (en) * 2019-06-26 2019-09-17 北京工业大学 A kind of collimator lattice structure laser accurate welder and method

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CN107598367A (en) * 2017-09-28 2018-01-19 惠州市洛玛科技有限公司 Welding equipment and its welding method
CN109807478A (en) * 2017-11-20 2019-05-28 大族激光科技产业集团股份有限公司 Laser welding apparatus, laser welding control method and storage medium
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CN108941926A (en) * 2018-08-01 2018-12-07 东莞盛翔精密金属有限公司 Four-axle linked marking equipment based on automated imaging technology
CN108971752A (en) * 2018-08-01 2018-12-11 东莞盛翔精密金属有限公司 Automatic identification and the welding equipment of welding position can be grabbed
CN110238521A (en) * 2019-06-26 2019-09-17 北京工业大学 A kind of collimator lattice structure laser accurate welder and method

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