CN108907456A - A kind of microgap welding seam tracking method, system and controlling terminal - Google Patents

Abstract

The embodiment of the present invention provides a micro-gap welding seam tracking method, system and control terminal, wherein the method includes: S1: controlling the interferometer to emit light beams to the weldment; S2: adjusting the interferometer located on the same horizontal plane The distance between multiple interferometric measurement units and the weldment, and simultaneously obtain the interference light intensity measured by each interferometric measurement unit, wherein, when the distance between the interferometric measurement unit and the weldment is equal to the preset distance, the interference light intensity of the interferometric measurement unit maximum intensity; S3: In the relationship between the position of each interferometric unit and the intensity of the interfering light, reconstruct the weld seam of the weldment according to the corresponding position of each interferometric unit at the maximum interfering light intensity; S4: According to the reconstruction The position deviation between the welded seam and the preset welded seam moves the weldment, so that the laser is aimed at the welded seam of the welded piece; S5: re-execute step S1 until the tracking of the welded seam on the welded piece is completed.

Description

A micro-gap welding seam tracking method, system and control terminal

technical field

The invention relates to the technical field of micro-gap welds, in particular to a micro-gap weld tracking method, system and control terminal.

Background technique

For laser welding technology, seam identification and tracking are part of the sensing part of automatic welding control, which is the premise of realizing welding automation.

The realization method of weld seam tracking is usually a visual sensing method, which usually uses structured light or scanning laser to detect the weld seam, both of which use the principle of optical triangulation measurement to obtain accurate distance, which is based on traditional triangulation measurement , the depth information of the point to be measured is calculated by the angle change produced by the offset of the point to be measured relative to the optical reference line. However, in the detection of micro-gap welds, it is difficult to extract the position information of micro-gap welds because the light of structured light or the scanning line of scanning laser deforms slightly at the weld.

Contents of the invention

The embodiment of the present invention provides a micro-gap weld tracking method, system and control terminal, which can effectively identify micro-gap welds, and the detection accuracy can reach micron level or even smaller, which can fully meet the needs of laser welding for micro-gap welds. requirements.

According to one aspect of the present invention, a micro-gap weld seam tracking method is provided, comprising:

S1: Control the interferometer to emit beams to the weldment;

S2: Adjust the distance between the plurality of interferometric units located on the same horizontal plane in the interferometer and the weldment, and at the same time obtain the interference light intensity measured by each of the interferometric units, wherein, when the interferometric When the distance between the unit and the weldment is equal to the preset distance, the interference light intensity of the interferometric measurement unit is maximum;

S3: In the relationship between the position of each of the interferometric measurement units and the intensity of the interference light, reconstruct the weld seam of the weldment according to the corresponding position of each of the interference measurement units at the maximum interference light intensity;

S4: moving the weldment according to the position deviation between the reconstructed weld and the preset weld, so that the laser is aligned with the weld of the weld;

S5: Re-execute step S1 until the tracking of the weld seam on the weldment is completed.

Preferably, in the relationship between the position of each of the interferometric measurement units and the intensity of interference light, the weld seam of the weldment is reconstructed according to the corresponding position of each of the interferometric measurement units at the maximum interference light intensity Specifically:

Generating a relationship curve between the position of each of the interferometric measurement units and the intensity of the interference light, in each of the relationship curves, reconstructing the The weld seam of the weldment.

Preferably, the adjusting the distance between the plurality of interferometric units located on the same horizontal plane in the interferometer and the weldment, and at the same time obtaining the interference light intensity measured by each of the interferometric units is specifically:

Adjust the positions of all the interferometric units from the initial positions of all the interferometric units in the interferometer, so that the distance between all the interferometric units and the weldment is not greater than the preset Set the distance, and sample the interference light intensity of each of the interferometric measurement units during the adjustment process.

Preferably, starting from the initial positions of all the interferometric units in the interferometer, the positions of all the interferometric units are adjusted so that the distances between all the interferometric units and the weldment are equal to Not greater than the preset distance specifically:

From the initial position of all the interferometric units in the interferometer, the positions of all the interferometric units are adjusted, so that the distance between each of the interferometric units and the weldment is reduced from a maximum value to The minimum value then increases to a maximum value, wherein the minimum value is not greater than the preset distance.

Preferably, the moving of the weldment according to the position deviation between the reconstructed weld and the preset weld so that the laser is aligned with the weld of the weld is specifically:

determining the center point of the reconstructed weld, comparing the center point of the reconstructed weld with the center point of the preset weld to obtain a positional deviation between the two points, and moving the weldment according to the positional deviation, Aiming the laser at the weld seam of the weldment.

According to another aspect of the present invention, a control terminal is provided, including:

The control module is used to control the interferometer to emit light beams to the weldment;

An adjustment module, configured to adjust the distance between the plurality of interferometric units located on the same horizontal plane in the interferometer and the weldment, and at the same time acquire the interference light intensity measured by each of the interferometric units, wherein, when the When the distance between the interferometric unit and the weldment is equal to the preset distance, the interference light intensity of the interferometric unit is maximum;

The reconstruction module is used to reconstruct the welding position of the weldment according to the corresponding position of each of the interference light measurement units at the maximum interference light intensity in the relationship between the position of each of the interference measurement units and the intensity of interference light. seam

an alignment module, configured to move the weldment according to the position deviation between the reconstructed weld and the preset weld, so that the laser is aligned with the weld of the weld;

A loop module is used to re-trigger the control module until the tracking of the weld seam on the weldment is completed.

According to another aspect of the present invention, a micro-gap seam tracking system is provided, including: a two-axis motion platform, a laser, an interferometer, and a control terminal as above;

The control terminal is connected in communication with the interferometer and the two-axis motion platform respectively;

Both the interferometer and the laser are fixedly connected to the base of the two-axis motion platform, and are set opposite to the table of the two-axis motion platform;

The two-axis motion platform is used to place weldments with welds;

The interferometer includes: a main body, a casing and a moving assembly;

A plurality of interferometric measurement units located on the same horizontal plane are installed in the main body, the main body is arranged inside the housing, the main body is connected with the housing through the moving assembly, and the moving assembly is used to adjust the The position of the main body in the shell is used to adjust the distance between the main body and the weldment.

Preferably, a micro-gap seam tracking system provided by the present invention further includes: a connecting frame;

The connecting frame is fixedly connected to the base of the two-axis motion platform, and the interferometer and the laser are both fixedly connected to the connecting frame through a clamp.

Preferably, the interferometric measurement unit includes: a light source, a charge-coupled element, a beam splitter, a first reflector, a second reflector and a reference mirror;

The light beam emitted by the light source passes through the first reflector and then shoots to the beam splitter to be divided into a first sub-beam and a second sub-beam, and the first sub-beam is directed to the weldment and then reflected to the The beam splitter, the second sub-beam passes through the second reflector and shoots to the reference mirror, and then shoots to the beam splitter again along the original optical path, the first sub-beam and the second sub-beam are at Interference occurs at the beam splitter to form interference light, and the interference light finally radiates to the charge-coupled element.

Preferably, the angle between the first reflector and the second reflector is 90°, the angle between the first reflector and the horizontal ground, the angle between the second reflector and the horizontal ground The angle between them is 45°.

Preferably, the moving assembly includes: a rack, a gear, a stepping motor and a control unit;

The stepper motor is fixedly mounted on the inner wall of the housing, the rack is fixedly mounted on the inner wall of the main body, the output shaft of the stepper motor is fixedly connected to the gear, and the gear is connected to the The rack is engaged, and the control unit is used to control the state of the stepping motor.

Preferably, several interferometric units are arranged in the main body in a single row or in an array.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

The embodiment of the present invention provides a micro-gap welding seam tracking method, system and control terminal, wherein the method includes: S1: controlling the interferometer to emit light beams to the weldment; S2: adjusting the interferometer located on the same horizontal plane The distance between multiple interferometric measurement units and the weldment, and simultaneously obtain the interference light intensity measured by each interferometric measurement unit, wherein, when the distance between the interferometric measurement unit and the weldment is equal to the preset distance, the interference light intensity of the interferometric measurement unit Maximum intensity; S3: In the relationship between the position of each interferometric unit and the intensity of the interfering light, reconstruct the weld seam of the weldment according to the corresponding position of each interferometric unit at the maximum interfering light intensity; S4: According to the reconstruction The position deviation between the welded seam and the preset welded seam moves the weldment, so that the laser is aimed at the welded seam of the welded piece; S5: re-execute step S1 until the tracking of the welded seam on the welded piece is completed. Based on the principle of white light interference, the present invention collects the three-dimensional profile information of the weldment seam through an interferometer, reconstructs the three-dimensional model of the weld seam based on the intensity of the interference light, and determines the reconstructed weld seam and the preset welding seam. The position deviation between seams can be compensated and moved finally. The invention can effectively identify micro-gap welds, and the detection accuracy can reach the micron level or even smaller, which can fully meet the requirements of laser welding for micro-gap welds.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic flow chart of an embodiment of a micro-gap seam tracking method provided by the present invention;

Fig. 2 is a structural schematic diagram of an embodiment of a micro-gap weld tracking system provided by the present invention;

Fig. 3 is another structural schematic diagram of an embodiment of a micro-gap seam tracking system provided by the present invention;

Fig. 4 is the structural representation of interferometric unit;

Fig. 5 is the schematic diagram of interferometric unit position and interfering intensity relation curve;

Fig. 6 is a schematic diagram of detecting the surface profile of an object by using a single-row interferometric unit group.

Detailed ways

The embodiment of the present invention provides a micro-gap weld tracking method, system and control terminal, which can effectively identify micro-gap welds, and the detection accuracy can reach micron level or even smaller, which can fully meet the needs of laser welding for micro-gap welds. requirements.

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1, an embodiment of a micro-gap welding seam tracking method provided by the present invention, including:

101. Control the interferometer to emit beams to the weldment;

It can be understood that each interferometric unit in the main body of the interferometer emits a light beam to the weldment, and the light beam passes through the surface of the weldment and is reflected back to the interior of each unit to form corresponding interference light inside each unit.

102. Adjust the distance between multiple interferometric units located on the same horizontal plane in the interferometer and the weldment, and obtain the interference light intensity measured by each interferometric unit at the same time, wherein, when the distance between the interferometric unit and the weldment When equal to the preset distance, the interference light intensity of the interferometric unit is maximum;

Since the main body of the interferometer contains multiple interferometric units located on the same horizontal plane, when adjusting the position of the main body in the interferometer, it is equivalent to adjusting the distance between each interferometric unit and the weldment at the same time, and when the interferometric unit When the distance from the weldment is equal to the preset distance, the interference light intensity of the interferometric unit is maximum. The preset distance is related to the internal structure of the interferometric unit. The preset distance can be obtained by setting the internal structure of the measurement unit.

103. In the relationship between the position of each interferometric measurement unit and the intensity of interference light, reconstruct the weld seam of the weldment according to the corresponding position of each interferometric measurement unit at the maximum interference light intensity;

In the process of adjusting the position, the interference light intensity of each interferometric unit can be continuously obtained. Since the position of the interferometric unit changes at any time, the corresponding interference light intensity also changes accordingly. Therefore, each interferometric unit can The obtained interference light image is analyzed to obtain the interference light intensity data corresponding to the image, and the corresponding relationship between the interference light intensity and the position is used as the basis for determining the position of the weld on the weldment.

Since the main body contains multiple interferometric units, the corresponding relationship between the interference light intensity and position of each unit is different, so the weld seam of the weldment can be reconstructed based on the point with the highest interference light intensity on each unit .

104. Move the weldment according to the position deviation between the reconstructed weld and the preset weld, so that the laser is aligned with the weld of the weld.

Compare the reconstructed weld seam with the preset weld seam to obtain the position deviation, and then move the position of the weldment so that the laser is aimed at the weld seam of the weldment. It should be noted that the preset weld seam can be set in advance according to the weld seam of the weldment to be laser welded.

105. Re-execute step 101 until the tracking of the weld seam on the weldment is completed.

Since steps 101 to 104 are performed each time to complete the positioning of the weld seam on the weldment, in order to complete the tracking of the entire weld seam on the weldment, steps 101 to 104 may be executed repeatedly.

Based on the principle of white light interference, the present invention collects the three-dimensional profile information of the weldment seam through an interferometer, reconstructs the three-dimensional model of the weld seam based on the intensity of the interference light, and determines the reconstructed weld seam and the preset welding seam. The position deviation between seams can be compensated and moved finally. The invention can effectively identify micro-gap welds, and the detection accuracy can reach the micron level or even smaller, which can fully meet the requirements of laser welding for micro-gap welds.

When obtaining the corresponding relationship between the position of the interferometric unit and the intensity of interference light in real time, in order to more accurately determine the position of each interferometric unit when the maximum interference light intensity is measured, optionally, each interferometric unit can be The relationship between the position and the interference light intensity is presented in the form of a relationship curve, and then in each relationship curve, the weld seam of the weldment is reconstructed according to the corresponding position point of each interference light measurement unit at the maximum interference light intensity.

In the present invention, not every interferometric unit irradiates the weld seam of the weldment, and the light beams of some measuring units are directly irradiated on the surface of the weldment, because when adjusting the position of the interferometric unit, all the measuring units are On the same level, assuming that the weld on the weldment is groove-shaped on the weldment, the distance between the interferometric unit aligned with the weld and the weldment is greater than the distance between the interferometric unit aligned with the surface of the weld and the weldment distance (the opposite is true if the weld seam is convex), therefore, in order to realize the reconstruction of the weld seam of the weldment, among all the interferometric measurement units inside the main body, at least some of the interferometric measurement units must be able to measure the maximum intensity of interference light (That is, the distance between the interferometric unit and the weldment is equal to the preset distance).

As a preferred solution, in order to optimize the reproduction effect of the reconstructed weld seam, each interferometric unit can obtain the most intense interference light, so it is necessary to make sufficient adjustments to the main body position of the entire interferometer, optional , the adjustment process can be:

In the interferometer, the position of the main body is adjusted from the initial position of the main body in the interferometer, so that the distance between each interferometric unit and the weldment decreases from the maximum value to the minimum value and then increases to the maximum value, wherein , the minimum value is not greater than the preset distance.

It can be understood that the present invention obtains the preset distance through pre-experimentation, and since all the interferometric units are located on the same horizontal plane, it only needs to ensure that the minimum distance between each interferometric unit and the weldment is not greater than the preset distance Just the distance.

Optionally, determining the position deviation between the reconstructed weld seam and the preset weld seam can be performed by comparing the center points of the two, specifically: determining the center point of the reconstructed weld seam, and converting the reconstructed weld seam Compare the center point of the center point with the center point of the preset welding seam to obtain the position deviation between the two points, and move the weldment according to the position deviation so that the laser is aimed at the weld seam of the weldment. Using the center point as the position information for comparison can improve the overall comparison efficiency and facilitate subsequent deviation compensation.

The above is a detailed description of a micro-gap welding seam tracking method provided by the present invention. The structure and connection relationship of a control terminal provided by the present invention will be described below. An embodiment of a control terminal provided by the present invention, include:

The control module is used to control the interferometer to emit light beams to the weldment;

The adjustment module is used to adjust the distance between the multiple interferometric units located on the same horizontal plane in the interferometer and the weldment, and at the same time obtain the interference light intensity measured by each interferometric unit, wherein, when the interferometric unit and the weldment When the distance between is equal to the preset distance, the interference light intensity of the interferometric unit is maximum;

The reconstruction module is used to reconstruct the weld seam of the weldment according to the corresponding position of each interferometric light measurement unit at the maximum interference light intensity in the relationship between the position of each interferometric light measurement unit and the intensity of interference light;

an alignment module, configured to move the weldment according to the position deviation between the reconstructed weld and the preset weld, so that the laser is aligned with the weld of the weld;

A loop module is used to retrigger the control module until the tracking of the weld seam on the weldment is completed.

Optionally, the reconstruction module is also used to generate a relationship curve between the position of each interferometric measurement unit and the intensity of interference light. In each relationship curve, according to the corresponding position point of each interference measurement unit at the maximum interference light intensity Restructures the welds of a weldment.

Optionally, the adjustment module is also used to adjust the positions of all interferometric units from the initial position of all interferometric units in the interferometer, so that the distance between all interferometric units and the weldment is not greater than a preset distance, And during the adjustment process, the interference light intensity of each interferometric measurement unit is sampled.

Optionally, the adjustment module is also used to adjust the positions of all interferometric units from the initial position of all interferometric units in the interferometer, so that the distance between each interferometric unit and the weldment is reduced from a maximum value to a minimum The value is then increased to the maximum value, and the interference light intensity of each interferometric unit is sampled during the adjustment process, wherein the minimum value is not greater than the preset distance.

Optionally, the reconstruction module is also used to determine the center point of the reconstructed weld, compare the center point of the reconstructed weld with the center point of the preset weld to obtain the position deviation between the two points, according to The position offset moves the weldment so that the laser is aimed at the weld seam of the weldment.

A micro-gap seam tracking system provided by the present invention will be described below, please refer to Fig. 2 and Fig. 3, an embodiment of a micro-gap seam tracking system provided by the present invention includes: a two-axis motion platform 2, Laser 3 and interferometer 4 and control terminal 1 as described above;

The control terminal 1 communicates with the interferometer 4 and the two-axis motion platform 2 respectively;

Both the interferometer 4 and the laser 3 are fixedly connected to the base 21 of the two-axis motion platform 2, and are set opposite to the table 22 of the two-axis motion platform 2;

The two-axis motion platform 2 is used to place the weldment 5 with the weld seam;

Referring to Fig. 4, the interferometer includes: a main body 42, a housing 41 and a moving assembly 43;

Several interferometric units are installed in the main body 42, and the several interferometric units are arranged in the main body in a single row or in an array. FIG. 4 only shows one interferometric unit as an example.

The main body 42 is disposed inside the shell 41 , and the main body 42 is connected with the shell 41 through a moving assembly 43 , which is used to adjust the position of the main body 42 in the shell 41 to adjust the distance between the main body 42 and the weldment 5 .

In this embodiment, the purpose of seam tracking is to control the emitting head of the laser 3 to align with the seam. The two-axis motion platform can realize the movement in the X direction and the Y direction. In the actual seam tracking movement, the platform moves in one direction in the X direction to complete the lateral feeding of laser and white light, and makes a reciprocating movement in the Y direction to complete the deviation correction movement. .

The interferometer 4 is a white light interferometer, placed directly above the weldment 5, it can acquire a series of interference light intensity images within its visual range, and transmit these images to the control terminal 1, and the control terminal 1 uses the data to reconstruct The outline of the weld is obtained, and then the position information of the center of the weld is extracted. By comparing the preset center with the obtained weld center, a position deviation signal in the Y direction is obtained, and the deviation signal is used to control the movement of the platform in the Y direction to reduce the deviation.

Furthermore, a micro-gap welding seam tracking system provided by the present invention also includes: a connecting frame 8, which may be in the shape of a gantry;

The connecting frame 8 is fixedly connected to the base 21 of the two-axis motion platform 2 , and the interferometer 4 and the laser 3 are fixedly connected to the connecting frame 8 through the clamps 6 and 7 respectively.

Further, the interferometric unit includes: a light source 421, a charge-coupled element 422, a beam splitter 423, a first reflector 424, a second reflector 425 and a reference mirror 426;

The included angle between the first reflecting mirror 424 and the second reflecting mirror 425 is 90°, the included angle between the first reflecting mirror 424 and the horizontal ground, and the included angle between the second reflecting mirror 425 and the horizontal ground are both 45°. °.

The light beam emitted by the light source 421 passes through the first reflector 424 and then shoots to the beam splitter 423 and is divided into a first sub-beam ① and a second sub-beam ②. The second sub-beam ② passes through the second reflector 425 and shoots to the reference mirror 426, and then goes to the beam splitter 423 again along the original optical path. The first sub-beam ① and the second sub-beam ② interfere at the beam splitter 423 to form interference light ③ , the interference light ③ finally shoots to the charge-coupled device 422 .

In order to keep the light beam in a parallel state in the optical path, it can be selectively placed between the light source 421 and the first reflector 424, between the first reflector 424 and the beam splitter 423, between the beam splitter 423 and the second reflector according to actual needs. 425 , between the second reflection mirror 425 and the reference mirror 426 , between the beam splitter 426 and the CCD 422 , and between the beam splitter 426 and the platform.

The charge-coupled device can measure and record the interference intensity of the interference light ③. Since the main body (that is, the part inside the dotted box) can move up and down driven by the moving component, when the measuring unit moves up and down, its height is different, that is, the optical path of the first sub-beam ① will change , but the optical path of the second sub-beam ② does not change, so when the measuring unit moves up and down, the interference light intensity measured by the charge-coupled device will change. When the measurement unit moves to a certain position to make the optical paths of the first sub-beam ① and the second sub-beam ② equal (that is, make the distance between the measurement unit and the weldment equal to the aforementioned preset distance), the charge-coupled device records The interference intensity is the largest. When the moving component moves up and down, the relationship between the interference light intensity value recorded by the charge-coupled device and the position of the measuring unit is shown in Figure 5.

Take the interferometric measurement unit arranged in a single row as an example, please refer to Figure 6. After the control terminal generates the relationship curve of all the measurement units in the row, it determines the point on the curve with the maximum interference light intensity, and reconstructs it by curve fitting method The outline of the detection object.

Furthermore, the motion assembly includes: a rack 431, a gear 432, a stepper motor 433 and a control unit;

The stepper motor 433 is fixedly installed on the inner wall of the housing 41, the rack 431 is fixedly installed on the inner wall of the main body 42, the output shaft of the stepper motor 433 is fixedly connected with the gear 432, the gear 432 meshes with the rack 431, and the control unit is used for Control the state of the stepper motor 433, such as start and stop, speed, steering, etc. It should be noted that the control unit is an existing control chip and can be integrated inside the interferometer. Usually when the measuring instrument is powered on and starts to work, the motor is controlled to work at the same time.

When the measuring instrument needs to scan a certain length of weld seam, that is, scan along the X direction in Fig. 1, the motor can be controlled to rotate periodically, so that the main body 42 moves up and down periodically in the shell 41, which needs to be explained Yes, at this time the main body 42 only moves in the Z direction, and the movement in the X direction is realized by a two-axis motion platform.

The present invention detects the contour information of the weld through a white light interferometer, records the data, and transmits the obtained data to the computer. The control terminal uses the data to reconstruct the contour, and then uses the reconstructed contour to extract the weld center, calculate the weld center and preset The error obtained by center subtraction is used to drive the two-axis motion platform to move according to the error information. The invention can avoid the disadvantages of insufficient deformation of the micro-gap welding seam and serious interference by light radiation by structured light and scanning laser. Moreover, the obtained patterns are more intuitive, directly and easily processed by algorithms.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and other media that can store program codes.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions recorded in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A micro-gap seam tracking method, characterized in that, comprising: S1: Control the interferometer to emit beams to the weldment; S2: Adjust the distance between the plurality of interferometric units located on the same horizontal plane in the interferometer and the weldment, and at the same time obtain the interference light intensity measured by each of the interferometric units, wherein, when the interferometric When the distance between the unit and the weldment is equal to the preset distance, the interference light intensity of the interferometric measurement unit is maximum; S3: In the relationship between the position of each of the interferometric measurement units and the intensity of the interference light, reconstruct the weld seam of the weldment according to the corresponding position of each of the interference measurement units at the maximum interference light intensity; S4: moving the weldment according to the position deviation between the reconstructed weld and the preset weld, so that the laser is aligned with the weld of the weld; S5: Re-execute step S1 until the tracking of the weld seam on the weldment is completed. 2. The micro-gap welding seam tracking method according to claim 1, characterized in that, in the relationship between the position of each of the interferometric measurement units and the intensity of interference light, according to each of the interferometric measurement units in The corresponding position when the maximum interference light intensity reconstructs the weld of the weldment is specifically: Generating a relationship curve between the position of each of the interferometric measurement units and the intensity of the interference light, in each of the relationship curves, reconstructing the The weld seam of the weldment. 3. micro-gap welding seam tracking method according to claim 1, is characterized in that, the distance between a plurality of interferometric measurement units positioned on the same horizontal plane and the weldment in the described interferometer is adjusted, and simultaneously Obtaining the intensity of interference light measured by each of the interferometric measurement units is specifically: Adjust the positions of all the interferometric units from the initial positions of all the interferometric units in the interferometer, so that the distance between all the interferometric units and the weldment is not greater than the preset Set the distance, and sample the interference light intensity of each of the interferometric measurement units during the adjustment process. 4. The micro-gap seam tracking method according to claim 3, characterized in that, starting from the initial position of all the interferometric units in the interferometer to adjust the positions of all the interferometric units, Make the distance between all the interferometric units and the weldment not greater than the preset distance, specifically: From the initial position of all the interferometric units in the interferometer, the positions of all the interferometric units are adjusted, so that the distance between each of the interferometric units and the weldment is reduced from a maximum value to The minimum value then increases to a maximum value, wherein the minimum value is not greater than the preset distance. 5. The micro-gap weld seam tracking method according to any one of claims 1 to 4, wherein the weldment is moved according to the positional deviation between the reconstructed weld seam and the preset weld seam, so that The weld seam where the laser is aimed at the weldment is specifically: determining the center point of the reconstructed weld, comparing the center point of the reconstructed weld with the center point of the preset weld to obtain a positional deviation between the two points, and moving the weldment according to the positional deviation, Aiming the laser at the weld seam of the weldment. 6. A control terminal, characterized in that, comprising: The control module is used to control the interferometer to emit light beams to the weldment; An adjustment module, configured to adjust the distance between the plurality of interferometric units located on the same horizontal plane in the interferometer and the weldment, and at the same time acquire the interference light intensity measured by each of the interferometric units, wherein, when the When the distance between the interferometric unit and the weldment is equal to the preset distance, the interference light intensity of the interferometric unit is maximum; The reconstruction module is used to reconstruct the welding position of the weldment according to the corresponding position of each of the interference light measurement units at the maximum interference light intensity in the relationship between the position of each of the interference measurement units and the intensity of interference light. seam an alignment module, configured to move the weldment according to the position deviation between the reconstructed weld and the preset weld, so that the laser is aligned with the weld of the weld; A loop module is used to re-trigger the control module until the tracking of the weld seam on the weldment is completed. 7. A micro-gap seam tracking system, characterized in that it comprises: a two-axis motion platform, a laser, an interferometer and a control terminal as claimed in claim 6; The control terminal is connected in communication with the interferometer and the two-axis motion platform respectively; Both the interferometer and the laser are fixedly connected to the base of the two-axis motion platform, and are set opposite to the table of the two-axis motion platform; The two-axis motion platform is used to place weldments with welds; The interferometer includes: a main body, a casing and a moving assembly; A plurality of interferometric measurement units located on the same horizontal plane are installed in the main body, the main body is arranged inside the housing, the main body is connected with the housing through the moving assembly, and the moving assembly is used to adjust the The position of the main body in the shell is used to adjust the distance between the main body and the weldment. 8. The micro-gap seam tracking system according to claim 7, wherein the interferometric unit comprises: a light source, a charge-coupled element, a beam splitter, a first reflector, a second reflector and a reference mirror; The light beam emitted by the light source passes through the first reflector and then shoots to the beam splitter to be divided into a first sub-beam and a second sub-beam, and the first sub-beam is directed to the weldment and then reflected to the The beam splitter, the second sub-beam passes through the second reflector and shoots to the reference mirror, and then shoots to the beam splitter again along the original optical path, the first sub-beam and the second sub-beam are at Interference occurs at the beam splitter to form interference light, and the interference light finally shoots to the charge-coupled element. 9. The micro-gap seam tracking system according to claim 8, wherein the angle between the first reflector and the second reflector is 90°, and the angle between the first reflector and the horizontal The included angle between the ground and the included angle between the second reflector and the horizontal ground are both 45°. 10. The micro-gap seam tracking system according to claim 7, characterized in that, the moving assembly comprises: a rack, a gear, a stepping motor and a control unit; The stepper motor is fixedly mounted on the inner wall of the housing, the rack is fixedly mounted on the inner wall of the main body, the output shaft of the stepper motor is fixedly connected to the gear, and the gear is connected to the The rack is engaged, and the control unit is used to control the state of the stepping motor.