CN108788467A - A kind of Intelligent Laser welding system towards aerospace structural component - Google Patents
A kind of Intelligent Laser welding system towards aerospace structural component Download PDFInfo
- Publication number
- CN108788467A CN108788467A CN201810667333.8A CN201810667333A CN108788467A CN 108788467 A CN108788467 A CN 108788467A CN 201810667333 A CN201810667333 A CN 201810667333A CN 108788467 A CN108788467 A CN 108788467A
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- Prior art keywords
- laser welding
- robot
- subsystem
- flexible clamping
- intelligent
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Quality & Reliability (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention relates to a kind of Intelligent Laser welding system towards aerospace structural component, including automation loading and unloading and flexible clamping subsystem, vision robot and intelligent control subsystem, adaptive laser welding head and welding quality monitor subsystem on-line, it includes loading and unloading robot that loading and unloading, which are automated, with flexible clamping subsystem, robot control cabinet and workpiece transmitting device, loading and unloading robot end is equipped with flexible clamping, vision robot includes set on loading and unloading robot end and positioned at CCD cameras above flexible clamping and machine vision configuration and control system with intelligent control subsystem, machine vision configures and control system and robot control cabinet and CCD phase mechatronics；It is additionally provided with the adaptive laser welding head coordinated with flexible clamping in the side of flexible clamping and welding quality monitors subsystem on-line.The advantage of the invention is that：A whole set of laser welding system realizes the advanced manufacturing objective of intelligent visualization, flexibility, has ensured the stability and high efficiency production of space flight national defense system.
Description
Technical field
The invention belongs to welding technology field, more particularly to a kind of Intelligent Laser welding system towards aerospace structural component.
Background technology
Laser be 20th century since after nuclear energy, computer, semiconductor, the another invention of great significance of the mankind is referred to as " most fast
Knife ", " most accurate ruler ", " most bright light ".Since emerging, rapid development is obtained, application spreads human being's production and life
Every field.In the high-end manufacture field such as aerospace, automobile, high-speed railway, ship, laser welding, laser heat treatment,
Laser surface coating, laser boring, laser and the techniques such as cut and be used widely, and achieve huge economic benefit and
Social benefit.
Laser welding is the welding carried out using laser as energy carrier.Specifically, laser welding is that laser beam is straight
It connects and is irradiated to material surface, by Reciprocity of Laser & Materials, material internal fusing is made to realize welding.Laser welding with often
Advising welding method and comparing has following features：
1) laser focal beam spot is small, and speed of welding is fast, and action time is short, and heating and cooling velocity are fast, and weld seam is narrow, heat affected area
It is small, penetration depth is big, welding seam deep width ratio is big.
2) laser power density is high, solderable high-melting-point, refractory material etc., and can be welded to dissimilar material, and
It works well.
3) under the booster action of computer, laser welding can be accurately positioned, and realize automatic welding, and practicable weld seam
From motion tracking.
4) laser welding belongs to non-contact welding, no mechanical stress and mechanically deform.
5) laser welding has prodigious flexibility, inaccessible position can be welded, for remote non-contact portion
Position can be welded.Recently, optical fiber transmission technique is used in YAG laser processing technologys, laser welding technology is made to obtain
Wider popularization and application.
6) laser can carry out multiple beam while processing and multistation are processed, and condition is provided for more accurate welding.
With the appearance of the national development of manufacturing planning such as German Industrial 4.0 and Chinese intelligence manufacture 2025, Laser Welding
It connects and the combination of the technologies such as robot, machine vision tends to be close further, greatly improve the production performance of laser welding system, table
Now：
1) laser beam is coupled with the programmable features of robot, same set of equipment, can be easy for adapting to the weldering of different parts
Connect demand.Various parts, different batches of product are produced in same station, improve utilization rate of equipment and installations, reduce production cost.
2) laser welding equipment integrates machine vision, realizes the intelligence such as weld joint tracking, welding process monitoring, postwelding inspection
Energyization is applied, and welding quality is improved.
The features such as the multi items of aerospace system product, small lot, high quality requirement, is badly in need of developing a kind of Intelligent Laser
Welding system, to realize that flexible workpiece clamping, welding track automatically generate, path of welding is adaptive, and welding quality detects in real time
Equal intelligent functions, improve production efficiency and the quality of production, ensure the punctual propulsion of space flight production task.
Invention content
The technical problem to be solved in the present invention is to provide a kind of Intelligent Laser welding system towards aerospace structural component, to realize
The intelligent functions such as flexible workpiece clamping, welding track automatically generate, and path of welding is adaptive, and welding quality detects in real time, carry
High efficiency and the quality of production ensure the punctual propulsion of space flight production task.
In order to solve the above technical problems, the technical scheme is that：A kind of Intelligent Laser welding towards aerospace structural component
System, innovative point are：Including automation loading and unloading and flexible clamping subsystem, vision robot and intelligent control subsystem
System, adaptive laser welding head and welding quality monitor subsystem on-line,
The automation loading and unloading include that loading and unloading robot, robot control cabinet and workpiece transmission fill with flexible clamping subsystem
It sets, the end of the loading and unloading robot is equipped with flexible clamping, and flexible clamping is set to the top of workpiece transmitting device；
The vision robot includes set on the end of loading and unloading robot and on flexible clamping with intelligent control subsystem
CCD cameras and the machine vision configuration of side and control system, and machine vision configuration and control system and robot control cabinet and
CCD phase mechatronics；
It is additionally provided with the adaptive laser welding head coordinated with flexible clamping in the side of the flexible clamping and welding quality is online
Monitoring subsystem.
Further, the CCD cameras include light source, camera, image pick-up card and industrial control computer and machine vision
The control software of configuration.
Further, the vision robot is taken pictures and is carried to workpiece by CCD camera with intelligent control subsystem
Take welding profile, machine vision configuration that the outline data on photo is transformed to robot TCP Grid Tracks with control system.
Further, the contours extract includes that edge detection and profile generate, and the edge detection includes the following steps：
(1) it filters：Edge detection algorithm is mainly based upon the single order and second dervative of image intensity, enhances side by filter
Edge and reduction noise；
(2) enhance：The basis at enhancing edge is to determine the changing value of each vertex neighborhood intensity of image, by calculate gradient magnitude come
Enhance edge；
(3) it detects：It is detected according to gradient magnitude threshold value in image；
(4) it positions：A certain application scenario requires to determine that marginal position, the position at edge are estimated by subpixel resolution, in turn
Estimate the orientation at edge.
Further, the adaptive laser welding head uses optical identification seam tracking system.
Further, welding quality on-line monitoring subsystem include be arranged molten bath traffic filter and with letter
External optical sensor, optical fiber and the digital signal processing unit that number filter couples successively.
The advantage of the invention is that：
（1）Intelligent Laser welding system of the present invention towards aerospace structural component, wherein automation loading and unloading and flexible clamping subsystem
System, can adapt to that muscles and bones covering class, tank class, case class, leading pipe part etc., all kinds of part piece uploading needs, positioning accuracy reach
0.05mm；
（2）Intelligent Laser welding system of the present invention towards aerospace structural component, wherein vision robot and intelligent control subsystem,
Robot welding track is automatically generated, robotic programming work is simplified, improves person works' environment, improves work effect
Rate；
（3）Intelligent Laser welding system of the present invention towards aerospace structural component, wherein adaptive laser welding head eliminates workpiece
The influence of machining deviation is always ensured that laser facula is located at Weld pipe mill, improves member welding joints consistency of performance and the quality of production；
（4）Intelligent Laser welding system of the present invention towards aerospace structural component, wherein welding quality monitors subsystem on-line, reduces
The quantity of part inspection after welding reduces production cost, improves production efficiency while ensureing the quality of production；
（5）Intelligent Laser welding system of the present invention towards aerospace structural component, a whole set of laser welding system, realize it is intelligent, can
Depending on the advanced manufacturing objective of change, flexibility, the stability and high efficiency production of space flight national defense system has been ensured.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is automation loading and unloading and flexible clamping subsystem in the Intelligent Laser welding system of the invention towards aerospace structural component
The structural schematic diagram of system and vision robot and intelligent control subsystem.
Fig. 2 is the knot that welding quality monitors subsystem on-line in the Intelligent Laser welding system of the invention towards aerospace structural component
Structure schematic diagram.
Specific implementation mode
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
Embodiment
Intelligent Laser welding system of the present embodiment towards aerospace structural component, including automation loading and unloading and flexible clamping subsystem
System, vision robot and intelligent control subsystem, adaptive laser welding head and welding quality monitor subsystem on-line.
As shown in Figure 1, automation loading and unloading and flexible clamping subsystem include loading and unloading robot 1, robot control cabinet 2
And workpiece transmitting device 3, the end of loading and unloading robot 1 is equipped with flexible clamping 4, and flexible clamping 4 is set to workpiece transmitting device 3
Top；Vision robot includes set on the end of loading and unloading robot and above flexible clamping with intelligent control subsystem
CCD cameras 5 and machine vision configuration and control system 6, and machine vision configuration and control system 6 and robot control cabinet 2
And CCD cameras 5 are electrically connected.
It is additionally provided with the adaptive laser welding head coordinated with flexible clamping 4 in the side of flexible clamping 4 and welding quality exists
Line monitoring subsystem.
In the present embodiment, CCD cameras 5 include light source, camera, image pick-up card and industrial control computer and machine vision
The control software of configuration.
Vision robot takes pictures to workpiece by CCD camera 5 and extracts welding profile, machine with intelligent control subsystem
Outline data on photo is transformed to robot TCP Grid Tracks by device visual configuration with control system 6；Contours extract includes side
Edge detects and profile generates, and the edge detection includes the following steps：
(1) it filters：Edge detection algorithm is mainly based upon the single order and second dervative of image intensity, enhances side by filter
Edge and reduction noise；
(2) enhance：The basis at enhancing edge is to determine the changing value of each vertex neighborhood intensity of image, by calculate gradient magnitude come
Enhance edge；
(3) it detects：It is detected according to gradient magnitude threshold value in image；
(4) it positions：A certain application scenario requires to determine that marginal position, the position at edge are estimated by subpixel resolution, in turn
Estimate the orientation at edge.
Profile can be indicated with border sequences table or curve matching.The most simple representation of profile is that edge is orderly
The accuracy of table, this expression is exactly the accuracy of margin estimation, but its compactedness indicated is worst, therefore is not a kind of
Effective subsequent image analyzes representation method.Accuracy can be improved to be fitted edge with curve appropriate, this is because curvilinear mold
Type often has equalization effect when being fitted edge, thus can reduce marginal position error.Curve model can also improve profile
The economy of expression, for post-processing provide one kind be more suitable for, greater compactness of expression.
After obtaining the outline data on photo, TCP track datas can be obtained by coordinate transform.Here transformation relates to
And to four matrixes.Wherein it is imager coordinate matrix of the object in photo, i.e. aforesaid profile point position；
It is the position relationship matrix of camera and tool TCP that calibration is got；(acq.pos) artificial for machine when taking pictures
Have position coordinates matrixes of the TCP relative to basis coordinates.Aforementioned three matrix multiples can obtain, and weld profile is relative to robot
The location matrix of basis coordinates.
In embodiment, adaptive laser welding head uses optical identification seam tracking system, for soldering joint automatic tracking system
System, wherein cmos sensor built in line laser sensor is imaged laser stripe by the triangulation of structure light reflection,
It feeds back to controller and carries out subsequent processing.In this method, the structure light that is projected can be a branch of, and current research result table
Bright, the closed structure light of three beams more can effectively detect weld seam path.Thereafter, laser sensor and machine are determined by calibration
The trick relationship of people.By effectively control light source transmission power, adjust laser sensor setting angle, removal interference region,
Filtering etc. obtains weld metal zone image that is clear, stablizing, realizes the pretreatment of weld image.By to collected laser stripe
The position for effectively identifying its starting point, terminal, inflection point defines its breakpoint, carries out the calculating of relative position, according to feature point extraction
Algorithm obtains Weld pipe mill position, root gap, wrong variable etc..By preset Seam tracking algorithm, laser sensor obtains in real time
The center of welding line joint is taken, and is passed along robot, is converted to TCP position datas, by it compared with current location, warp
Difference carries out position correction, realizes robot welding path adaptation function.
In embodiment, as shown in Fig. 2, welding quality on-line monitoring subsystem includes the traffic filter 7 being arranged in molten bath
And external optical sensor 8, optical fiber 9 and the digital signal processing unit 10 coupled successively with traffic filter 7, specific system
Principle is as follows：It is to transmit optical signal through external optical sensor 8 and optical fiber 9 using the molten bath light reflection in welding process first,
Secondly molten bath reflected light obtains welding process waveform by analog/digital signal conversion through digital signal processing unit 10.Separately
Outside, in the welding process, using Signalized control welding process whether can normal operation, managed by the analysis to these signals
Welding process is solved, the defect occurred in welding procedure and welding process is analyzed, optimization is carried out at the same time, that is to say, that
By the analysis of the signal of feedback by be welding quality optimization foundation.
The basic principles and main features and advantages of the present invention of the present invention have been shown and described above.The skill of the industry
Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (6)
1. a kind of Intelligent Laser welding system towards aerospace structural component, it is characterised in that：It is filled with flexible including automation loading and unloading
Clip systems, vision robot and intelligent control subsystem, adaptive laser welding head and welding quality monitor subsystem on-line,
The automation loading and unloading include that loading and unloading robot, robot control cabinet and workpiece transmission fill with flexible clamping subsystem
It sets, the end of the loading and unloading robot is equipped with flexible clamping, and flexible clamping is set to the top of workpiece transmitting device；
The vision robot includes set on the end of loading and unloading robot and on flexible clamping with intelligent control subsystem
CCD cameras and the machine vision configuration of side and control system, and machine vision configuration and control system and robot control cabinet and
CCD phase mechatronics；
It is additionally provided with the adaptive laser welding head coordinated with flexible clamping in the side of the flexible clamping and welding quality is online
Monitoring subsystem.
2. the Intelligent Laser welding system according to claim 1 towards aerospace structural component, it is characterised in that：The CCD phases
Machine includes light source, camera, image pick-up card and industrial control computer and the control software of machine vision configuration.
3. the Intelligent Laser welding system according to claim 2 towards aerospace structural component, it is characterised in that：The vision machine
Device people takes pictures to workpiece by CCD camera with intelligent control subsystem and extracts welding profile, machine vision configuration and control
Outline data on photo is transformed to robot TCP Grid Tracks by system processed.
4. the Intelligent Laser welding system according to claim 3 towards aerospace structural component, it is characterised in that：The profile carries
It takes including edge detection and profile generation, the edge detection includes the following steps：
(1) it filters：Edge detection algorithm is mainly based upon the single order and second dervative of image intensity, enhances side by filter
Edge and reduction noise；
(2) enhance：The basis at enhancing edge is to determine the changing value of each vertex neighborhood intensity of image, by calculate gradient magnitude come
Enhance edge；
(3) it detects：It is detected according to gradient magnitude threshold value in image；
(4) it positions：A certain application scenario requires to determine that marginal position, the position at edge are estimated by subpixel resolution, in turn
Estimate the orientation at edge.
5. the Intelligent Laser welding system according to claim 1 towards aerospace structural component, it is characterised in that：It is described adaptive
Laser welding head uses optical identification seam tracking system.
6. the Intelligent Laser welding system according to claim 1 towards aerospace structural component, it is characterised in that：The welding matter
Amount on-line monitoring subsystem includes traffic filter and the external optical that couples successively with traffic filter being arranged in molten bath
Sensor, optical fiber and digital signal processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667333.8A CN108788467A (en) | 2018-06-26 | 2018-06-26 | A kind of Intelligent Laser welding system towards aerospace structural component |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810667333.8A CN108788467A (en) | 2018-06-26 | 2018-06-26 | A kind of Intelligent Laser welding system towards aerospace structural component |
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| CN108788467A true CN108788467A (en) | 2018-11-13 |
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| CN201810667333.8A Pending CN108788467A (en) | 2018-06-26 | 2018-06-26 | A kind of Intelligent Laser welding system towards aerospace structural component |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109530984A (en) * | 2018-11-19 | 2019-03-29 | 施努卡(苏州)智能装备有限公司 | Vision positioning welding and assembling method |
| CN109894766A (en) * | 2019-03-05 | 2019-06-18 | 无锡先导智能装备股份有限公司 | A kind of welding detection device of stationary jaw and cylindrical battery cap |
| CN109967875A (en) * | 2019-03-19 | 2019-07-05 | 上海航天精密机械研究所 | The unmanned intelligent laser welder of complex component and method |
| CN116890167A (en) * | 2023-08-25 | 2023-10-17 | 常州泰翔自动化设备科技有限公司 | Intelligent welding equipment for trial production of sample pieces and experimental development |
| CN116912201A (en) * | 2023-07-13 | 2023-10-20 | 上海频准激光科技有限公司 | Optical fiber fusion quality prediction system |
-
2018
- 2018-06-26 CN CN201810667333.8A patent/CN108788467A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109530984A (en) * | 2018-11-19 | 2019-03-29 | 施努卡(苏州)智能装备有限公司 | Vision positioning welding and assembling method |
| CN109894766A (en) * | 2019-03-05 | 2019-06-18 | 无锡先导智能装备股份有限公司 | A kind of welding detection device of stationary jaw and cylindrical battery cap |
| CN109967875A (en) * | 2019-03-19 | 2019-07-05 | 上海航天精密机械研究所 | The unmanned intelligent laser welder of complex component and method |
| CN116912201A (en) * | 2023-07-13 | 2023-10-20 | 上海频准激光科技有限公司 | Optical fiber fusion quality prediction system |
| CN116912201B (en) * | 2023-07-13 | 2024-03-08 | 上海频准激光科技有限公司 | Optical fiber fusion quality prediction system |
| CN116890167A (en) * | 2023-08-25 | 2023-10-17 | 常州泰翔自动化设备科技有限公司 | Intelligent welding equipment for trial production of sample pieces and experimental development |
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