CN108788394A - A kind of laser scanning weld tracker and its tracking - Google Patents
A kind of laser scanning weld tracker and its tracking Download PDFInfo
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- CN108788394A CN108788394A CN201810526859.4A CN201810526859A CN108788394A CN 108788394 A CN108788394 A CN 108788394A CN 201810526859 A CN201810526859 A CN 201810526859A CN 108788394 A CN108788394 A CN 108788394A
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- weld seam
- circular arc
- laser
- laser displacement
- displacement sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention belongs to welding technology fields, more particularly to a kind of laser scanning weld tracker, including supporting mechanism and laser tracking mechanism, the laser tracking mechanism includes laser displacement sensor, stepper motor, connecting plate and mounting plate, the connecting plate is fixed on supporting mechanism, the stepper motor is fixed on connecting plate, one end of the mounting plate is fixedly connected with the output shaft of stepper motor, its other end is fixedly connected with laser displacement sensor, it is further fixedly arranged on alignment sensor on the mounting plate, the laser displacement sensor is towards weld seam, the stepper motor driving laser displacement sensor has an area of arc reciprocating movement in welded joints.Advantageous effect：The laser scanning weld tracker of the present invention is strong to welding environmental suitability, and simple in sturcture, ingenious in design, easy to maintenance, cost is relatively low；The tracking of the laser scanning weld tracker of the present invention, it is easy to operate, it calculates fast, there is actual application value.
Description
Technical field
The invention belongs to welding technology field more particularly to a kind of laser scanning weld trackers and its tracking.
Background technology
During automatic welding, if the relative position of welding gun head and weld seam generates deviation, it can cause to be molded
The defects of poor and lack of penetration.And during welding manufacture, adverse circumstances, weldment rigging error when due to welding, welding are answered
The variation of position while welding and size caused by power and welding deformation is required for the relative position error of Butt welding gun and weld seam to carry out
Detection and correction, so particularly important using THE WELD SEAM TRACKING TECHNOLOGY.For overcome weld seam size and section it is inconsistent etc. it is uncertain because
The influence of plain welding quality improves the reliability of automatic servo welding, needs the automatic servos mechanism such as robot real online
When adjust welding gun position, it is ensured that welding gun centering Weld pipe mill, ensure quality of weld seam molding.
Contact weld seam tracking sensor is simple in structure due to not interfered by electric arc, and operation is direct, easy to maintenance, cost
It is low, it is a kind of current most commonly used welding seam tracking method.But use mechanical touch sensors, to the processing request of groove compared with
Height tracks any damage of groove face and the rough stability and tracking accuracy that can all influence tracking；Probe always and
Groove contacts, and abrasion is larger, yielding, often to replace；When in addition using multi-pass welding for big groove weld, Zhi Neng
It is tracked when first layer backing welding, remaining weld seam is then helpless.
Invention content
For solve widely applied contact weld seam tracking sensor of the existing technology to the processing request of groove compared with
Height, probe are contacted with groove always, and abrasion is larger, yielding, and the problem of often replacement, a kind of laser of present invention offer is swept
Retouch weld tracker and its tracking.
In order to solve the above technical problems, the technical solution adopted in the present invention is as follows, a kind of laser scanning weld joint tracking dress
It sets, including supporting mechanism and laser tracking mechanism, the laser tracking mechanism includes laser displacement sensor, stepper motor, company
Fishplate bar and mounting plate, the connecting plate are fixed on supporting mechanism, and the stepper motor is fixed on connecting plate, institute
The one end for stating mounting plate is fixedly connected with the output shaft of stepper motor, and the other end is fixedly connected with laser displacement sensor, institute
It states and is further fixedly arranged on alignment sensor on mounting plate, the laser displacement sensor drives towards weld seam, the stepper motor
Laser displacement sensor has an area of arc reciprocating movement in welded joints.
Further, the supporting mechanism includes upper support structure and lower support structure, the upper support structure and lower branch
Buffer spring is provided between support structure, the bottom surface of the lower support structure is fixedly installed idler wheel, and the connecting plate fixation is set
It sets on lower support structure.The idler wheel of the weld tracker is contacted with welding workpiece always ensures highly stable, reduction and weldering
The friction for connecing workpiece surface improves the measurement accuracy of the weld tracker；Buffer spring energy effective protection idler wheel is not subject to crushing,
Extend the service life of the weld tracker.
The tracking of laser scanning weld tracker：Laser displacement sensor is laterally welded with arc track shuttle-scanning
Seam, the depth information of circular arc path corresponding with laser displacement sensor arc track in acquisition weld seam, then by circular arc path
Depth information is modified to the depth information of straight line path；
Correcting process process is as follows：A certain circular arc path is made a straight line with two intersection points on weld seam upper surface boundary to be connected,
Orthographic projection of the straight line in weld seam is straight line path；The coordinate and straight line path of two intersection points are obtained by alignment sensor
The width information of centre coordinate and the straight line path, then the circular arc path and previous circular arc path are made into N deciles respectively, respectively
It connects the corresponding each Along ent of two circular arc paths and obtains N bisector, it is known that a certain Along ent depth of the circular arc path is a, preceding
It is b that one circular arc path, which corresponds to Along ent depth, and the bisector and straight line path intersection are that depth is c at unknown point, this waits asking
The distance of point to the Along ent of the circular arc path and previous circular arc path is respectively S1 and S2, then depth is at unknown point：C=
(a*s2+b*s1)/(s1+s2) can be fitted to obtain weld seam by cutting at the straight line path by the depth of each unknown point
Face shape and area；
After correcting process, welding manipulator drives welding gun adjustment posture, position and speed according to cross sectional shape and area, makes
Welding gun is in Weld pipe mill position always, until the welding of entire weld seam is completed.
Further, before laser displacement sensor is lateral with arc track shuttle-scanning weld seam, bonding machine is first manually adjusted
Tool hand returns the mechanical zero of alignment sensor setting, and welding manipulator drives laser displacement sensor to be moved to above weld seam again,
And make laser displacement sensor perpendicular to weld seam, then adjust the corner of stepper motor and be positioned at the origin position of alignment sensor,
It is the left beginning starting point of transversal scanning weld seam to make the origin position.
Further, before laser displacement sensor is lateral with arc track shuttle-scanning weld seam, setting stepper motor driving
For laser displacement sensor laterally with the stroke of arc track shuttle-scanning weld seam, the trip is more than maximum weld width.
Advantageous effect：The stepper motor driving laser displacement sensor of the present invention is laterally with arc track shuttle-scanning weld seam
Each point depth information, by alignment sensor, the depth information interpolation corrected Calculation by front and back circular arc path is straight line path
Depth information, the depth information of straight line path is converted into the center position coordinates of weld seam, width, depth information, is adjusted in real time
Whole electroplating equipment wielding machine hand-motion welding gun adjustment posture, position and speed, realize weld joint tracking, the weld tracker is to welding surroundings
Adaptable, simple in sturcture, ingenious in design, easy to maintenance, cost is relatively low；The present invention laser scanning weld tracker with
Track method, it is easy to operate, it calculates fast, there is actual application value.
Description of the drawings
Fig. 1 is the assembly dimensional structure diagram of the laser scanning weld tracker and welding manipulator of the present invention；
Fig. 2 is the close-up schematic view of A in Fig. 1；
Fig. 3 is the dimensional structure diagram of laser scanning weld tracker of the present invention；
Fig. 4 is the principle schematic of the tracking of laser scanning weld tracker of the present invention；
1, supporting mechanism in figure, 11, upper support structure, 12, lower support structure, 13, buffer spring, 14, idler wheel, 2, laser
Follower, 21, laser displacement sensor, 22, alignment sensor, 23, stepper motor, 24, connecting plate, 25, mounting plate, 31,
Circular arc path, 32, straight line path, 4, welding manipulator, 5, weld seam, a certain Along ent depth of a, circular arc path, b, previous circular arc
Path corresponds to Along ent depth, c, unknown point depth, s1, unknown point to the circular arc path Along ent air line distance, s2, wait for
Seek the air line distance for the Along ent for a little arriving previous circular arc path.
Specific implementation mode
Embodiment
As shown in figures 1-4, a kind of laser scanning weld tracker, the weld tracker are disposed in parallel in welding gun
On welding manipulator 4, including supporting mechanism 1 and laser tracking mechanism 2, the laser tracking mechanism 2 are sensed including laser displacement
Device 21, stepper motor 23, connecting plate 24 and mounting plate 25, the connecting plate 24 are fixed on supporting mechanism 1, the stepping
Motor 23 is fixed on connecting plate 24, and one end of the mounting plate 25 is fixedly connected with the output shaft of stepper motor 23,
The other end is fixedly connected with laser displacement sensor 21, and alignment sensor 22 is further fixedly arranged on the mounting plate 25, described
Laser displacement sensor 21 drives the circular arc above weld seam 5 of laser displacement sensor 21 past towards weld seam 5, the stepper motor 23
It is multiple mobile.In order to which 1 supporting & stablizing of supporting mechanism is reliable, the supporting mechanism 1 includes upper support structure 11 and lower support structure 12,
Buffer spring 13 is provided between the upper support structure 11 and lower support structure 12, the bottom surface of the lower support structure 12 is fixed
It is provided with idler wheel 14, the connecting plate 24 is fixed on lower support structure 12, and idler wheel 14 contacts guarantor with welding workpiece always
Demonstrate,prove it is highly stable, reduce with the friction on welding workpiece surface, improve the measurement accuracy of the weld tracker；13 energy of buffer spring
Effective protection idler wheel 14 is not subject to crushing, and extends the service life of the weld tracker.
The tracking of laser scanning weld tracker：
The mechanical zero that welding manipulator 4 returns the setting of alignment sensor 22 is first manually adjusted, welding manipulator 4 drives sharp again
Optical displacement sensor 21 is moved to 5 top of weld seam, and makes laser displacement sensor 21 perpendicular to weld seam 5, sets stepper motor 23
Drive laser displacement sensor 21 laterally with the stroke of arc track shuttle-scanning weld seam 5, it is wide that the trip is more than maximum weld seam 5
Degree, then adjust the corner of stepper motor 23 and be positioned at the origin position of alignment sensor 22, it is transversal scanning to make the origin position
The left beginning starting point of weld seam 5.
After welding processing starts, while welding manipulator 4 drives laser tracking mechanism 2 longitudinally running along weld seam 5, start
Stepper motor 23, driving laser displacement sensor 21 laterally with arc track shuttle-scanning weld seam 5, in acquisition weld seam 5 with it is sharp
The depth information of the corresponding circular arc path of 21 arc track of Optical displacement sensor 31, the circle that laser displacement sensor 21 moves
Orthographic projection of the arc track in weld seam 5 is circular arc path 31, then the depth information of circular arc path 31 is modified to straight line path
32 depth information；
Correcting process process is as follows：A certain circular arc path 31 and two intersection points on 5 upper surface boundary of weld seam are made into a straight line phase
Even, orthographic projection of the straight line in weld seam 5 is straight line path 32；The coordinate of two intersection points and straight is obtained by alignment sensor 22
The width information of the centre coordinate of thread path 32 and the straight line path 32, to obtain in the weld seam 5 at the straight line path 32
Heart position coordinates and width information, then the circular arc path 31 and previous circular arc path 31 are made into N deciles respectively, the circular arc path 31
With previous circular arc path 31 along the parallel longitudinal of weld seam 5, it is separately connected two circular arc paths, 31 corresponding each Along ent and obtains N items etc.
Separated time, it is known that the 31 a certain Along ent depth of circular arc path is a, the correspondence Along ent depth of previous circular arc path 31 is b, the decile
Line and 32 intersection of straight line path are that depth is c at unknown point, the unknown point to the circular arc path 31 and previous circular arc path 31
The air line distance of Along ent be respectively S1 and S2, using the method for linear interpolation, then depth is at unknown point：C=(a*s2+
B*s1)/(s1+s2) can be fitted to obtain weld seam 5 by the section shape at the straight line path 32 by the depth of each unknown point
Shape and area；
After correcting process, the SERVO CONTROL of welding manipulator 4 is sent jointly to together with the location information of alignment sensor 22
Processor drives welding gun tune by the center position coordinates of weld seam 5, width information and cross sectional shape and area welding manipulator 4
Whole posture, position and speed make welding gun be in 5 center of weld seam always, until the welding of entire weld seam 5 is completed.
Claims (5)
1. a kind of laser scanning weld tracker, it is characterised in that：Including supporting mechanism (1) and laser tracking mechanism (2), institute
It includes laser displacement sensor (21), stepper motor (23), connecting plate (24) and mounting plate (25) to state laser tracking mechanism (2),
The connecting plate (24) is fixed on supporting mechanism (1), and the stepper motor (23) is fixed on connecting plate (24),
One end of the mounting plate (25) is fixedly connected with the output shaft of stepper motor (23), the other end and laser displacement sensor
(21) it is fixedly connected, alignment sensor (22), the laser displacement sensor is further fixedly arranged on the mounting plate (25)
(21) towards weld seam (5), stepper motor (23) the driving laser displacement sensor (21) circular arc above weld seam (5) back and forth moves
It is dynamic.
2. laser scanning weld tracker according to claim 1, it is characterised in that：The supporting mechanism (1) includes
Upper support structure (11) and lower support structure (12) are provided with slow between the upper support structure (11) and lower support structure (12)
Spring (13) is rushed, the bottom surface of the lower support structure (12) is fixedly installed idler wheel (14), connecting plate (24) fixed setting
On lower support structure (12).
3. the tracking of laser scanning weld tracker according to claim 1, it is characterised in that：Laser displacement passes
Sensor (21) laterally with arc track shuttle-scanning weld seam (5), in acquisition weld seam (5) with laser displacement sensor (21) circular arc rail
The depth information of the corresponding circular arc path of mark (31), then the depth information of circular arc path (31) is modified to straight line path (32)
Depth information；
Correcting process process is as follows：A certain circular arc path (31) and two intersection points on weld seam (5) upper surface boundary are made into a straight line phase
Even, orthographic projection of the straight line in weld seam (5) is straight line path (32)；The seat of two intersection points is obtained by alignment sensor (22)
Mark and the centre coordinate of straight line path (32) and the width information of the straight line path (32), then by the circular arc path (31) with before
One circular arc path (31) makees N deciles respectively, is separately connected the corresponding each Along ent of two circular arc paths (31) and obtains N bisector,
The known a certain Along ent depth of circular arc path (31) is a, the corresponding Along ent depth of previous circular arc path (31) is b, the decile
Line and straight line path (32) intersection are that depth is c at unknown point, the unknown point to the circular arc path (31) and previous circular arc road
The distance of the Along ent of diameter (31) is respectively S1 and S2, then depth is at unknown point：C=(a*s2+b*s1)/(s1+s2), passes through
The depth of each unknown point can be fitted to obtain weld seam (5) by the cross sectional shape and area at the straight line path (32)；
After correcting process, welding manipulator (4) drives welding gun adjustment posture, position and speed according to cross sectional shape and area, makes
Welding gun is in weld seam (5) center always, until entire weld seam (5) welding is completed.
4. the tracking of laser scanning weld tracker according to claim 3, it is characterised in that：Laser displacement passes
Before sensor (21) transverse direction is with arc track shuttle-scanning weld seam (5), first manually adjusts welding manipulator (4) and return alignment sensor
(22) mechanical zero set, welding manipulator (4) drive laser displacement sensor (21) to be moved to above weld seam (5) again, and
Make laser displacement sensor (21) perpendicular to weld seam (5), then adjusts the corner of stepper motor (23) and be positioned at alignment sensor
(22) origin position, it is the left beginning starting point of transversal scanning weld seam (5) to make the origin position.
5. the tracking of laser scanning weld tracker according to claim 3, it is characterised in that：Laser displacement passes
Before sensor (21) transverse direction is with arc track shuttle-scanning weld seam (5), setting stepper motor (23) drives laser displacement sensor
(21) laterally with the stroke of arc track shuttle-scanning weld seam (5), the trip is more than maximum weld seam (5) width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810526859.4A CN108788394B (en) | 2018-05-22 | 2018-05-22 | Laser scanning welding seam tracking device and tracking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810526859.4A CN108788394B (en) | 2018-05-22 | 2018-05-22 | Laser scanning welding seam tracking device and tracking method thereof |
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| CN108788394A true CN108788394A (en) | 2018-11-13 |
| CN108788394B CN108788394B (en) | 2020-11-20 |
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| CN111730180A (en) * | 2020-06-10 | 2020-10-02 | 北京工业大学 | Dynamic assembling and adjusting method for thin plate during welding and pressing |
| CN111745267A (en) * | 2020-08-14 | 2020-10-09 | 湘潭大学 | System and method for tracking groove weld in real time based on laser displacement sensor |
| CN115673630A (en) * | 2022-11-17 | 2023-02-03 | 广州华夏职业学院 | Non-standard cold storage door welding method, system, terminal and medium based on 3D tracking |
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