CN107570868A - A kind of laser welding positional error compensation method and laser welding apparatus - Google Patents
A kind of laser welding positional error compensation method and laser welding apparatus Download PDFInfo
- Publication number
- CN107570868A CN107570868A CN201710647678.2A CN201710647678A CN107570868A CN 107570868 A CN107570868 A CN 107570868A CN 201710647678 A CN201710647678 A CN 201710647678A CN 107570868 A CN107570868 A CN 107570868A
- Authority
- CN
- China
- Prior art keywords
- laser welding
- welding head
- laser
- plate groups
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of laser welding positional error compensation method and laser welding apparatus, the laser welding apparatus includes：Pedestal；Laser welding head；Crossbeam sliding block, it is slidably arranged on pedestal and is used to load laser welding head；W axis mechanisms, it is arranged on the position that laser welding head bottom is used to adjust laser welding head；Roller clamp system, connect laser welding head and circular wave plate groups are clamped by roller；Laser range finder, it is arranged on the position skew that laser welding head back is used to monitor laser welding head；And plate rotating mechanism, for clamping circular wave plate groups and drive circular wave plate groups to rotate.The present invention is by setting clamp system that the deformation of plate groups is passed into laser welding head and the welding position error of real-Time Compensation plumb joint；Also the displacement of laser welding head is compensated by setting laser range finder to monitor the position skew of laser welding head in real time, so as to substantially increase the precision of welding.
Description
Technical field
The present invention relates to laser welding technology field, more particularly to a kind of laser welding positional error compensation method and laser
Welding equipment.
Background technology
Heat exchanger cylinder plate core by one group it is special, geometry identical circle stainless steel corrugated cardboard sheet is relative welds
Form, each circular stainless steel corrugated cardboard sheet there are two size identical circular holes, and every two circular stainless steel corrugated cardboard sheets lead to
Cross the periphery stitch welding to two circular holes and form circular stainless steel corrugated cardboard sheet group (circular wave plate groups), then again by circular ripple
The A faces of line plate groups are adjacent to the B faces of adjacent circular corrugated cardboard sheet group carries out periphery Combination Welding (i.e. to adjacent circular plate groups
Carry out peripheral group weldering), group postwelding forms heat exchanger plate core.
Because plate circular hole periphery heating surface area is narrow, thermal conductivity is low, heated rear heat diffusion is slower, to every two circles
The circular hole periphery of stainless steel corrugated cardboard sheet is easily caused circular hole periphery and welding deformation be present when being welded, and with circular wave
The increase of No. of plates, heat exchanger plate core length also accordingly increase, and cause heat exchanger plate core peripheral position not know, such as Fig. 1 institutes
Show, adjacent plate group A/B interplanar distances are everywhere equal under normal circumstances, and plate peripheral distortion causes plate groups A/B interplanar distances
Occur unequal.Therefore, carry out group needing the position to laser welding head during weldering on the periphery to adjacent circular corrugated cardboard sheet group
Put and carry out error compensation in real time；Further, since the periphery of circular stainless steel corrugated cardboard sheet group, which has local deformation, causes any phase
The A/B interplanar distances of adjacent circular stainless steel corrugated cardboard sheet group are not completely equivalent, when current adjacent circular stainless steel corrugated cardboard sheet group
Periphery welded after, during the position directly above on the periphery that laser welding head is moved to next adjacent circular corrugated cardboard sheet group,
It is also required to carry out positional error compensation to the displacement of laser welding head.But lack in the prior art to laser welding head
Welding position carries out the method and apparatus of the error compensation of precise and high efficiency, causes welding precision poor.
Therefore, prior art has yet to be improved and developed.
The content of the invention
In view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of laser welding positional error compensation side
Method and laser welding apparatus, lack the mistake that precise and high efficiency is carried out to the welding position of laser welding head in the prior art so as to overcome
The method and apparatus of difference compensation, the problem of causing welding precision poor.
Technical scheme is as follows：
On the one hand, the invention provides a kind of laser welding apparatus, for welding circular wave plate groups, wherein, it is described
Laser welding apparatus includes：Pedestal；Laser welding head；Crossbeam sliding block, it is slidably arranged on the pedestal described sharp for loading
Flush weld joint；W axis mechanisms, it is arranged on the position that the laser welding head bottom is used to adjust laser welding head；Roller clamping machine
Structure, connect the laser welding head and circular wave plate groups are clamped by roller；Laser range finder, it is arranged on the Laser Welding
Joint back is used for the position skew for monitoring laser welding head；And plate rotating mechanism, for clamping circular wave plate groups
And circular wave plate groups are driven to rotate.
Described laser welding apparatus, wherein, the laser welding apparatus also includes detent mechanism, and the detent mechanism is set
Put and be used for laser welding head described in locking positioning on the pedestal.
Described laser welding apparatus, wherein, the laser welding apparatus also includes hydraulic buffering mechanism, and the hydraulic pressure delays
Punch mechanism is arranged on crossbeam sliding block both sides and is used to prevent laser welding head from shaking.
Described laser welding apparatus, wherein, the laser welding apparatus also includes X-axis mechanism, Y-axis mechanism and Z axis machine
Structure, mobile laser welding apparatus is respectively used in X-axis, Y-axis and Z-direction.
Described laser welding apparatus, wherein, the roller clamp system includes：Roller, and be connected with the roller
For driving roller to clamp the clamping cylinder of circular wave plate groups；The plate rotating mechanism includes being used to clamping and drive justify
The servo rotary shaft of shape corrugated cardboard sheet group rotation；The detent mechanism includes：Alignment pin, and for driving the positioning lock
Positioning cylinder that is fixed or unlocking the laser welding head.
On the other hand, present invention also offers a kind of laser welding position mistake based on above-described laser welding apparatus
Poor compensation method, wherein, including：
Step A, the cylindric plate that multiple disk and thin plate groups are superimposed as is got one's things ready and be clipped on plate rotating mechanism, start to weld
Before first pass through roller and clamp gear grips adjacent circular plate groups, drive cylindric plate beam even by plate rotating mechanism during welding
Speed rotation, roller clamp system in real time passes to the torsion of deformation sharp with the deformation of disk and thin plate group in rotary course
Flush weld joint, and then real-Time Compensation and the welding track for changing laser welding head；
When step B, carrying out periphery Combination Welding to current adjacent circular plate groups, monitored in real time by laser range finder sharp
The position skew of flush weld joint, welding obtained when completing after current adjacent circular plate bond pads with the laser welding head before welding
The difference △ of offset distance；When to carry out periphery Combination Welding to next adjacent circular plate groups, laser welding apparatus is controlled
The distance that P+ △ are moved horizontally from current location is welded again, the distance of adjacent disk and thin plate group when wherein P is unwelded.
Described laser welding positional error compensation method, wherein, methods described also includes：
Step C, by setting hydraulic buffering mechanism in crossbeam sliding block both sides, prevent laser welding head from existing in welding process
The deformation of oblong plate groups and shake when changing welding track in real time.
Described laser welding positional error compensation method, wherein, the step B is specifically included：
When step B1, carrying out periphery Combination Welding to current adjacent circular plate groups, laser welding head is gathered respectively and is being drawn
Start position during arc and the offset distance in final position when receiving arc, obtain after current adjacent circular plate bond pads with welding
The difference △ of preceding laser welding head offset distance；
Step B2, when to carry out periphery Combination Welding to next adjacent circular plate groups, first pass through and be arranged on pedestal
Detent mechanism locking laser welding head, then control roller clamp system to rise and depart from current adjacent circular plate groups, Ran Houtong
Cross X-axis mechanism controls laser welding apparatus and P+ △ distance is moved horizontally from current location, then control roller clamp system to decline
Disk and thin plate group is clamped, detent mechanism unblock laser welding head is then unclamped, returns to repeat step B1 afterwards, until completing all
The welding of disk and thin plate group.
Described laser welding positional error compensation method, wherein, the step B1 is specifically included：
B11, to current adjacent circular plate groups carry out periphery Combination Welding when, according to predetermined process state modulator Laser Welding
Joint starts photocoagulation, and during start position in striking, a laser range finder is read every a system scan period
The offset distance measured, continuously acquire the beginning offset distance of pre-determined number and take average, obtain starting point mean deviation distance；
Before B12, welding are completed, a laser ranging is read every a system scan period when receiving the final position of arc
The offset distance that instrument measures, continuously acquire the terminal offset distance of pre-determined number and take average, obtain terminal mean deviation distance；
B13, by terminal mean deviation distance and starting point mean deviation distance carry out make it is poor, obtain current adjacent circular plate
After bond pads with the difference △ of the laser welding head offset distance before welding.
Described laser welding positional error compensation method, wherein, the pre-determined number is 3~5 times.
The beneficial effects of the invention are as follows：The invention provides a kind of laser welding positional error compensation method and laser welding
Equipment, the present invention by set can the roller that rotates freely of oblong plate groups clamp the adjacent of gear grips adjacent plate group
Face, and peripheral group conjunction welding is carried out by setting plate rotating mechanism to drive disk and thin plate group at the uniform velocity to rotate, in rotary course
The torsion of deformation can be passed to laser welding head by clamp system in real time with the deformation of plate groups, and then real-Time Compensation is welded
The welding position error of head；Also by setting laser range finder to monitor the position of laser welding head in real time at laser welding head back
Skew, and with the difference of the front and rear laser welding head offset distance of current adjacent circular plate welding, laser welding head is carried out
Displacement during next periphery Combination Welding compensates, accurate high so as to be carried out to the welding position of laser welding head
The error compensation of effect, substantially increase the precision of welding.
Brief description of the drawings
Fig. 1 is the periphery deformation schematic diagram of adjacent circular corrugated cardboard sheet group.
Fig. 2 is the structural representation of the laser welding apparatus of present pre-ferred embodiments.
Fig. 3 is the back structures schematic diagram of the laser welding apparatus of present pre-ferred embodiments.
Fig. 4 is the flow chart of laser welding positional error compensation method preferred embodiment of the present invention.
Fig. 5 is the flow chart of second Application Example of laser welding positional error compensation method of the present invention.
Embodiment
The present invention provides a kind of laser welding positional error compensation method and laser welding apparatus, to make the mesh of the present invention
, technical scheme and effect it is clearer, clear and definite, the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The laser welding apparatus of present pre-ferred embodiments, there is welding position error compensation function, for welding circle
Corrugated cardboard sheet group, as shown in Figure 2 and Figure 3, it includes：Pedestal 1, laser welding head 2, crossbeam sliding block 3, W axis mechanisms 4, roller clamp
Mechanism 5, laser range finder 6 and plate rotating mechanism (servo rotary mechanism) 7.Wherein, the laser range finder 6 includes anti-
Tabula rasa 69 is penetrated, laser welding head 2 connects Transmission Fibers 29.The crossbeam sliding block 3, which is slidably arranged on the pedestal 1, to be used to load
The laser welding head 2；The W axis mechanisms 4 are arranged on the position that the bottom of laser welding head 2 is used to adjust laser welding head 2
Put；The roller clamp system 5 connects the laser welding head 2 and clamps circular wave plate groups by roller；The laser
Rangefinder 6 is arranged on the position skew that the back of laser welding head 2 is used to monitor laser welding head 2；The plate whirler
Structure 7 is used for clamping circular wave plate groups and drives circular wave plate groups to rotate.
In the present embodiment, for two pieces of disk and thin plates circular hole stitch welding form plate groups during, cause circular stainless
There is the situation of local deformation in the periphery of steel corrugated cardboard sheet group, use the roller clamping machine that can be rotated freely with oblong plate groups
Structure 5 clamps two adjacent surfaces (A/B faces) of adjacent plate group, is driven by plate rotating mechanism 7 by some pieces of disk and thin plate group groups
Into cylindric plate beam, at the uniform velocity rotation carry out peripheral group close welding, the roller clamp system 5 rotated freely in rotary course with
The torsion of deformation is passed to laser welding head by the deformation for plate groups in real time, and then the Working position of real-Time Compensation plumb joint misses
Difference.
Further, in the present embodiment, the laser welding apparatus also include X-axis mechanism, Y-axis mechanism and Z-axis mechanism with
And upper-level control system (PLC control system), X-axis mechanism, Y-axis mechanism and Z-axis mechanism are respectively used in X-axis, Y-axis and Z axis side
Move up laser welding apparatus.It is understood that X-axis mechanism, Y can be passed through under the stability contorting of upper-level control system
Laser welding apparatus is being moved precisely to cylindric plate beam that clamping driven in servo rotary shaft just by axis mechanism and Z-axis mechanism
Top position.
Further, as shown in Fig. 2 in the present embodiment, the laser welding apparatus also includes coaxially blowing protective gas machine
Structure 19, the coaxial protective gas mechanism 19 of blowing is protected for blowing protective gas in laser beam welding.
Preferably, as shown in figure 3, in the present embodiment, the laser welding apparatus also includes detent mechanism 8, the positioning
Mechanism 8, which is arranged on the pedestal 1, is used for laser welding head 2 described in locking positioning.Specifically, the detent mechanism 8 includes：With
In the alignment pin 81 of locking plumb joint, and for driving the alignment pin 81 to lock or unlock determining for the laser welding head 2
Position cylinder 82.When moving laser welding apparatus by X-axis mechanism, Y-axis mechanism and Z-axis mechanism, first laser is locked with detent mechanism 8
Plumb joint 2 can prevent laser welding head 2 from rocking, and position during so as to ensure that plumb joint has welded is constant.
Preferably, as shown in figure 3, in the present embodiment, the laser welding apparatus also includes hydraulic buffering mechanism 9, described
Hydraulic buffering mechanism 9 is arranged on the both sides of crossbeam sliding block 3 and is used to prevent laser welding head 2 from shaking.Loading laser welding head
Sliding block crossbeam both sides increase hydraulic buffering mechanism, can ensure that laser welding head changes processing rail with the periphery deformation of plate groups
It will not be shaken during mark.Usual High Power Laser Welding speed is slower, and hydraulic bjuffer has enough toughness and soft
Property fully ensures that the stability in plumb joint continuous path compensation process, while the clamping machine that oblong plate groups rotate freely
Structure can effectively clamp plate, reduce the gap in adjacent plate group A/B faces, prevent solder skip and a certain degree of amendment welding deformation
Amount, improve welding precision and enhance the online site error dynamic compensation performance of ADAPTIVE ROBUST of laser welding head.
Specifically, as shown in Figure 2 and Figure 3, in the present embodiment, the roller clamp system 5 includes：Roller (copper coin roller)
51, and it is connected to the clamping cylinder 52 that drives roller 51 to clamp circular wave plate groups 100 with the roller 51；Roller clip
Tight mechanism 5 is provided with two, connects the laser welding head 2 by a link 59, and clamp phase from both sides by roller 51
The A/B faces of adjacent circular wave plate groups, roller can oblong corrugated cardboard sheet group rotation and rotate freely.The plate whirler
Structure 7 includes：Fixed mount, it is arranged on the servo rotation for being used for clamping on the fixed mount and driving the rotation of circular wave plate groups 100
Rotating shaft 71, and it is arranged on the oil hydraulic cylinder 72 of described one end of servo rotary shaft 71；The servo rotary shaft 71 can drive circle
Corrugated cardboard sheet group 100 at the uniform velocity rotates, to realize the periphery Combination Welding of circular stainless steel corrugated cardboard sheet group 100.
In the present embodiment, local deformation be present for the periphery of circular stainless steel corrugated cardboard sheet group, cause any circle not
The situation that the A/B interplanar distances of rust steel corrugated cardboard sheet group are not completely equivalent, by increasing laser ranging at the back side of laser welding head
Instrument monitors the position skew of laser welding head in real time, and with the front and rear laser welding head offset distance of current adjacent circular plate welding
From difference, to laser welding head carry out next periphery Combination Welding when displacement compensate, so as to laser
The welding position of plumb joint carries out the error compensation of precise and high efficiency, substantially increases the precision of welding.
Based on above-described laser welding apparatus, the embodiment of the present invention additionally provides a kind of laser welding site error and mended
Compensation method, as shown in figure 4, including step：
S100, the cylindric plate that multiple disk and thin plate groups (disk and thin plate to) are superimposed as, which is got one's things ready, is clipped in plate rotating mechanism
On, start to first pass through roller before welding and clamp gear grips adjacent circular plate groups, driven by plate rotating mechanism during welding
Cylindric plate beam at the uniform velocity rotates, and roller clamp system is with the deformation of disk and thin plate group and in real time deformation in rotary course
Torsion passes to laser welding head, and then real-Time Compensation and the welding track for changing laser welding head.When it is implemented, for example,
First the cylindric plate that multiple disk and thin plate groups are superimposed as is got one's things ready and is clipped on plate rotating mechanism, when will be to the first adjacent circular plate
During the carry out laser welding of piece group, laser welding head is locked first with detent mechanism, then by X-axis, Y-axis, Z axis by laser welding
Equipment is moved to adjacent circular corrugated cardboard sheet group position directly above to be welded, then controls roller clamp system to decline, from both sides
Two adjacent surfaces of the first adjacent circular plate groups to be welded are clamped, then laser welding head is adjusted to suitable by W axis mechanisms
Welding position, detent mechanism unblock laser welding head is then controlled, under the driving of plate rotating mechanism, by free with plate
The clamp system of rotation welding track of real-Time Compensation laser welding head with the rotation of disk and thin plate group.
S200, to current adjacent circular plate groups carry out periphery Combination Welding when, monitored in real time by laser range finder sharp
The position skew of flush weld joint, welding obtained when completing after current adjacent circular plate bond pads with the laser welding head before welding
The difference △ of offset distance；When to carry out periphery Combination Welding to next adjacent circular plate groups, laser welding apparatus is controlled
The distance that P+ △ are moved horizontally from current location is welded again, the distance of adjacent disk and thin plate group when wherein P is unwelded, i.e.,
Adjacent plate group offset.
Further, in the present embodiment, methods described also includes step：
S300, by crossbeam sliding block both sides set hydraulic buffering mechanism, prevent laser welding head from existing in welding process
The deformation of oblong plate groups and shake when changing welding track in real time, Laser Welding can be ensured by hydraulic buffering mechanism
Reliability and stability in joint machining locus compensation process.
Further, in the present embodiment, the step S200 specifically includes step：
S210, to current adjacent circular plate groups carry out periphery Combination Welding when, respectively gather laser welding head in striking
When start position and final position when receiving arc offset distance, obtain after current adjacent circular plate bond pads with before welding
Laser welding head offset distance difference △；In order to obtain the accuracy of laser welding head offset distance and improve upper control
The process performance of system, start position during preferred acquisition laser welding head striking and final position when receiving arc, without adopting
Collect the deviation distance of whole disk and thin plate bond pads track.
S220, when will to next adjacent circular plate groups carry out periphery Combination Welding when, first pass through and be arranged on pedestal
Detent mechanism locks laser welding head, then controls roller clamp system to rise and depart from current adjacent circular plate groups, then passes through X
Axis mechanism control laser welding apparatus moves horizontally P+ △ distance from current location, then controls roller clamp system to decline and clamp
Disk and thin plate group, detent mechanism unblock laser welding head is then unclamped, returns to repeat step S210 afterwards, until completing all circles
The welding of shape plate groups.
Preferably, in the present embodiment, the step S210 specifically includes step：
S211, to current adjacent circular plate groups carry out periphery Combination Welding when, according to predetermined process state modulator laser
Plumb joint starts photocoagulation, during start position in striking, is read every a system scan period (PLC scan periods)
The offset distance that laser range finder measures, continuously acquire the beginning offset distance of pre-determined number and take average, obtain starting point
Mean deviation distance；Wherein, the pre-determined number can be 3~5 times, according to speed of welding and PLC scan period comprehensive assessments
Draw it is continuous to take the effect of 5 times be optimal, therefore preferably 5 times, in order to obtain good welding effect, rotation axis during welding
For speed typically between 2~3m/min, PLC program (PLC control system) scan period is 13ms, therefore can ensure collection 5 times
Offset distance substantially in same point.When it is implemented, in the PLC program of numerically controlled control system, by laser welding head
Starting point in striking gathers the current numerical value of laser range finder every a PLC scan period, gathers 5 skews altogether
Distance preserves, and takes average, obtains starting point mean deviation distance；Simultaneously in welding process, plate rotating mechanism drives cylinder
Shape plate Shu Xuanzhuan, laser welding head carry out welding track compensation with the micro-strain on disk and thin plate group periphery.
Before S212, welding are completed, a Laser Measuring is read every a system scan period when receiving the final position of arc
The offset distance that distance meter measures, continuously acquire the terminal offset distance of pre-determined number and take average, obtain terminal mean deviation away from
From；When it is implemented, the final position when receiving arc gathers the current number of a laser range finder every a PLC scan period
Value, 5 offset distances are gathered altogether, average is taken, obtains terminal mean deviation distance.
S213, by terminal mean deviation distance and starting point mean deviation distance carry out make it is poor, obtain current adjacent circular plate
After piece bond pads with the difference △ of the laser welding head offset distance before welding.The difference △ of gained is current adjacent circular plate
The deformation quantity (deformation quantity before and after disk and thin plate bond pads) of the relative welding start position in bond pads final position, and during receipts arc
Final position and horizontal relative displacement of the start position in disk and thin plate group during striking, it that is to say adjacent plate group A/
B faces horizontal range offset.Wherein, for the difference △ preferably between 0~20mm, welding effect is good.
Laser welding positional error compensation method of the present invention, laser welding head can be accurately obtained and be soldered current circular slab
The periphery of piece group, the displacement being moved to directly over the periphery of next disk and thin plate group, so as to improve laser welding head
Positional precision and the more preferable dynamic following of A/B faces acquisition that adjacent two plate groups of gear grips are clamped for roller.Pass through in addition
After the periphery Combination Welding of disk and thin plate group, deformation is repaired.Connected more with the increase of heat exchanger plate core length
Disk and thin plate group, the superiority of the inventive method is more prominent, has the characteristics that stability is good and practical, in welding process
In possess good positional error compensation effect.
Further, present invention also offers a kind of first Application Example of laser welding positional error compensation method,
The laser welding positional error compensation method of first Application Example includes step：
S10：The disk and thin plate assembling formed after some pieces of stitch welding is clipped in servo rotary shaft as requested, in upper control
Laser welding apparatus is moved precisely to the cylindric plate that clamping drives in servo rotary shaft under the stability contorting of system processed
First adjacent circular plate groups position directly above of beam.
S20：The A/B faces of two adjacent plate groups of gear grips are clamped by the roller rotated freely with plate, it is to be clamped to arrive
Behind position, plumb joint is adjusted to by W axles servomotor by suitable welding position.
S30：The locking positioning pin for preventing from laser welding apparatus from when XYZ direction of principal axis moves causing before rocking is unclamped,
Under the driving of servo rotary shaft, by being mended in real time with the rotation of disk and thin plate group with the clamp system that plate rotates freely
Repay the welding track of laser welding head, and by hydraulic buffering mechanism ensure in laser welding head machining locus compensation process can
By property and stability.
S40：Start photocoagulation according to predetermined process parameter plumb joint, the upper-level control system in the start position of striking
Every the offset distance that laser range finder of a system scan period reading measures, continuously acquire 5 times and preserved；Watch
Take rotating mechanism and drive cylindric plate Shu Xuanzhuan, laser welding head carries out welding rail with the micro-strain on disk and thin plate group periphery
Mark compensates.
S50：Before treating that fast welding is completed, when receiving the final position of arc, upper-level control system every a system again to sweep
Retouch the cycle and read the offset distance that a laser range finder measures, continuously acquire 5 times and preserved；Now upper-level control system
The position skew of latter 5 times and the position offset of first 5 times are all carried out to take average work poor；The difference of gained is current circular slab
The deformation quantity △ of the relative welding start position in piece bond pads final position, i.e. adjacent plate group A/B faces horizontal range offset.
S60：Position during in order to ensure that plumb joint has welded is constant, and now alignment pin locks plumb joint again, with plate
Rotation clamp system release, it is to be released in place after, laser welding apparatus is moved horizontally to by X-axis mechanism by relatively current plate
At the displacement P035+ △ of piece group, the distance of adjacent disk and thin plate group when wherein P035 is unwelded.
S70：Now plumb joint has been moved precisely to the position directly above for the disk and thin plate group that will be welded,
Above-mentioned S20~S60 is repeated again；Often weld a pair, counted once, waited that the disk and thin plate group number P012 welded is equal to setting
Welding logarithm P121 when, show that current cylindric plate beam has welded completion, stop light extraction, board returns to ready state.
Preferably, more than on the basis of the first Application Example, present invention also offers a kind of laser welding position mistake
Second Application Example of poor compensation method, as shown in figure 5, wherein, compared to the first Application Example, in the second Application Example
Add pair roller clamp system roller whether clamp in place and whether on mention position and alignment pin whether lock in place and
Whether unclamp judgement in place and perform step, further to improve the automatization level of welding position compensation, it is ensured that welding
Precision.
To sum up, the invention provides a kind of laser welding positional error compensation method and laser welding apparatus, the present invention are logical
Cross set can the roller that rotates freely of oblong plate groups clamp the adjacent surface of gear grips adjacent plate group, and pass through arranging plate
Piece rotating mechanism drives disk and thin plate group at the uniform velocity to rotate and carries out peripheral group and close welding, and clamp system can be with rotary course
The torsion of deformation is passed to laser welding head by the deformation of plate groups in real time, and then the welding position of real-Time Compensation plumb joint is missed
Difference；Also offset by setting laser range finder to monitor the position of laser welding head in real time at laser welding head back, and with current
The difference of the front and rear laser welding head offset distance of adjacent circular plate welding, next periphery combination weldering is carried out to laser welding head
Displacement when connecing compensates, so as to carry out the error compensation of precise and high efficiency to the welding position of laser welding head,
Substantially increase the precision of welding.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (10)
- A kind of 1. laser welding apparatus, for welding circular wave plate groups, it is characterised in that the laser welding apparatus bag Include：Pedestal；Laser welding head；Crossbeam sliding block, it is slidably arranged on the pedestal and is used to load the laser welding head；W axis mechanisms, it is arranged on the position that the laser welding head bottom is used to adjust laser welding head；Roller clamp system, connect the laser welding head and circular wave plate groups are clamped by roller；Laser range finder, it is arranged on the position skew that the laser welding head back is used to monitor laser welding head；AndPlate rotating mechanism, for clamping circular wave plate groups and circular wave plate groups are driven to rotate.
- 2. laser welding apparatus according to claim 1, it is characterised in that the laser welding apparatus also includes localization machine Structure, the detent mechanism, which is arranged on the pedestal, is used for laser welding head described in locking positioning.
- 3. laser welding apparatus according to claim 1, it is characterised in that the laser welding apparatus also delays including hydraulic pressure Punch mechanism, the hydraulic buffering mechanism are arranged on crossbeam sliding block both sides and are used to prevent laser welding head from shaking.
- 4. laser welding apparatus according to claim 1, it is characterised in that the laser welding apparatus also includes X-axis machine Structure, Y-axis mechanism and Z-axis mechanism, mobile laser welding apparatus is respectively used in X-axis, Y-axis and Z-direction.
- 5. laser welding apparatus according to claim 2, it is characterised in that the roller clamp system includes：Roller, with And it is connected to drive the clamping cylinder of roller clamping circular wave plate groups with the roller；The plate rotating mechanism includes For clamping and the servo rotary shaft for driving circular wave plate groups to rotate；The detent mechanism includes：Alignment pin, and be used for The alignment pin is driven to lock or unlock the positioning cylinder of the laser welding head.
- 6. a kind of laser welding positional error compensation method of laser welding apparatus based on described in claim 1, its feature exist In, including：Step A, the cylindric plate that multiple disk and thin plate groups are superimposed as is got one's things ready and be clipped on plate rotating mechanism, start to weld preceding elder generation Gear grips adjacent circular plate groups are clamped by roller, drive cylindric plate beam at the uniform velocity to revolve by plate rotating mechanism during welding Turn, the torsion of deformation is passed to Laser Welding by roller clamp system in real time with the deformation of disk and thin plate group in rotary course Joint, and then real-Time Compensation and the welding track for changing laser welding head；When step B, carrying out periphery Combination Welding to current adjacent circular plate groups, Laser Welding is monitored by laser range finder in real time The position skew of joint, welding are offset after current adjacent circular plate bond pads are obtained when completing with the laser welding head before welding The difference △ of distance；When will pair with next adjacent circular plate groups carry out periphery Combination Welding when, control laser welding apparatus from The distance that current location moves horizontally P+ △ is welded again, the distance of adjacent disk and thin plate group when wherein P is unwelded.
- 7. laser welding positional error compensation method according to claim 6, it is characterised in that methods described also includes：Step C, by setting hydraulic buffering mechanism in crossbeam sliding block both sides, prevent laser welding head with circle in welding process The deformation of shape plate groups and shake when changing welding track in real time.
- 8. laser welding positional error compensation method according to claim 7, it is characterised in that the step B is specifically wrapped Include：When step B1, carrying out periphery Combination Welding to current adjacent circular plate groups, laser welding head is gathered respectively in striking Start position and final position when receiving arc offset distance, obtain after current adjacent circular plate bond pads with before welding The difference △ of laser welding head offset distance；Step B2, when to carry out periphery Combination Welding to next adjacent circular plate groups, first pass through to be arranged on pedestal and determine Position mechanism locking laser welding head, then control roller clamp system to rise and depart from current adjacent circular plate groups, then pass through X-axis Mechanism controls laser welding apparatus moves horizontally P+ △ distance from current location, then controls roller clamp system to decline and clamp circle Shape plate groups, detent mechanism unblock laser welding head is then unclamped, returns to repeat step B1 afterwards, until completing all circular slabs The welding of piece group.
- 9. laser welding positional error compensation method according to claim 8, it is characterised in that the step B1 is specifically wrapped Include：B11, to current adjacent circular plate groups carry out periphery Combination Welding when, according to predetermined process state modulator laser welding head Start photocoagulation, during start position in striking, read a laser range finder every a system scan period and measure Offset distance, continuously acquire pre-determined number beginning offset distance and take average, obtain starting point mean deviation distance；Before B12, welding are completed, a laser range finder survey is read every a system scan period when receiving the final position of arc The offset distance taken, continuously acquire the terminal offset distance of pre-determined number and take average, obtain terminal mean deviation distance；B13, terminal mean deviation distance and starting point mean deviation distance make poor, obtain current adjacent circular plate groups and weld Meet the difference △ afterwards with the laser welding head offset distance before welding.
- 10. laser welding positional error compensation method according to claim 9, it is characterised in that the pre-determined number is 3 ~5 times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647678.2A CN107570868B (en) | 2017-08-01 | 2017-08-01 | Laser welding position error compensation method and laser welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647678.2A CN107570868B (en) | 2017-08-01 | 2017-08-01 | Laser welding position error compensation method and laser welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107570868A true CN107570868A (en) | 2018-01-12 |
| CN107570868B CN107570868B (en) | 2020-01-10 |
Family
ID=61035905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710647678.2A Active CN107570868B (en) | 2017-08-01 | 2017-08-01 | Laser welding position error compensation method and laser welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107570868B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971757A (en) * | 2018-08-28 | 2018-12-11 | 华中科技大学 | Thick-walled structure part ultra-narrow gap on-line checking and welding deviation synchronous compensator plant |
| CN111451634A (en) * | 2020-04-30 | 2020-07-28 | 中车青岛四方机车车辆股份有限公司 | Laser welding equipment calibration method |
| CN114473205A (en) * | 2022-04-18 | 2022-05-13 | 江苏洛柳精密科技有限公司 | Error compensation type laser welding equipment with crack detection |
| CN114669806A (en) * | 2022-04-29 | 2022-06-28 | 郑州日产汽车有限公司 | Vehicle VIN beats machine of carving |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100052605A (en) * | 2008-11-11 | 2010-05-20 | 현대중공업 주식회사 | Automatic welding device for corrugated type angle piece |
| CN202715940U (en) * | 2012-07-24 | 2013-02-06 | 李贡 | Welding device for main string pipe of pile leg of self-lifting device in oceanographic engineering |
| CN103273171A (en) * | 2013-05-24 | 2013-09-04 | 华南理工大学 | Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding |
| CN103639641A (en) * | 2013-11-28 | 2014-03-19 | 黄华东 | Automatic outer circle welding device of heat exchanger plate sheet |
| CN206351306U (en) * | 2016-12-16 | 2017-07-25 | 中山市金智激光设备有限公司 | A kind of accurate operating desk structure of stabilization |
-
2017
- 2017-08-01 CN CN201710647678.2A patent/CN107570868B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100052605A (en) * | 2008-11-11 | 2010-05-20 | 현대중공업 주식회사 | Automatic welding device for corrugated type angle piece |
| CN202715940U (en) * | 2012-07-24 | 2013-02-06 | 李贡 | Welding device for main string pipe of pile leg of self-lifting device in oceanographic engineering |
| CN103273171A (en) * | 2013-05-24 | 2013-09-04 | 华南理工大学 | Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding |
| CN103639641A (en) * | 2013-11-28 | 2014-03-19 | 黄华东 | Automatic outer circle welding device of heat exchanger plate sheet |
| CN206351306U (en) * | 2016-12-16 | 2017-07-25 | 中山市金智激光设备有限公司 | A kind of accurate operating desk structure of stabilization |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971757A (en) * | 2018-08-28 | 2018-12-11 | 华中科技大学 | Thick-walled structure part ultra-narrow gap on-line checking and welding deviation synchronous compensator plant |
| CN108971757B (en) * | 2018-08-28 | 2019-07-19 | 华中科技大学 | Thick-walled structure part ultra-narrow gap on-line checking and welding deviation synchronous compensator plant |
| CN111451634A (en) * | 2020-04-30 | 2020-07-28 | 中车青岛四方机车车辆股份有限公司 | Laser welding equipment calibration method |
| CN114473205A (en) * | 2022-04-18 | 2022-05-13 | 江苏洛柳精密科技有限公司 | Error compensation type laser welding equipment with crack detection |
| CN114669806A (en) * | 2022-04-29 | 2022-06-28 | 郑州日产汽车有限公司 | Vehicle VIN beats machine of carving |
| CN114669806B (en) * | 2022-04-29 | 2023-06-02 | 郑州日产汽车有限公司 | Vehicle VIN (vehicle VIN) engraving machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107570868B (en) | 2020-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107570868A (en) | A kind of laser welding positional error compensation method and laser welding apparatus | |
| US10619762B2 (en) | Apparatus and method for detecting piping alignment using image information and laser sensor | |
| CN110026676A (en) | Laser process equipment and method | |
| CN110238521B (en) | Laser precision welding device and method for collimator grid structure | |
| CN104655068A (en) | Two-point determination method for clamping poses of intersected dual-tube based on nonlinear equation set | |
| CN112404883B (en) | Real-time accurate liquid micro-forging additive remanufacturing method and device | |
| US20230158572A1 (en) | A non-destructive testing method for lof defects, and a testing standard part and a manufacturing method thereof | |
| CN101376194A (en) | Laser welding on-line measurement compensation arrangement | |
| CN112663042A (en) | Trajectory planning method for laser material increase repair | |
| CN102501144A (en) | Positioning device and positioning method of thermal infrared imager for testing drilling and milling temperature of PCBs (printed circuit boards) | |
| CN106181026A (en) | Focal position in a kind of Laser Processing determines equipment, method and device | |
| DE102015115803A1 (en) | Method for guiding a machining head along a track to be processed | |
| CN201253733Y (en) | Laser welding on-line measurement compensation arrangement | |
| JP2015518213A (en) | Method for positioning a tool of a machine tool within the field of view of a vision system and associated machine tool | |
| CN108971757A (en) | Thick-walled structure part ultra-narrow gap on-line checking and welding deviation synchronous compensator plant | |
| CN207057838U (en) | A kind of laser-beam welding machine | |
| CN107984132A (en) | A kind of robot welding system | |
| CN206905710U (en) | Thread pitch error measurement and compensation device and system | |
| CN109465591A (en) | A kind of tower crane turntable cylinder inner reinforced plate spot-welding equipment and working method | |
| CN113523508A (en) | Device and method for simulating welding process of circumferential weld narrow gap MAG and acquiring molten pool information | |
| CN111069599B (en) | Laser beam energy online monitoring device and monitoring method for 3D printing equipment | |
| CN109719413B (en) | Zero-deformation defect-free welding control method | |
| CN203337109U (en) | Device for measuring strains of power plant high-temperature pipelines based on white-light speckle technology | |
| CN116358624B (en) | Energy consumption detection method and system for laser melting and brazing process | |
| Chen et al. | Laser vision sensing based on adaptive welding for aluminum alloy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |