CN107900562A - A kind of ring laser sensor for weld joint tracking - Google Patents

A kind of ring laser sensor for weld joint tracking Download PDF

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Publication number
CN107900562A
CN107900562A CN201711030017.1A CN201711030017A CN107900562A CN 107900562 A CN107900562 A CN 107900562A CN 201711030017 A CN201711030017 A CN 201711030017A CN 107900562 A CN107900562 A CN 107900562A
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CN
China
Prior art keywords
laser
reflective mirror
babinet
weld
sensor
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CN201711030017.1A
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Chinese (zh)
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CN107900562B (en
Inventor
李毅
邓耀文
洪波
周煜
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湘潭大学
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Priority to CN201711030017.1A priority Critical patent/CN107900562B/en
Publication of CN107900562A publication Critical patent/CN107900562A/en
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Publication of CN107900562B publication Critical patent/CN107900562B/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
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • 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
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • 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
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1274Using non-contact, optical means, e.g. laser means

Abstract

The invention discloses a kind of ring laser sensor for weld joint tracking, applied to Automation of Welding, weld joint tracking field.The invention is characterized in that:It is made of laser distance sensor, reflective mirror, driving motor, stent, cylinder reflective mirror, concentric shaft sleeve, babinet, cover board.It is characterized in that the transmitting terminal of laser distance sensor launches dot laser, after reflective mirror and cylinder mirror reflection, pass through the exit direction for driving motor to drive reflective mirror rotation to change laser, it is projected to after cylinder mirror reflection on weld seam and forms loop laser, weld groove is scanned, the weld groove information that loop laser scans is stored by the area array CCD of laser distance sensor receiving terminal, groove is obtained apart from measured value through external data processor resume module, weld joint tracking is carried out using this groove information, the present invention solves the problems, such as that Conventional visual sensor groove distance can not determine, realize the three-dimensional tracking of weld seam.

Description

A kind of ring laser sensor for weld joint tracking

Technical field

The present invention relates to welding technology field, specifically, a kind of ring laser sensor for weld joint tracking.

Background technology

At present, in welding autocontrol technical field, the automation of weld seam has become the Developing mainstream of welding technique, together When weld seam intellectually and automatically be all a difficult point all the time, influencing automatic welding postwelding quality has several factors, The internal factor of the welding such as thickness, surface treatment, welding material not only including welding, while further include welding method, welding The important informations such as speed, location of workpiece detection.The especially three-dimensional position detection of welded piece characteristic point, is Automation of Welding skill Eager problem to be solved in art, with the development of welding technique, visual sensing is also developed accordingly at present, but is gone back It is accurate to can not achieve positioning, efficient and willing sensor, therefore the target that reach Automation of Welding is difficult to realize

In order to reach Automation of Welding, realize the automatic location information for obtaining weld seam in real time, have been developed for many biographies Sense technology, such as visual sensor because its is non-contact, interference resistance is strong etc. is subject to everybody extensive concern, active vision sensing technology Method by the use of structure light the latter's optical scanner produces the laser trace of definite shape as the detection means of weld seam.At present in base In the automatic welding technique and method of laser sensor, laser vision system and laser vision algorithm are used mostly, with image The method of processing identifies weld seam from laser vision image;" loop laser vision is based on such as patent " 200510030453.X " The automatic weld seam position of sensing " is the three-dimensional coordinate that spot welds are calculated with algorithm through image procossing, such as patent No. " a kind of the angle welding automatic welding control method and device based on laser distance sensor " of " 201611078254.0 " utilizes Automation welding control system device carries out data sampling to laser distance sensor output signal;Sampled data is calculated using the decoupling of three harmonic waves Method detects angle welding lateral deviation, angle welding longitudinal bias is detected using shape filtering threshold method, using biharmonic decoupling algorithm Identify angle welding bevel angle;Cross balladeur train adjustment welding torch position is driven according to weld seam deviation, according to bevel angle adjust automatically The running parameter of digital welding power source.

Present document relates to a kind of ring laser sensor for weld joint tracking, carried out by loop laser to weld groove It is scanned, the area array CCD of laser distance sensor receiving terminal stores the weld groove information that loop laser scans, i.e., For the two-dimensional signal of weld groove, while groove is exported apart from measured value after external data processor resume module, according to institute The groove obtained adjusts the distance of welding gun and weld groove apart from measured value, so as to fulfill weld joint tracking.

The content of the invention

The present invention is insufficient existing for existing method or technology in order to overcome, and promotes the development of Automation of Welding, there is provided a kind of For the ring laser sensor of weld joint tracking, solve what Conventional visual sensor weld groove range information can not determine Problem, so as to fulfill weld joint tracking.

The present invention solves technical solution used by above-mentioned technical problem:It is by cover board, laser distance sensor, reflective Mirror, driving motor, stent, cylinder reflective mirror, concentric shaft sleeve, babinet, cover board composition.

Wherein, the babinet is divided into babinet epicoele, babinet lower-left chamber, babinet bottom right chamber, laser distance sensor installation In babinet epicoele, compressed by cover board, cover board is connected by screw with babinet, and cable aperture, concentric shaft sleeve are provided with the middle part of cover board It is installed on babinet lower-left chamber.Driving motor is fixed by the bracket is installed on drive motor shaft in concentric shaft sleeve center, reflective mirror On, by driving motor to drive reflective mirror to rotate, the angle of reflective mirror and drive motor shaft is adjustable, and reflective mirror centre-to-centre spacing drives Motor distance is cylinder reflective mirror radius R.

Wherein, the cylinder reflective mirror, laser distance sensor Laser emission end, reflective mirror, driving motor are protected all the time Hold with one heart, by adjusting the angle [alpha] of reflective mirror and motor shaft, to change laser projection to the incident angle β of cylinder reflective mirror, so that Change the radius R1 of loop laser,

(α and θ is mutually remaining).Through n times Projected after reflection from cylinder reflective mirror, the value following expression that weld seam is scanned wherein N is put in projection:

Wherein M:

R is the radius of cylinder reflective mirror, and L is the bottom distance of the centre-to-centre spacing cylinder reflective mirror of reflective mirror.WhenWhen, laser is not contacted just with motor after speculum reflects and projected after reflection.When When, laser can just enter cylinder mirror reflection after speculum reflects and project.

Operation principle is as follows in the present embodiment:The transmitting terminal of laser distance sensor launches dot laser, is projected to reflective Mirror center, driving motor drive reflective mirror rotation to change the exit direction of laser, and laser is through mirror reflection to cylinder reflective mirror In reflected, then projected after cylinder mirror reflection, be projected on weld seam and form loop laser, the laser being reflected back passes through The area array CCD of laser distance sensor receiving terminal circular laser trace is detected, and optical signal is changed into telecommunications by CCD Number, when timing sequencer applies specific pulse to it, the electric signal of each pixel removes CCD and discharges into voltage amplitude successively The analog signal that degree does not wait, is changed through A/D, after the processing such as image filtering, image segmentation, then carries out the identification to groove, is The two-dimensional signal of weld groove, while groove is exported apart from measured value after the processing of external digital processing module, so as to fulfill weldering Seam positioning and weld joint tracking.

Brief description of the drawings

Fig. 1 is a kind of structure diagram of ring laser sensor for weld joint tracking.

Fig. 2 produces schematic diagram for loop laser.

Fig. 4 is motor supporting structure schematic diagram

Fig. 3 is embodiment schematic diagram.

In figure:

1st, cover board, 2 laser distance sensors, 3, laser distance sensor transmitting terminal, 4, reflective mirror, 5, cylinder reflective mirror, 6th, concentric shaft sleeve, 7, driving motor, 8, stent, 9, laser distance sensor receiving terminal, 10, babinet epicoele, 11, babinet, 12, Cavity lower-left chamber, 13, babinet bottom right chamber.

Specific embodiment:

The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.

Laser distance sensor range measurement principle is introduced first:

It mainly projects light using laser diode, and perpendicular projection is to measured surface after concentrated lens focus On, object is mobile or surface change causes incident luminous point to be moved along incident light axis, and receiving lens, which receive, to be come to incident luminous point Scattering light simultaneously be projected on the high ccd detector of resolution ratio, on ccd detector formed an image, by picture point away from The distance of receiving lens optical axis can calculate the distance of sensor and testee surface with related angle.

A kind of ring laser sensor for weld joint tracking in the present embodiment, as described in Figure 1, it mainly includes 1, lid Plate, 2 laser distance sensors, 3, laser distance sensor transmitting terminal, 4, reflective mirror, 5, cylinder reflective mirror, 6, concentric shaft sleeve, 7th, motor is driven, 8, stent, 9, laser distance sensor receiving terminal, 10, babinet epicoele, 11, babinet, 12, cavity lower-left chamber, 13rd, babinet bottom right chamber.Its middle case 11 is divided for babinet epicoele 10, babinet lower-left chamber 12 and babinet bottom right chamber 13, and babinet epicoele is opened There is anti-concave hole, laser distance sensor 2 is installed on babinet epicoele 10, is compressed by cover board 1, and cover board 1 passes through spiral shell with babinet 11 Nail is coupled, and the middle part of cover board 1 is provided with cable aperture, and driving motor 7 is fixed on the concentric center of shaft sleeve 6, cylinder reflective mirror by stent 8 5 are placed in concentric shaft sleeve 6, and reflective mirror 4 is installed in drive motor shaft, and concentric shaft sleeve 6 is installed in babinet lower-left chamber 12.

Now the operation principle of the embodiment of the present invention is described below:

A kind of ring laser sensor for weld joint tracking, its architectural feature are:It mainly include cover board, laser away from From sensor, reflective mirror, driving motor, stent, concentric shaft sleeve, cylinder reflective mirror, babinet.Its feature laser distance sensor Transmitting terminal launches dot laser, and the center for being projected to reflective mirror is reflected, by driving motor to drive reflective mirror rotation to change The exit direction of laser, then be projected to weld seam after cylinder mirror reflection and form loop laser, loop laser carries out weld seam Scanning, the laser being reflected back by the area array CCD of laser distance sensor receiving terminal detect circular laser trace, passed through Optical signal is changed into electric signal by CCD, and when timing sequencer applies specific pulse to it, the electric signal of each pixel is successively Remove CCD and discharge the analog signal not waited into voltage amplitude, change through A/D, after image filtering, image segmentation etc. is handled, then The identification to weld groove is carried out, is weld groove position, weld seam slope is exported after the processing of external digital processing module Mouth is apart from measured value, so as to fulfill weld and HAZ and weld joint tracking.

Disclosed above is only the specific embodiment of the present invention, but the present invention is not limited to this, the skill in any field The change that art personnel can think should all include protection scope of the present invention.

Claims (4)

1. a kind of ring laser sensor for weld joint tracking, its architectural feature is:It mainly includes laser distance and senses Device, reflective mirror, driving motor, stent, cylinder reflective mirror, concentric shaft sleeve, babinet, cover board;The wherein described laser distance passes Sensor is made of transmitting terminal and receiving terminal, and laser distance sensor transmitting terminal launches dot laser, is projected to the center of reflective mirror Reflected, by driving motor to drive reflective mirror rotation to change the exit direction of laser, then thrown after cylinder mirror reflection It is incident upon weld seam and forms loop laser, weld groove is scanned, by the area array CCD of laser distance sensor receiving terminal to ring The weld groove information of shape laser scanning is stored, while exports groove apart from quilt after external data processor resume module Measured value, tracks so as to fulfill weld seam is three-dimensional.
A kind of 2. ring laser sensor for weld joint tracking according to claim 1, it is characterised in that:The case Body is provided with babinet epicoele, babinet lower-left chamber and babinet bottom right chamber, laser distance sensor and is installed on babinet epicoele, passes through cover board pressure Tightly, for cover board with babinet epicoele by screw attachment, concentric shaft sleeve is installed on babinet lower-left chamber.
A kind of 3. ring laser sensor for weld joint tracking according to claim 1, it is characterised in that:The circle Cylinder reflective mirror is placed in concentric shaft sleeve, and driving motor is fixed by the bracket is installed on drive in concentric shaft sleeve center, reflective mirror On dynamic motor shaft, reflective mirror is driven to rotate by drive motor shaft.
A kind of 4. ring laser sensor for weld joint tracking according to claim 1, it is characterised in that:The circle Cylinder reflective mirror, laser distance sensor Laser emission end, reflective mirror, driving motor remains concentric, by adjusting reflective mirror With the angle α of drive motor shaft, to change laser projection to the incident angle β of cylinder reflective mirror, so as to change the half of loop laser Footpath R1, wherein,(R is driving motor half Footpath, l are mutually remaining to driving motor distance, α and θ for reflective mirror center).
CN201711030017.1A 2017-10-27 2017-10-27 A kind of ring laser sensor for weld joint tracking CN107900562B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108788394A (en) * 2018-05-22 2018-11-13 江苏理工学院 A kind of laser scanning weld tracker and its tracking

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CN102059454A (en) * 2009-11-11 2011-05-18 詹诺普蒂克自动化技术有限公司 System for spot welding with a laser beam
CN203599692U (en) * 2013-10-08 2014-05-21 成都泛华航空仪表电器有限公司 Weld joint visual tracking device
CN104625337A (en) * 2015-01-21 2015-05-20 成都焊研威达科技股份有限公司 Adjustable laser visual sensing structure
CN105750774A (en) * 2016-05-06 2016-07-13 烟台艾森信息技术股份有限公司 Three-dimension intelligent laser visual tracking welding system and using method
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JP2006187794A (en) * 2005-01-07 2006-07-20 Enshu Ltd Seam tracking welding apparatus
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108788394A (en) * 2018-05-22 2018-11-13 江苏理工学院 A kind of laser scanning weld tracker and its tracking
CN108788394B (en) * 2018-05-22 2020-11-20 江苏理工学院 Laser scanning welding seam tracking device and tracking method thereof

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