CN108907456A - A kind of microgap welding seam tracking method, system and controlling terminal - Google Patents
A kind of microgap welding seam tracking method, system and controlling terminal Download PDFInfo
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- CN108907456A CN108907456A CN201810890682.6A CN201810890682A CN108907456A CN 108907456 A CN108907456 A CN 108907456A CN 201810890682 A CN201810890682 A CN 201810890682A CN 108907456 A CN108907456 A CN 108907456A
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- weldment
- interference
- weld seam
- interferometry
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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
- B23K26/04—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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
- B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
- B23K26/0643—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms comprising mirrors
-
- 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
- B23K26/705—Beam measuring device
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention provides a kind of microgap welding seam tracking method, system and controlling terminals, wherein this method includes：S1：It controls interference measuring instrument and emits light beam to weldment；S2：Adjust the distance between multiple interferometry units and the weldment in interference measuring instrument in same level, the interference light intensity of each interferometry unit measurement is obtained simultaneously, wherein, when the distance between interferometry unit and weldment are equal to preset distance, the interference light intensity of interferometry unit is maximum；S3：In relationship between the position and interference light intensity of each interferometry unit, according to the weld seam of each interference light measuring unit corresponding position reconstruct weldment in maximum interference luminous intensity；S4：According to the mobile weldment of position deviation between the weld seam of reconstruct and preset weld seam, so that the weld seam of laser alignment weldment；S5：S1 is re-execute the steps until completing the tracking of the weld seam on butt-welding fitting.
Description
Technical field
The present invention relates to microgap welding technology field more particularly to a kind of microgap welding seam tracking methods, system and control
Terminal processed.
Background technique
For laser welding technology, weld seam recognition belongs to the transducing part of welding autocontrol with tracking, is to realize weldering
Connect the premise of automation.
The implementation method of weld joint tracking is usually vision-sensing method, and this method usually utilizes structure light or scanning laser pair
Weld seam is detected, and the two obtains accurate distance with optical triangulation shape measuring principle, and the principle is with traditional triangulation
Based on, the depth information of the point is calculated relative to the angle change that optical reference line offset generates by tested point.However,
In the weld seam detection of microgap, the deformation because of the light of structure light or the scan line of scanning laser in commissure is small, therefore difficult
To extract the location information of microgap weld seam.
Summary of the invention
The embodiment of the invention provides a kind of microgap welding seam tracking method, system and controlling terminals, can effectively identify
Microgap weld seam, it is even more small that the precision of detection can reach micron order, can fully meet laser welding to microgap weld seam
Requirement.
According to an aspect of the present invention, a kind of microgap welding seam tracking method is provided, including：
S1：It controls interference measuring instrument and emits light beam to weldment；
S2：Adjust multiple interferometry units in the interference measuring instrument in same level and the weldment it
Between distance, while obtaining the interference light intensity of each interferometry unit measurement, wherein when the interferometry unit
When the distance between described weldment is equal to preset distance, the interference light intensity of the interferometry unit is maximum；
S3：In relationship between the position and interference light intensity of each interferometry unit, according to each described
Interference light measuring unit corresponding position in maximum interference luminous intensity reconstructs the weld seam of the weldment；
S4：According to the mobile weldment of position deviation between the weld seam of reconstruct and preset weld seam, so that laser alignment
The weld seam of the weldment；
S5：S1 is re-execute the steps until completing the tracking to the weld seam on the weldment.
Preferably, in the relationship between the position and interference light intensity of each interferometry unit, according to
Each interference light measuring unit weld seam that corresponding position reconstructs the weldment in maximum interference luminous intensity is specially：
The relation curve between the position and interference light intensity of each interferometry unit is generated, in each pass
It is in curve, according to each interference light measuring unit, in maximum interference luminous intensity, corresponding location point reconstructs the weldment
Weld seam.
Preferably, the multiple interferometry units adjusted in the interference measuring instrument in same level and institute
The distance between weldment is stated, while the interference light intensity for obtaining each interferometry unit measurement is specially：
It is adjusted since the initial position that all interferometry units are located in the interference measuring instrument all described
The position of interferometry unit, so that the distance between all interferometry units and the weldment are pre- no more than described
Distance is set, and is sampled in interference light intensity of the process of adjusting to each interferometry unit.
Preferably, it is adjusted the initial position being located in the interference measuring instrument since all interferometry units
The position of all interferometry units is saved, so that the distance between all interferometry units and described weldment are not
It is specially greater than the preset distance：
It is adjusted since the initial position that all interferometry units are located in the interference measuring instrument all described
The position of interferometry unit, so that the distance between each interferometry unit and the weldment are decreased to by maximum value
Minimum value increases to maximum value again, wherein the minimum value is not more than the pre-determined distance.
Preferably, the mobile weldment of the position deviation between the weld seam and preset weld seam according to reconstruct, so that swashing
The weld seam that light device is directed at the weldment is specially：
The central point for determining the weld seam of reconstruct, the central point of the weld seam of reconstruct is compared with the central point of preset weld seam
The position deviation between two points is obtained, according to the mobile weldment of the position deviation, so that weldment described in laser alignment
Weld seam.
According to another aspect of the present invention, a kind of controlling terminal is provided, including：
Control module emits light beam to weldment for controlling interference measuring instrument；
Adjustment module, for adjust in the interference measuring instrument be located at same level on multiple interferometry units with
The distance between described weldment, while obtaining the interference light intensity of each interferometry unit measurement, wherein when described dry
When relating to the distance between measuring unit and the weldment equal to preset distance, the interference light intensity of the interferometry unit is most
Greatly；
Reconstructed module, in the relationship between the position and interference light intensity of each interferometry unit, root
According to each interference light measuring unit, in maximum interference luminous intensity, corresponding position reconstructs the weld seam of the weldment；
Alignment modules, for the mobile weldment of position deviation between the weld seam and preset weld seam according to reconstruct, so that
The weld seam of weldment described in laser alignment；
Loop module, for control module described in retriggered until completing the tracking to the weld seam on the weldment.
According to another aspect of the present invention, a kind of microgap seam tracking system is provided, including：Two axle movement platform swashs
Light device, interference measuring instrument and such as above controlling terminal；
The controlling terminal is connect with the interference measuring instrument, the two axle movement Platform communication respectively；
The interference measuring instrument, the laser are fixedly connected on the pedestal of the two axle movement platform, and with
The table top of the two axle movement platform is oppositely arranged；
The two axle movement platform is used to place the weldment with weld seam；
The interference measuring instrument includes：Main body, shell and moving parts；
Multiple interferometry units in same level are installed, the main body is set to described in the main body
Interior of shell, the main body is by the moving parts and the cage connection, and the moving parts are for adjusting the main body
The position in the shell with adjust the main body between the weldment at a distance from.
Preferably, a kind of microgap seam tracking system provided by the invention further includes：Connection frame；
The connection frame is fixedly connected on the pedestal of the two axle movement platform, the interference measuring instrument, the laser
Device passes through fixture and is fixedly connected on the connection frame.
Preferably, the interferometry unit includes：Light source, charge coupled cell, spectroscope, the first reflecting mirror, second
Reflecting mirror and reference mirror；
The light beam of light source transmitting spectroscope described in directive after first reflecting mirror be divided into the first beamlet and
Second beamlet, weldment described in the first beamlet directive, then the spectroscope is reflexed to, second beamlet passes through institute
Reference mirror described in directive after the second reflecting mirror is stated, then along spectroscope described in original optical path again directive, first beamlet and institute
It states the second beamlet to interfere to form interference light at the spectroscope, charge coupled cell described in the final directive of interference light.
Preferably, the angle between first reflecting mirror and second reflecting mirror is 90 °, first reflecting mirror with
Angle, second reflecting mirror between level ground and the angle between level ground are 45 °.
Preferably, the moving parts include：Rack gear, gear, stepper motor and control unit；
The stepper motor is fixedly installed on the inner wall of the shell, and the rack gear is fixedly installed in the interior of the main body
On wall, the output shaft of the stepper motor is fixedly connected with the gear, and the gear is engaged with the rack gear, and the control is single
Member is for controlling the state of the stepper motor.
Preferably, several described interferometry units are arranged in the main body with uniline or array format.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages that：
The embodiment of the invention provides a kind of microgap welding seam tracking method, system and controlling terminals, wherein this method packet
It includes：S1：It controls interference measuring instrument and emits light beam to weldment；S2：It adjusts multiple in same level in interference measuring instrument
The distance between interferometry unit and weldment, while obtaining the interference light intensity of each interferometry unit measurement, wherein when
When the distance between interferometry unit and weldment are equal to preset distance, the interference light intensity of interferometry unit is maximum；S3：?
In relationship between the position and interference light intensity of each interferometry unit, according to each interference light measuring unit in maximum dry
Relate to the weld seam of corresponding position reconstruct weldment when luminous intensity；S4：According to the position deviation between the weld seam of reconstruct and preset weld seam
Mobile weldment, so that the weld seam of laser alignment weldment；S5：Re-execute the steps S1 until complete butt-welding fitting on weld seam with
Track.The present invention is based on white light interference theories, are acquired by the three-D profile information of interference measuring instrument butt-welding fitting weld seam, with dry
The threedimensional model for reconstructing weld seam based on the intensity of light is related to, determines that the position between weld seam and preset weld seam that reconstruct obtains is inclined
Difference finally compensates movement, and the present invention can effectively identify microgap weld seam, and the precision of detection can reach micron order even
It is smaller, requirement of the laser welding to microgap weld seam can be fully met.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow diagram of one embodiment of microgap welding seam tracking method provided by the invention；
Fig. 2 is a kind of structural schematic diagram of one embodiment of microgap seam tracking system provided by the invention；
Fig. 3 is a kind of another structural schematic diagram of one embodiment of microgap seam tracking system provided by the invention；
Fig. 4 is the structural schematic diagram of interferometry unit；
Fig. 5 is the schematic diagram of interferometry cell position and interference strength relation curve；
Fig. 6 is the schematic diagram using uniline interferometry unit group detection object surface profile.
Specific embodiment
The embodiment of the invention provides a kind of microgap welding seam tracking method, system and controlling terminals, can effectively identify
Microgap weld seam, it is even more small that the precision of detection can reach micron order, can fully meet laser welding to microgap weld seam
Requirement.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, a kind of one embodiment of microgap welding seam tracking method provided by the invention, including：
101, control interference measuring instrument emits light beam to weldment；
It is understood that the intracorporal each interferometry unit of interference measuring instrument master can emit light beam to the weldment,
Light beam goes back to the inside of each unit by weldment surface back reflection, and forms corresponding interference light in the inside of each unit.
102, adjust between the multiple interferometry units and weldment in interference measuring instrument in the same level away from
From while obtaining the interference light intensity of each interferometry unit measurement, wherein when between interferometry unit and weldment away from
When from being equal to preset distance, the interference light intensity of interferometry unit is maximum；
Since the main body of interference measuring instrument includes multiple interferometry units in same level, in interferometry
When adjusting body position in instrument, that is, adjusting the distance between each interferometry unit and weldment simultaneously, and when interference
When the distance between measuring unit and weldment are equal to preset distance, the interference light intensity of interferometry unit is maximum, this it is default away from
It is related to the internal structure of interferometry unit, the pre-determined distance can be obtained by the way that the internal structure of measuring unit is arranged.
103, in the relationship between the position and interference light intensity of each interferometry unit, according to each interference flash ranging
Measure the weld seam of unit corresponding position reconstruct weldment in maximum interference luminous intensity；
During adjusting position, the interference light intensity of each interferometry unit can be constantly obtained, due to dry
The position for relating to measuring unit changes constantly, and the interference light intensity being correspondingly formed also changes therewith, therefore, can be by each dry
The interference light image analysis for relating to measuring unit acquisition goes out the corresponding interference light intensity data of image, and by interference light intensity and position
Between corresponding relationship as determine weldment on position while welding foundation.
It is corresponding between each unit interference light intensity and position due to including multiple interferometry units in main body
Relationship has differences, therefore can be the restructural weldering for obtaining weldment based on the maximum point of interference light intensity in each unit
Seam.
104, according to the mobile weldment of position deviation between the weld seam of reconstruct and preset weld seam, so that laser alignment weldment
Weld seam.
The weld seam of reconstruct is compared with preset weld seam, obtains position deviation, then the position of mobile weldment can make
Obtain the weld seam of laser alignment weldment.It should be noted that the preset weld seam can be according to the weldment for needing to carry out laser welding
Weld seam be arranged in advance.
105,101 are re-execute the steps until completing the tracking of the weld seam on butt-welding fitting.
Since step 101 of every execution to 104 completes the positioning of part weld seam on butt-welding fitting, in order to complete butt-welding fitting
The tracking of upper whole weld seam, can recycle and step 101 is performed a plurality of times to 104.
The present invention is based on white light interference theories, are adopted by the three-D profile information of interference measuring instrument butt-welding fitting weld seam
Collection reconstructs the threedimensional model of weld seam based on the intensity of interference light, determines between the weld seam and preset weld seam for reconstructing and obtaining
Position deviation, finally compensate movement, the present invention can effectively identify microgap weld seam, and the precision of detection can reach micro-
Meter level is even more small, can fully meet requirement of the laser welding to microgap weld seam.
When corresponding relationship between the position and interference light intensity for obtaining interferometry unit in real time, in order to more accurate
Ground determines that position of each interferometry unit when measurement obtains maximum interference luminous intensity optionally can be by each interference
Relationship between the position and interference light intensity of measuring unit is presented in a manner of relation curve, then in each relation curve
In, according to the weld seam of each interference light measuring unit corresponding location point reconstruct weldment in maximum interference luminous intensity.
In the present invention, it is not weld seam that each interferometry unit irradiates weldment, there is part measuring unit
Light beam direct irradiation is on the surface of weldment, because when adjusting the position of interferometry unit, all measuring units are same
On horizontal plane, it is assumed that the weld seam on weldment is groove-like on weldment, is directed at the interferometry unit of weld seam at a distance from weldment
The distance between interferometry unit and weldment greater than alignment face of weld (opposite if weld seam is convex) therefore, are
The reconstruct of butt-welding fitting weld seam is realized, in all interferometry units of body interior, it is necessary to which at least partial coherence measurement is single
Member can measure to obtain the interference light of maximum intensity (distance is equal to preset distance i.e. between interferometry unit and weldment).
Preferably, in order to keep the reproduction effects of the weld seam of reconstruct optimal, each interferometry unit can be enabled equal
The interference light of maximum intensity is obtained, therefore needs to carry out enough adjustment to the body position of entire interference measuring instrument, it optionally, should
Adjustment process can be：
In interference measuring instrument, the position of main body is adjusted since the initial position that main body is located in interference measuring instrument, is made
The distance between each interferometry unit and weldment are decreased to minimum value by maximum value and increase to maximum value again, wherein most
Small value is not more than pre-determined distance.
It is understood that the present invention obtains pre-determined distance by experiment in advance, and since all interferometry units are equal
In same level, it need to only guarantee that the minimum value of the distance between each interferometry unit and weldment is default no more than this
Distance.
Optionally, determine that the position deviation between the weld seam and preset weld seam for reconstructing and obtaining can be by comparing in the two
Heart point carries out, specially：The central point for determining the weld seam of reconstruct, by the central point of the central point of the weld seam of reconstruct and preset weld seam
It is compared to obtain the position deviation between two points, according to the mobile weldment of the position deviation, so that laser alignment
The weld seam of the weldment.Whole comparison efficiency can be improved in such a way that central point is compared as location information, after convenient
Continuous deviation compensation.
It is the detailed description carried out to a kind of microgap welding seam tracking method provided by the invention above, it below will be to this hair
The structure and connection relationship of a kind of controlling terminal of bright offer are illustrated, an a kind of reality of controlling terminal provided by the invention
Example is applied, including：
Control module emits light beam to weldment for controlling interference measuring instrument；
Adjustment module, for adjusting the multiple interferometry units and weldment that are located in same level in interference measuring instrument
The distance between, while obtaining the interference light intensity of each interferometry unit measurement, wherein when interferometry unit and weldment
The distance between when being equal to preset distance, the interference light intensity of interferometry unit is maximum；
Reconstructed module, in the relationship between the position and interference light intensity of each interferometry unit, according to each
The weld seam of a interference light measuring unit corresponding position reconstruct weldment in maximum interference luminous intensity；
Alignment modules, for the mobile weldment of position deviation between the weld seam and preset weld seam according to reconstruct, so that laser
The weld seam of device alignment weldment；
Loop module, for retriggered control module until completing the tracking to the weld seam on the weldment.
Optionally, reconstructed module is also used to generate the relationship between the position and interference light intensity of each interferometry unit
Curve, in each relation curve, according to each interference light measuring unit in maximum interference luminous intensity corresponding location point weight
The weld seam of structure weldment.
Optionally, adjustment module is also used to since the initial position that all interferometry units are located in interference measuring instrument
Adjust the position of all interferometry units so that the distance between all interferometry units and weldment no more than it is preset away from
From, and sampled in interference light intensity of the process of adjusting to each interferometry unit.
Optionally, adjustment module is also used to since the initial position that all interferometry units are located in interference measuring instrument
The position of all interferometry units is adjusted, so that the distance between each interferometry unit and weldment are decreased to by maximum value
Minimum value increases to maximum value again, and samples in interference light intensity of the process of adjusting to each interferometry unit,
In, minimum value is not more than pre-determined distance.
Optionally, reconstructed module is also used to determine the central point of the weld seam of reconstruct, by the central point of the weld seam of reconstruct and in advance
The central point for setting weld seam is compared to obtain the position deviation between two points, according to the mobile weldment of position deviation, so that laser
The weld seam of device alignment weldment.
A kind of microgap seam tracking system provided by the invention will be illustrated below, and please refer to Fig. 2 and Fig. 3, this
A kind of one embodiment of the microgap seam tracking system provided is provided, including：Two axle movement platform 2, laser 3 and interference
Measuring instrument 4 and controlling terminal as described above 1；
Controlling terminal 1 is communicated to connect with interference measuring instrument 4, two axle movement platform 2 respectively；
Interference measuring instrument 4, laser 3 are fixedly connected on the pedestal 21 of two axle movement platform 2, and and two axle movement
The table top 22 of platform 2 is oppositely arranged；
Two axle movement platform 2 is used to place the weldment 5 with weld seam；
Referring to Fig. 4, interference measuring instrument includes：Main body 42, shell 41 and moving parts 43；
Several interferometry units are installed, several interferometry units are with uniline or array format cloth in main body 42
It is placed in main body, Fig. 4 only draws an interferometry unit as example.
Main body 42 is set to inside shell 41, and main body 42 is connect by moving parts 43 with shell 41, and moving parts 43 are used
In adjust main body 42 the position in shell 41 with adjust main body 42 between weldment 5 at a distance from.
In the present embodiment, the purpose of weld joint tracking is the emitting head alignment weld seam for controlling laser 3.Two axle movement platform
The movement in X-direction and Y-direction may be implemented, in actual welds pursuit movement, it is complete that platform does unidirectional motion in the X direction
At laser and white light traverse feed, makees back and forth movement in the Y direction and complete correction movement.
Interference measuring instrument 4 is white light interferometric instrument, is placed in the surface of weldment 5, can obtain in its visual range
A series of interference light intensity images, and by these image transmittings to controlling terminal 1, controlling terminal 1 goes out weld seam using data reconstruction
Then profile extracts the location information of Weld pipe mill.It is made comparisons by preset center and resulting Weld pipe mill, obtains Y
The position error signal in direction, with this deviation signal control platform in the Y direction towards moving the direction of deviation reduction.
Further, a kind of microgap seam tracking system provided by the invention further includes：Connection frame 8, the connection frame 8
It can be portal frame shape；
Connection frame 8 is fixedly connected on the pedestal 21 of two axle movement platform 2, and interference measuring instrument 4, laser 3 lead to respectively
Cross fixture 6, fixture 7 is fixedly connected on connection frame 8.
Further, interferometry unit includes：Light source 421, charge coupled cell 422, spectroscope 423, first are anti-
Penetrate mirror 424, the second reflecting mirror 425 and reference mirror 426；
Angle between first reflecting mirror 424 and the second reflecting mirror 425 is 90 °, the first reflecting mirror 424 and level ground it
Between angle, the angle between the second reflecting mirror 425 and level ground be 45 °.
The light beam that light source 421 emits directive spectroscope 423 after the first reflecting mirror 424 divides for the first beamlet 1. with the
2., the first beamlet 1. directive weldment 5, then reflex to spectroscope 423,2. the second beamlet passes through the second reflecting mirror to two beamlets
Directive reference mirror 426 after 425, then again 1. 2. directive spectroscope 423, the first beamlet are dividing with the second beamlet along original optical path
It interferes to form interference light 3. at light microscopic 423, interference light 3. final directive charge coupled cell 422.
In order to the state of light beam keeping parallelism in the optical path, can according to actual needs selectively light source 421 with
Between first reflecting mirror 424, between the first reflecting mirror 424 and spectroscope 423, between spectroscope 423 and the second reflecting mirror 425,
Between second reflecting mirror 425 and reference mirror 426, between spectroscope 426 and charge coupled cell 422, spectroscope 426 and platform it
Between be arranged lens 427.
Charge coupled cell can measure the interference strength size of interference light 3., and record.Due to main body (i.e. dashed rectangle
Interior part) it can be moved up and down under the drive of moving parts, when measuring unit makees displacement up and down, locating height
It is different, i.e. the light path of the first beamlet 1. can change, but the light path of the second beamlet 2. does not change, therefore when measurement
The interference light intensity that charge coupled cell measures when unit moves up and down can change.When measuring unit is moved to certain position
When make the first beamlet 1. and when the second beamlet equivalent optical path 2. (before the distance between measuring unit and weldment being allowed to be equal to
The preset distance stated), the interference strength of charge coupled cell record is maximum.When moving parts move up and down, Charged Couple is first
The interference light intensity angle value of part record and the relationship of the location of measuring unit are as shown in Figure 5.
By taking the interferometry unit that build up either in single file is arranged as an example, referring to Fig. 6, controlling terminal is all in the generation row
After the relation curve of measuring unit, the point of maximum interference luminous intensity on curve is determined, inspection is reconstructed by the method for curve matching
Survey the profile of object.
Further, moving parts include：Rack gear 431, gear 432, stepper motor 433 and control unit；
Stepper motor 433 is fixedly installed on the inner wall of shell 41, and rack gear 431 is fixedly installed on the inner wall of main body 42,
The output shaft of stepper motor 433 is fixedly connected with gear 432, and gear 432 is engaged with rack gear 431, and control unit is for controlling step
Into the state of motor 433, such as start and stop, revolving speed, steering.It should be noted that the control unit is existing control chip, it can
To be integrated in the inside of interference measuring instrument.Usually after measuring instrument powers on start-up operation, then controls motor simultaneously and work.
When measuring instrument needs to scan the weld seam of certain length, i.e., the X-direction in Fig. 1 is scanned, then can control
Motor is periodically rotated, so that main body 42 is periodically moved up and down in shell 41, it should be noted that this
When main body 42 only carry out the movement in Z-direction, the movement in X-direction then has the realization of two axle movement platform.
The present invention detects the profile information of weld seam by white light interferometric instrument, records data, and the data obtained is transported to meter
Calculation machine, controlling terminal carry out profile reconstruct using data, recycle the contours extract Weld pipe mill of reconstruct, calculate Weld pipe mill and
Default center subtracts each other resulting error, drives the movement of two axle movement platform according to this control information.The invention can avoid structure lights
Deficiency, the serious disadvantage of light radiation interference are deformed on the weld seam of microgap with scanning laser.Also, mode obtained is more
Intuitively, it is directly easy to use algorithm process.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that：It still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of microgap welding seam tracking method, which is characterized in that including：
S1：It controls interference measuring instrument and emits light beam to weldment；
S2：It adjusts between the multiple interferometry units and the weldment in the interference measuring instrument in same level
Distance, while obtaining the interference light intensity of each interferometry unit measurement, wherein when the interferometry unit and institute
When stating the distance between weldment equal to preset distance, the interference light intensity of the interferometry unit is maximum；
S3：In relationship between the position and interference light intensity of each interferometry unit, according to each interference
Light measurement unit corresponding position in maximum interference luminous intensity reconstructs the weld seam of the weldment；
S4：According to the mobile weldment of position deviation between the weld seam of reconstruct and preset weld seam, so that described in laser alignment
The weld seam of weldment；
S5：S1 is re-execute the steps until completing the tracking to the weld seam on the weldment.
2. microgap welding seam tracking method according to claim 1, which is characterized in that described in each interferometry
In relationship between the position and interference light intensity of unit, according to each interference light measuring unit in maximum interference luminous intensity
When the corresponding position weld seam that reconstructs the weldment be specially：
The relation curve between the position and interference light intensity of each interferometry unit is generated, it is bent in each relationship
In line, according to each interference light measuring unit, in maximum interference luminous intensity, corresponding location point reconstructs the weldering of the weldment
Seam.
3. microgap welding seam tracking method according to claim 1, which is characterized in that described to adjust the interference measuring instrument
The distance between interior multiple interferometry units in same level and the weldment, while obtaining each interference
Measuring unit measurement interference light intensity be specially：
All interference are adjusted since the initial position that all interferometry units are located in the interference measuring instrument
The position of measuring unit so that the distance between all interferometry units and described weldment no more than it is described it is preset away from
From, and sampled in interference light intensity of the process of adjusting to each interferometry unit.
4. microgap welding seam tracking method according to claim 3, which is characterized in that described from all interferometries
The initial position that unit is located in the interference measuring instrument starts to adjust the position of all interferometry units, so that all
The distance between the interferometry unit and the weldment are specially no more than the preset distance：
All interference are adjusted since the initial position that all interferometry units are located in the interference measuring instrument
The position of measuring unit, so that the distance between each interferometry unit and described weldment are decreased to minimum by maximum value
Value increases to maximum value again, wherein the minimum value is not more than the pre-determined distance.
5. microgap welding seam tracking method according to any one of claims 1 to 4, which is characterized in that described according to weight
The mobile weldment of position deviation between the weld seam of structure and preset weld seam, so that the weld seam of weldment described in laser alignment is specific
For：
The central point for determining the weld seam of reconstruct, the central point of the weld seam of reconstruct is compared to obtain with the central point of preset weld seam
Position deviation between two points, according to the mobile weldment of the position deviation, so that the weldering of weldment described in laser alignment
Seam.
6. a kind of controlling terminal, which is characterized in that including：
Control module emits light beam to weldment for controlling interference measuring instrument；
Adjustment module, for adjust in the interference measuring instrument be located at same level on multiple interferometry units with it is described
The distance between weldment, while obtaining the interference light intensity of each interferometry unit measurement, wherein when the interference is surveyed
When measuring the distance between unit and the weldment equal to preset distance, the interference light intensity of the interferometry unit is maximum；
Reconstructed module, in the relationship between the position and interference light intensity of each interferometry unit, according to each
A interference light measuring unit corresponding position in maximum interference luminous intensity reconstructs the weld seam of the weldment；
Alignment modules, for the mobile weldment of position deviation between the weld seam and preset weld seam according to reconstruct, so that laser
Device is directed at the weld seam of the weldment；
Loop module, for control module described in retriggered until completing the tracking to the weld seam on the weldment.
7. a kind of microgap seam tracking system, which is characterized in that including：Two axle movement platform, laser, interference measuring instrument and
Controlling terminal as claimed in claim 6；
The controlling terminal is connect with the interference measuring instrument, the two axle movement Platform communication respectively；
The interference measuring instrument, the laser are fixedly connected on the pedestal of the two axle movement platform, and with it is described
The table top of two axle movement platform is oppositely arranged；
The two axle movement platform is used to place the weldment with weld seam；
The interference measuring instrument includes：Main body, shell and moving parts；
Multiple interferometry units in same level are installed, the main body is set to the shell in the main body
Inside, the main body is by the moving parts and the cage connection, and the moving parts are for adjusting the main body in institute
The position in shell is stated to adjust the distance between the main body and the weldment.
8. microgap seam tracking system according to claim 7, which is characterized in that the interferometry unit includes：
Light source, charge coupled cell, spectroscope, the first reflecting mirror, the second reflecting mirror and reference mirror；
The light beam of light source transmitting spectroscope described in directive after first reflecting mirror is divided into the first beamlet and second
Beamlet, weldment described in the first beamlet directive, then reflex to the spectroscope, second beamlet is by described the
Reference mirror described in directive after two-mirror, then along spectroscope described in original optical path again directive, first beamlet and described
Two beamlets interfere to form interference light at the spectroscope, charge coupled cell described in the final directive of interference light.
9. microgap seam tracking system according to claim 8, which is characterized in that first reflecting mirror and described the
Angle between two-mirror is 90 °, angle, second reflecting mirror and water between first reflecting mirror and level ground
Angle between plane earth is 45 °.
10. microgap seam tracking system according to claim 7, which is characterized in that the moving parts include：Tooth
Item, gear, stepper motor and control unit；
The stepper motor is fixedly installed on the inner wall of the shell, and the rack gear is fixedly installed in the inner wall of the main body
On, the output shaft of the stepper motor is fixedly connected with the gear, and the gear is engaged with the rack gear, described control unit
For controlling the state of the stepper motor.
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| CN111122591A (en) * | 2020-01-07 | 2020-05-08 | 上海柏楚数控科技有限公司 | Detection processing method, device and detection system for pipe welding seam |
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