CN109304543A - Dual-beam laser welding control method based on bilateral benchmark - Google Patents
Dual-beam laser welding control method based on bilateral benchmark Download PDFInfo
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- CN109304543A CN109304543A CN201710828219.4A CN201710828219A CN109304543A CN 109304543 A CN109304543 A CN 109304543A CN 201710828219 A CN201710828219 A CN 201710828219A CN 109304543 A CN109304543 A CN 109304543A
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- weld seam
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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
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention provides a kind of dual-beam laser welding control methods based on bilateral benchmark, it include: the selection received to the first weld seam chain and the second weld seam chain to be welded in pairs using first laser beam and second laser beam in the threedimensional model of welded workpiece, wherein first laser beam is for welding the first weld seam chain, and second laser beam is for welding the second weld seam chain；For every butt welding contact on the first weld seam chain and the second weld seam chain, wherein every butt welding contact includes the second pad corresponding with the first pad on the first pad and the second weld seam chain on the first weld seam chain: obtaining the first welding data of the first pad and the second welding data of the second pad；And position and the posture for being used to control the laser soldering device of transmitting first laser beam and second laser beam are calculated according to the first welding data and the second welding data；And position and the posture of the laser soldering device according to determined by for every butt welding contact, it controls the laser soldering device and the first weld seam chain and the second weld seam chain is welded in pairs using first laser beam and second laser beam.
Description
Technical field
Present invention relates in general to Computerized Numerical Control processing technology fields, relate more specifically to a kind of dual-beam based on bilateral benchmark
Laser welding control method and the related device for realizing this method, can be applied to the welding of such as aerospace component.
Background technique
Laser welding is that have welding speed fast, high-efficient with the welding technique of high energy density laser Shu Zuowei heat source
The characteristics of.Since laser beam can focus in very small region, so heat-affected zone, metallographic variation range, heat transfer deformation
It is all smaller.Meanwhile the technology also have welding material range it is wide, without consider electrode fouling or it is impaired, without vacuum environment, no
Many advantages, such as affected by magnetic fields, thus be widely applied in industry such as ship, automobile, chemical industry, electronics.Tradition at present
" one side welding with back formation " technique be easily destroyed the integrality of weldment and weld seam, and weld stringer structure parallel using dual-beam
It then can effectively avoid this defect.Especially in aviation field, there is great advantage in the welding of aerospace component.
It could be theoretically argued that workpiece to be welded and its 3-D geometric model are completely the same, however practical work piece is due to manufacture or clamping
Etc. reasons will appear certain deviation, may be inconsistent so as to cause two sides characteristics of weld seam and theoretical model.If only with six axis
The Machine-Tool Control dual-beam welding meeting of linkage is so that two sides weld locations can not be taken into account.It thus must be introduced into seam tracking system
Adaptive motion is locally being carried out, practical bond pad locations are corrected.Seam tracking system is in current welding position to weld seam and laser
Deviation between hot spot is identified, is then finely adjusted according to deviation to laser head, and laser facula exact shift is enable to weld
It sews on.The system is the current general and effective hand for solving deviation between theoretical digital-to-analogue and practical work piece in laser welding field
Section.
In the single beam welding field of aerospace component, usually the focus of laser beam (apart from laser head on laser beam
The point of distance to a declared goal, the laser energy at the point are best suited for welding) as cutter location (also referred to as pad), radiating laser beams
Opposite direction as tool axis direction.The unilateral reference trajectory rule towards dual-beam laser welding based on the building of this method
It plans and is slightly: constructing a series of faces of leading (two beam laser locating plane in welding) first and be used as working laser beam plane,
Then (assign side laser beam foucing as cutter location, which swears as cutter shaft on the basis of the laser beam of side
Direction is measured, only guarantees that unilateral alignment, other side laser beam completely carry out following movement) it is planned.This method is for equidistant
The case where parallel weld seam, can be applicable in, but the case where other non-equidistant weld seams can not be then applicable in.
Summary of the invention
To solve the above-mentioned problems, the invention proposes a kind of dual-beam laser welding mechanism based on bilateral benchmark, should
Mechanism considers the geological information of bilateral weld seam simultaneously, and according to reference geometry (plane or curved surface where two weld seams) and laser
Beam parameter generates dual-beam laser welding path.
According to the first aspect of the invention, a kind of dual-beam laser welding control method based on bilateral benchmark is provided.
This method comprises: receiving will be carried out in pairs in the threedimensional model of welded workpiece using first laser beam and second laser beam
The selection of the first weld seam chain and the second weld seam chain of welding, wherein first laser beam is for welding the first weld seam chain, second laser
Beam is for welding the second weld seam chain；For every butt welding contact on the first weld seam chain and the second weld seam chain, wherein often
Butt welding contact includes corresponding with the first pad on the first pad and the second weld seam chain on the first weld seam chain
The second pad: obtain the first pad the first welding data and the second pad the second welding data；And according to
First welding data and the second welding data calculate the Laser Welding tipping for controlling transmitting first laser beam and second laser beam
The position set and posture；And position and the posture of the laser soldering device according to determined by for every butt welding contact, control institute
Laser soldering device is stated to weld the first weld seam chain and the second weld seam chain in pairs using first laser beam and second laser beam.
In one embodiment, this method further include: receive to the same ginseng where the first weld seam chain and the second weld seam chain
Examine the selection of geometric surface.
In one embodiment, this method further include: setting is relevant to the first laser beam and second laser beam to swash
Light beam parameters.The parameters of laser beam includes: the laser beam angle between the first laser beam and second laser beam；And/or
Deflection angle of the first laser beam relative to the direction of normal with reference to geometric surface at the first pad.
In one embodiment, the deflection angle is the half of the laser beam angle.
In one embodiment, second pad be by first pad and with first pad
The weld seam at place cuts the intersection point of the vertical plane and the second weld seam chain in arrow direction.
In one embodiment, the first welding data includes that the coordinate of the first pad, the weld seam at the first pad are cut
The opposite direction of the action direction of arrow direction and the first laser beam at the first pad and the second welding data include
The opposite direction of the action direction of the coordinate of second pad and the second laser beam at the second pad.
In one embodiment, the opposite direction of action direction of the first laser beam at the first pad is by described
Arrow direction and the first pad are cut around the weld seam by the first pad with reference to direction of normal of the geometric surface at the first pad
Identified axis rotates what the deflection angle obtained.
In one embodiment, the opposite direction of action direction of the second laser beam at the second pad is by described
The opposite direction of action direction of the first laser beam at the first pad cuts arrow direction and the around the weld seam by the first pad
Axis slewed laser beam angle determined by one pad obtains.
In one embodiment, for controlling the position of the laser soldering device of transmitting first laser beam and second laser beam
It include: intersection point of the first laser beam by first pad with second laser beam by second pad with posture
Coordinate；The point of intersection cuts arrow direction, and the arrow direction of cutting of the point of intersection is that the weld seam at first pad cuts arrow side
To；And virtual welding direction, the virtual welding direction are using the intersection point as the first laser beam of starting point and second laser
Bisector of angle between beam.
In one embodiment, the first weld seam chain and the second weld seam chain include one or more continuous straight
It connects or curve.
In one embodiment, this method further include: the first weld seam chain and the second weld seam chain are welded in determination in pairs
Welding direction.
According to the second aspect of the invention, a kind of dual-beam laser welding control device based on bilateral benchmark is provided.
The device includes: communication interface；At least one processor；And memory, described at least one described processing of memory storage
The executable instruction of device, described instruction control the dual-beam laser welding when being executed by least one described processor
Device: it receives to be welded in pairs using first laser beam and second laser beam in the threedimensional model of welded workpiece
The selection of first weld seam chain and the second weld seam chain, wherein first laser beam is used for for welding the first weld seam chain, second laser beam
Weld the second weld seam chain；For every butt welding contact on the first weld seam chain and the second weld seam chain, wherein each pair of welding
Point includes on the first pad and the second weld seam chain on the first weld seam chain corresponding with the first pad second
Pad: the first welding data of the first pad and the second welding data of the second pad are obtained；And according to the first weldering
It connects data and the second welding data calculates the position of the laser soldering device for controlling transmitting first laser beam and second laser beam
It sets and posture；And position and the posture of the laser soldering device according to determined by for every butt welding contact, control the laser
Welder welds the first weld seam chain and the second weld seam chain using first laser beam and second laser beam in pairs.
In one embodiment, described instruction swashs the dual-beam when being executed by least one described processor
Photocoagulation control device: it receives to the same selection with reference to geometric surface where the first weld seam chain and the second weld seam chain.
In one embodiment, described instruction swashs the dual-beam when being executed by least one described processor
Photocoagulation control device: setting parameters of laser beam relevant to the first laser beam and second laser beam.The laser beam ginseng
Number includes: the laser beam angle between the first laser beam and second laser beam；And/or the first laser beam is relative to institute
State the deflection angle with reference to direction of normal of the geometric surface at the first pad.
In one embodiment, the deflection angle is the half of the laser beam angle.
In one embodiment, second pad be by first pad and with first pad
The weld seam at place cuts the intersection point of the vertical plane and the second weld seam chain in arrow direction.
In one embodiment, the first welding data includes that the coordinate of the first pad, the weld seam at the first pad are cut
The opposite direction of the action direction of arrow direction and the first laser beam at the first pad and the second welding data include
The opposite direction of the action direction of the coordinate of second pad and the second laser beam at the second pad.
In one embodiment, the parameters of laser beam includes that the first laser beam exists relative to described with reference to geometric surface
The action direction of the deflection angle of direction of normal at first pad and the first laser beam at the first pad
Opposite direction is to cut arrow side around the weld seam by the first pad by the direction of normal with reference to geometric surface in the first pad
To what is obtained with axis rotating and excursion angle determined by the first pad.
In one embodiment, the parameters of laser beam includes the folder between the first laser beam and second laser beam
The opposite direction of the action direction of angle and the second laser beam at the second pad is by the first laser beam first
The opposite direction of action direction at pad is cut determined by arrow direction and the first pad around the weld seam by the first pad
Axis slewed laser beam angle obtains.
In one embodiment, for controlling the position of the laser soldering device of transmitting first laser beam and second laser beam
It include: intersection point of the first laser beam by first pad with second laser beam by second pad with posture
Coordinate；The point of intersection cuts arrow direction, and the arrow direction of cutting of the point of intersection is that the weld seam at first pad cuts arrow side
To；And virtual welding direction, the virtual welding direction are using the intersection point as the first laser beam of starting point and second laser
Bisector of angle between beam.
In one embodiment, the first weld seam chain and the second weld seam chain include one or more continuous straight
It connects or curve.
In one embodiment, described instruction swashs the dual-beam when being executed by least one described processor
Photocoagulation control device: the welding direction welded in pairs to the first weld seam chain and the second weld seam chain is determined.
According to the third aspect of the invention we, a kind of computer storage medium is provided, computer executable instructions are stored with.
The computer executable instructions are by least one processor of the dual-beam laser welding control device based on bilateral benchmark
When execution, make the dual-beam laser welding control device: first will be utilized in the threedimensional model of welded workpiece by receiving
The selection of the first weld seam chain and the second weld seam chain that laser beam and second laser beam are welded in pairs, wherein first laser beam is used
In welding the first weld seam chain, second laser beam is for welding the second weld seam chain；For the first weld seam chain and second weldering
Every butt welding contact on chain is stitched, wherein every butt welding contact includes the first pad and second weldering on the first weld seam chain
It stitches the second pad corresponding with the first pad on chain: obtaining the first welding data and the second pad of the first pad
The second welding data；And according to the first welding data and the second welding data calculate for control transmitting first laser beam and
The position of the laser soldering device of second laser beam and posture；And the tipping of the Laser Welding according to determined by for every butt welding contact
The position set and posture control the laser soldering device using first laser beam and second laser beam to the first weld seam chain and the
Two weld seam chains are welded in pairs.
In one embodiment, the computer executable instructions are by the dual-beam laser welding control based on bilateral benchmark
When at least one processor of device processed executes, also make the dual-beam laser welding control device: receiving to the first weld seam chain
The same selection with reference to geometric surface where with the second weld seam chain.
In one embodiment, the computer executable instructions are by the dual-beam laser welding control based on bilateral benchmark
When at least one processor of device processed executes, also make the dual-beam laser welding control device: setting swashs with described first
Light beam and the relevant parameters of laser beam of second laser beam.The parameters of laser beam includes: the first laser beam and second laser
Laser beam angle between beam；And/or the first laser beam is relative to the method with reference to geometric surface at the first pad
Swear the deflection angle in direction.
In one embodiment, the deflection angle is the half of the laser beam angle.
In one embodiment, second pad be by first pad and with first pad
The weld seam at place cuts the intersection point of the vertical plane and the second weld seam chain in arrow direction.
In one embodiment, the first welding data includes that the coordinate of the first pad, the weld seam at the first pad are cut
The opposite direction of the action direction of arrow direction and the first laser beam at the first pad and the second welding data include
The opposite direction of the action direction of the coordinate of second pad and the second laser beam at the second pad.
In one embodiment, the opposite direction of action direction of the first laser beam at the first pad is by described
Arrow direction and the first pad are cut around the weld seam by the first pad with reference to direction of normal of the geometric surface at the first pad
What identified axis rotating and excursion angle obtained.
In one embodiment, the opposite direction of action direction of the second laser beam at the second pad is by described
The opposite direction of action direction of the first laser beam at the first pad cuts arrow direction and the around the weld seam by the first pad
Axis slewed laser beam angle determined by one pad obtains.
In one embodiment, for controlling the position of the laser soldering device of transmitting first laser beam and second laser beam
It include: intersection point of the first laser beam by first pad with second laser beam by second pad with posture
Coordinate；The point of intersection cuts arrow direction, and the arrow direction of cutting of the point of intersection is that the weld seam at first pad cuts arrow side
To；And virtual welding direction, the virtual welding direction are using the intersection point as the first laser beam of starting point and second laser
Bisector of angle between beam.
Above-mentioned technical proposal according to the present invention, the present invention carry out double light beam laser weldering as benchmark using bilateral weld seam chain
It connects, is able to solve the defect of unilateral reference trajectory planning strategy, dual-beam laser welding is enable to be suitable for non-equidistant weld seam
Weld situation.
Detailed description of the invention
By illustrating the preferred embodiment of the present invention with reference to the accompanying drawing, above and other target of the invention, spy will be made
Advantage of seeking peace is clearer, in which:
Fig. 1 is to show the schematic diagram of the application scenarios of welding processing system 100 according to the present invention.
Fig. 2 is to show the timing diagram of the exemplary operations 200 of welding processing system 100 according to an embodiment of the present invention.
Fig. 3 and 4 respectively illustrates the schematic diagram of the applicable weld seam chain of the present invention.
Fig. 5 schematically shows example cutting location data according to an embodiment of the present invention.
Fig. 6 shows the illustrated section figure of the applicable weld seam chain of the embodiment of the present invention.
Fig. 7 shows the schematic illustration of dual-beam laser welding according to an embodiment of the present invention.
Fig. 8 is to show the dual-beam laser welding control method 800 according to an embodiment of the present invention based on bilateral benchmark
Schematic flow chart.
Fig. 9 is to show the dual-beam laser welding control device 900 according to an embodiment of the present invention based on bilateral benchmark
Structural block diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
When part is "connected" to another element, it can be directly connected to other elements, or there may also be intermediary elements.In addition,
" connection " used herein may include being wirelessly connected.Wording "and/or" used herein includes one or more associated
The whole for listing item or any cell and all combination.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
Fig. 1 is to show the schematic diagram of the application scenarios of welding processing system 100 according to the present invention.As shown in Figure 1, weldering
Connecing system of processing 100 may include path planning end 110 and welding ends 120.
Welding ends 120 is used to carry out dual-beam laser welding to welded workpiece.As shown in Figure 1, dual-beam laser welding
It is the laser beam that is formed an angle using two beams to pairs of two weld seams (such as T-type weld seam common in aerospace component
Two sides) it acts on simultaneously, and do welding fabrication along bead direction and move.The track of welding fabrication movement needs the shape according to weld seam
It is reasonably planned with position, just can guarantee the stability of welding process.Welding ends 120 may include lathe
(not shown) and the laser soldering device being mounted on lathe are (for example, plumb joint 7 as shown in Figure 1 and be fixed on welding
Two laser generators 6 on head).For example, lathe can be the lathe of six-axis linkage, for driving two laser generators pair
Workpiece (workpiece 8 with T-type weld seam as shown in Figure 1) to be welded carries out bilateral welding.
Path planning end 110 is used to cook up the rail of reasonable welding fabrication movement according to the threedimensional model of welded workpiece
Mark (also referred to as dual-beam laser welding path).Path planning end 110 may include the path planning client being installed therein
(not shown).For example, the path planning client can be browser or other application programs appropriate.User can pass through
Path planning client selects to carry out two side welds of dual-beam welding from the threedimensional model of welded workpiece.Path planning
Client can plan reasonable path of welding, and the welding that will be planned for two selected side welds according to the selection of user
Centralized path notification to welding ends 120, with control welding ends 120 according to two side welds of the path of welding planned to selection carry out at
To welding.For example, path planning end 110, which can be handheld computer, laptop computer, tablet computer etc., has threedimensional model
The arbitrary equipment of analysis and processing capacity.
Path planning end 110 can be connected with welding ends 120 by communication network 130.Communication network 130 can be wired
Or it is wireless.Specifically, the example of communication network 130 may include (but being not limited to): wire cable or optical-fiber type network or
Person is mobile or cellular network or WLAN (" WLAN ", it may be possible to 802.11 (or WiFi) or WiMAX type) or also
It may be the wireless short-range communication network of bluetooth-type.
Although path planning end 110 and welding ends 120 are illustrated as two and separate entity by Fig. 1, the present invention not office
It is limited to this.For example, path planning end 110, which is also possible to be integrated on welding ends 120, has threedimensional model analysis and processing energy
Power, the equipment that can be interacted simultaneously with user.
It will mainly illustrate total inventive concept of the invention by taking Fig. 1 as an example below.Fig. 2 is to show according to the present invention in fact
Apply the timing diagram of the exemplary operations 200 of the welding processing system 100 of example.
As shown in Fig. 2, path planning end 110 receives user to the feature in the threedimensional model of welded workpiece in frame 210
The selection of geometry.Specifically, path planning end 110 can receive user and be carried out using dual-beam into butt welding in threedimensional model
The selection of the two weld seam chains connect.For example, path planning end 110 can by its own interactive interface to user present to
The threedimensional model of welding workpiece allows user to select two pairs of weld seam chains of workpiece two sides, example from threedimensional model
Such as the two sides of T-type weld seam common in aerospace component.Here weld seam chain includes one or more continuous directly or bent
Line, and the distance between two weld seams can be it is equidistant be also possible to it is non-isometric.
Fig. 3 and 4 respectively illustrates the schematic diagram of the applicable weld seam chain of the present invention.
As shown in Figures 3 and 4, the structure of weld seam chain 1 and 2 is T-type weld seam common in aerospace component, and T-type weld seam is logical
Cross welding base member 3 and 4 split of stringer formed.The shape of weld seam chain can be single curve or straight line, be also possible to by more
Curved section or the straightway composition that section is sequentially connected end to end in turn.The distance between weld seam chain 1 and 2 can be equidistantly be also possible to it is non-etc.
Away from.Fig. 3 shows the weld seam chain being made of single curve, and the distance between weld seam chain is equidistant.Fig. 4 is shown by more
The weld seam chain that the curve that section is sequentially connected end to end in turn is constituted, and the distance between weld seam chain is non-equidistant.Alternatively, weld seam chain 1
Shape with weld seam chain 2 can be different, such as weld seam chain 1 is single straight line, and weld seam chain 2 is single curve.
User can plan that end 110 selects weld seam chain 1 and weldering respectively on the threedimensional model of welded workpiece with passage path
Stitch chain 2.When selection connects the weld seam chain formed by multistage curve, need successively to select in order.
After having selected weld seam chain 1 and 2, user can also select weld seam chain 1 and 2 on the threedimensional model of workpiece to be welded
The same of place refers to geometric surface 3.It can be single curved surface with reference to geometric surface 3 to be also possible to be formed by multiple surface joinings, it must
It must guarantee that selected reference geometric surface can include all weld seams.
In frame 220, parameters of laser beam is arranged in path planning end 110.Parameters of laser beam may include between two laser beams
Angle (being referred to as laser beam angle).Laser beam angle is the angle between two beam laser beams less than 180 °, and size can be with
By actual welding process in determined according to welding procedure.For example, laser beam angle can in the welding for a pair of of weld seam chain
To keep identical.Parameters of laser beam can also include that side laser beam exists relative to reference geometric surface (such as with reference to geometric surface 3)
The deflection angle of direction of normal at solder joint.Generally for the consistency for guaranteeing welding, the size of the deflection angle can be sharp
The 1/2 of beam angle size.It is some may interfere in the case where, the size of the deflection angle can be according to the actual situation
It is set with welding process requirement.
In frame 230, path planning end 110 determines the cutting location data of each pair of cutter location (pad) on weld seam chain 1 and 2
(welding data).Every butt welding contact includes on the first pad and the second weld seam chain on the first weld seam chain with first
Corresponding second pad of pad.
Fig. 5 schematically shows example cutting location data according to an embodiment of the present invention.
Weld seam chain 1 and 2 in Fig. 3 or 4 can be expressed as L1And L2, the first pad is first laser beam in weld seam
Chain L1On a focus, that is, first laser beam acts on weld seam chain L1On a point (also referred to as cutter location).About first
The data (that is, first welding data, also referred to as the first cutting location data) of pad include the coordinate of the first pad, the first welding
Weld seam at point cuts the opposite direction of the action direction of arrow direction and the first laser beam at the first pad, can indicate
It is as follows:
Wherein, P1iRepresent weld seam chain L1On along welding direction i-th of cutter location, can be according to discrete way appropriate
(for example, simplest mode is equidistantly to take a little) is from weld seam chain L1It directly determines；(x1i, y1i, z1i) indicate point P1iCoordinate；T1i
Indicate point P1iThe weld seam at place cuts arrow direction, can obtain from threedimensional model；V1iIndicate first laser beam in point P1iThe effect at place
The opposite direction in direction, that is, point P1iOn generating tool axis vector, by reference geometry Qu Dian P1iThe method at place swears N1iT is sweared around cutting1iWith point P1i
Identified axis rotating and excursion angle, θ1It obtains.
Second pad is second laser beam in weld seam chain L2On with point P1iA corresponding focus.Second pad
Second welding data (also referred to as the second cutting location data) includes that the position of the second pad and the second laser beam are welded second
The opposite direction of the action direction of junction can be expressed as follows:
Wherein, P2iThe second pad is represented, is passing point P1iAnd perpendicular to T1iPlane SiWith weld seam chain L2Intersection obtains
Intersection point, P can be expressed as2i=Si∩L2；(x2i, y2i, z2i) indicate point P2iCoordinate；V2iSecond laser beam is represented in point P2i
The opposite direction of the action direction at place, that is, point P2iThe generating tool axis vector at place, by the generating tool axis vector V in the first welding data1iIt is lost around cutting
T1iWith point P1iIdentified axis slewed laser beam angle theta2It obtains.In one example, θ2=2 θ1。
In frame 240, path planning end 110 is calculated according to the first welding data and the second welding data for controlling transmitting the
The position and posture (also referred to collectively as virtual cutting location data) of one laser beam and the laser soldering device of second laser beam.
In order to which the Motion trajectory description processed with general NC is unified, a virtual knife is established between two beam laser
Tool.
Fig. 6 shows the illustrated section figure of the applicable weld seam chain of the embodiment of the present invention, and Virtual tool 5 is shown.Such as
Shown in Fig. 6, the axis of Virtual tool 5 is coplanar with two laser, and point of a knife point is overlapped with the intersection point of two laser.Virtual tool 5
Virtual cutter location can be expressed as P3i=l1i∩l2i, wherein l1iAnd l2iRespectively indicate two laser institute in i-th of working face
Straight line, l1iPoint P can be used1iWith generating tool axis vector V1iIt indicates, l2iPoint P can be used2iWith generating tool axis vector V2iIt indicates.Pass through control
The track movement that Virtual tool 5 is formed by virtual cutting location data can guarantee that two beam laser can to the greatest extent may be used simultaneously in the welding process
Energy ground is close to weld seam, to keep the amount trimmed of seam tracking system as small as possible.
Virtual cutting location data can specifically include virtual cutter location, virtual cutter axis orientation and Virtual tool and cut arrow direction, can
It is indicated as follows:
Wherein, virtual cutter location P3iStraight line l can be passed through1iAnd l2iIt asks friendship to obtain, virtually cuts arrow direction T3iWith the first knife position
Data cut arrow T1iIt is identical, virtual cutter axis orientation V3iFor in the cutter axis orientation and the second cutting location data in the first cutting location data
The direction of the vector sum of cutter axis orientation.It is important to note that aforementioned all direction vectors are unitization vector.
For example, it is assumed that being determined respectively there is N number of pad on weld seam chain 1 and 2 according to discrete way, that is, there is N butt welding contact,
So corresponding total virtual cutting location data of weld seam chain 1 and 2 can be expressed as follows:
In frame 250, path planning end 110 controls the laser welding on welding ends 120 according to obtained virtual cutting location data
Device carries out dual-beam laser welding to weld seam chain 1 and 2.Specifically, the virtual knife digit that path planning end 110 can will obtain
According to being transmitted to welding ends 120, with control laser soldering device (such as laser generator 6 shown in FIG. 1) to weld seam chain 1 and 2 into
Row dual-beam laser welding.
In frame 260, welding ends 120 carries out double light beam laser according to the virtual cutting location data received, to weld seam chain 1 and 2
Welding.For example, the lathe of the six-axis linkage on welding ends 120 can drive Fig. 1 institute according to the virtual cutting location data received
The plumb joint 7 shown, to correspondingly laser generator 6 be driven to carry out dual-beam laser welding.
Above-mentioned technical proposal is sufficiently used the geological information in threedimensional model, can guarantee pad under theory state
Be always positioned on weld seam, especially for non-equidistant weld seam the case where adaptability with higher.
Fig. 7 shows the schematic illustration of dual-beam laser welding according to an embodiment of the present invention.This schematically shows
The schematic diagram welded according to the exemplary operations 200 of welding processing system 100 shown in Fig. 2 to non-equidistant weld seam is gone out, so
And it should be understood that it is suitable for the case where equidistant weld seam.
It is solid that all parts for the laser soldering device being mounted on lathe may be considered a shape in the welding process
Fixed rigid body.The Virtual tool of dual-beam welding is exactly to be attached on this rigid body, and the trajectory planning of cutter can regard this as
A rigid body is relative to the placement position of weldment and the planning of posture.As shown in fig. 7, enabling A point is the rotation of lathe end circular arc disk
Center (i.e. rotary shaft location A), B, C point are left and right sides laser generator terminal position, and D point is " intersection point " of two beam laser,
Think at this time A, B, C, D relative positional relationship be it is fixed, E, F point be two laser beams projected on two weld seam chains respectively
Position, i.e. pad or cutter location.In tool path scheduling, the side BD and CD of parallelogram rigid body ABCD can be regarded as always
" leaning on " pushes ahead on two side welds, and ensure that laser beam on this procedural theory always can focus in welded joints.This solution
Determined based on unilateral reference trajectory planning strategy can not be suitable for non-equidistant weld seam dual-beam laser welding the problem of.
Fig. 8 is to show the dual-beam laser welding control method 800 according to an embodiment of the present invention based on bilateral benchmark
Schematic flow chart.Method 800 can execute on the path planning end 110 described in Fig. 1, be retouched below as example
It states, although it is understood that the invention is not limited thereto.For example, method 800 can be on the portable terminal of such as mobile terminal etc
It realizes.Method 800 may include step S810-S860, and wherein step S820, S830 and S840 is optional.
In step S810, path planning end 110, which is received, will utilize first laser in the threedimensional model of welded workpiece
The selection of the first weld seam chain and the second weld seam chain that beam and second laser beam are welded in pairs, wherein first laser beam is for welding
The first weld seam chain is connect, second laser beam is for welding the second weld seam chain.The first weld seam chain and the second weld seam chain wrap
Containing one or more continuous direct or curve, such as shown in Fig. 3 and Fig. 4.
In step S820, path planning end 110 is received to same with reference to several where the first weld seam chain and the second weld seam chain
The selection in what face, such as Fig. 3 or shown in Fig. 4 refer to geometric surface 3, can include all weld seams.
In step S830, laser beam relevant to the first laser beam and second laser beam is arranged in path planning end 110
Parameter.For example, parameters of laser beam may include the laser beam angle between the first laser beam and second laser beam.Laser beam
Parameter can also include the first laser beam relative to the inclined of the direction of normal with reference to geometric surface at the first pad
Gyration.For example, deflection angle can be the half of laser beam angle.
In step S840, path planning end 110, which can also determine, carries out into butt welding the first weld seam chain and the second weld seam chain
The welding direction connect, such as machine direction as shown in Figure 7.Welding direction is for workpiece to be welded, by weld seam
One end is welded to the other end or reversed welding.Specific welding direction can be according to welding platform rotating shaft stroke and Welder
Skill determines.
Although Fig. 8 by step S830 and S840 be described as occur after step S820, then the invention is not limited to
Such sequence.It, can also be in fact, step S830 and S840 can both occur before step S820 (or step S810)
Occur simultaneously with step S820 (or step S810).
In step S850, path planning end 110 is for every butt welding on the first weld seam chain and the second weld seam chain
Contact, wherein every butt welding contact include on the first pad and the second weld seam chain on the first weld seam chain with the first weldering
Corresponding second pad of contact: the first welding data of the first pad and the second welding number of the second pad are obtained
According to；And it is calculated according to the first welding data and the second welding data and emits first laser beam and second laser beam for control
The position of laser soldering device and posture.
In one implementation, the second pad can be by first pad and weld with described first
Weld seam at point cuts the intersection point of the vertical plane and the second weld seam chain in arrow direction.
In one implementation, the first welding data includes the coordinate of the first pad, the weld seam at the first pad
Cut the opposite direction of the action direction of arrow direction and the first laser beam at the first pad.Second welding data includes the
The opposite direction of the action direction of the coordinate of two pads and the second laser beam at the second pad.For example, the first welding
Data can indicate that the second welding data can be indicated with above-mentioned expression formula (2) with above-mentioned expression formula (1).
In one implementation, the opposite direction of action direction of the first laser beam at the first pad is by institute
It states and cuts arrow direction and the first welding around the weld seam by the first pad with reference to direction of normal of the geometric surface at the first pad
Axis determined by point rotates what the deflection angle obtained.
In one implementation, the opposite direction of action direction of the second laser beam at the second pad is by institute
State the opposite direction of action direction of the first laser beam at the first pad around the weld seam by the first pad cut arrow direction with
Axis slewed laser beam angle determined by first pad obtains.
In one implementation, for controlling the position of the laser soldering device of transmitting first laser beam and second laser beam
Setting with posture includes: intersection point of the first laser beam by first pad with second laser beam by second pad
Coordinate；The point of intersection cuts arrow direction, and the arrow direction of cutting of the point of intersection is that the weld seam at first pad cuts arrow
Direction；And virtual welding direction, the virtual welding direction are to swash using the intersection point as the first laser beam of starting point with second
Bisector of angle between light beam.For example, be used to control the laser soldering device of transmitting first laser beam and second laser beam
Position and posture can be indicated with above-mentioned expression formula (3).
In step S860, the position of the laser soldering device according to determined by for every butt welding contact of path planning end 110
And posture, the laser soldering device is controlled using first laser beam and second laser beam to the first weld seam chain and the second weld seam chain
It is welded in pairs.
Method 800 considers the geological information of bilateral weld seam in threedimensional model simultaneously, so that laser beam in the welding process
Welding focus the case where being always positioned on weld seam, non-equidistant weld seam can be perfectly suitable for.In addition, this method can make to weld
The amount trimmed of seam tracking system is smaller in termination process, and can be evenly distributed in the adjusting of bilateral laser beam, to solve
The bilateral of seam tracking system adjusts unbalanced and follows side laser beam to seam tracking system in unilateral weld seam reference scheme
Be completely dependent on, while also reducing the requirement to seam tracking system response performance.
Fig. 9 is to show the dual-beam laser welding control device 900 according to an embodiment of the present invention based on bilateral benchmark
Structural block diagram.For example, the dual-beam laser welding control device 900 based on bilateral benchmark can be handheld computer, above-knee
Type computer, tablet computer etc. have the arbitrary equipment of threedimensional model analysis and processing capacity.Dual-beam laser welding control dress
Setting 900 both may be implemented that the dual-beam shown in Fig. 8 based on bilateral benchmark can also be executed on the path planning end 110 of Fig. 1
Laser welding control method 800.
As shown in figure 9, dual-beam laser welding control device 900 include: communication interface 910, processor 920 (such as
) and memory 930 CPU.For ease of description, a processor is schematically shown in Fig. 9.However, those skilled in the art
Member is it should be understood that dual-beam laser welding control device 900 also may include two or more processors.
Communication interface 910 is used for and PERCOM peripheral communication.Such as communication interface 910 can be Ethernet (Ethernet, registrar
Mark) interface.Dual-beam laser welding control device 900 can use certain communication protocol and welding by communication interface 910
120 (such as lathes on welding ends 120) of end are communicated.Communication interface 910 can also be for user and dual-beam laser welding
Control device 900 carries out direct communication.For example, communication interface 910 is also possible to input equipment (such as keyboard, mouse etc.) and defeated
Equipment (such as display) out, the threedimensional model of welded workpiece is presented to user, and receives user on threedimensional model
The selection of geometrical characteristic.
The executable instruction of 930 storage processor 920 of memory, so that dual-beam laser welding control device 900 executes
Method 800 described in conjunction with Figure 8.
Specifically, the executable instruction of 930 storage processor 920 of memory, so that dual-beam laser welding control device
It receives to be welded in pairs using first laser beam and second laser beam first in the threedimensional model of welded workpiece
The selection of weld seam chain and the second weld seam chain, wherein first laser beam is for welding the first weld seam chain, and second laser beam is for welding
Second weld seam chain；For every butt welding contact on the first weld seam chain and the second weld seam chain, wherein every butt welding contact includes the first weldering
It stitches the second pad corresponding with the first pad on the first pad and the second weld seam chain on chain: obtaining the first pad
The first welding data and the second pad the second welding data；And according to the first welding data and the second welding data meter
Calculate position and the posture of the laser soldering device for controlling transmitting first laser beam and second laser beam；And according to for every
The position of laser soldering device determined by butt welding contact and posture, control laser soldering device utilize first laser beam and second
Laser beam welds the first weld seam chain and the second weld seam chain in pairs.
In one implementation, described instruction also controls dual-beam laser welding when being executed by processor 920
Device 900: it receives to the same selection with reference to geometric surface where the first weld seam chain and the second weld seam chain.
In one implementation, described instruction also controls dual-beam laser welding when being executed by processor 920
Device 900: setting parameters of laser beam relevant to first laser beam and second laser beam.Parameters of laser beam may include: first
Laser beam angle between laser beam and second laser beam；And/or first laser beam is welded relative to reference geometric surface first
The deflection angle of direction of normal at point.
In one implementation, deflection angle is the half of laser beam angle.
In one implementation, the second pad is cut by the first pad and with the weld seam at the first pad
Swear the intersection point of direction vertical plane and the second weld seam chain.
In one implementation, the first welding data includes the coordinate of the first pad, the weld seam at the first pad
The opposite direction and the second welding data for cutting action direction of the arrow direction and first laser beam at the first pad include the
The opposite direction of action direction of the coordinate and second laser beam of two pads at the second pad.
In one implementation, parameters of laser beam include first laser beam relative to reference geometric surface in the first pad
The opposite direction of action direction of the deflection angle and first laser beam of the direction of normal at place at the first pad is by referring to
Direction of normal of the geometric surface at the first pad cuts arrow direction and the first pad institute really around the weld seam by the first pad
What fixed axis rotating and excursion angle obtained.
In one implementation, parameters of laser beam includes the angle between first laser beam and second laser beam, and
The opposite direction of action direction of the second laser beam at the second pad be by first laser beam the first pad effect
The opposite direction in direction cuts axis slewed laser beam determined by arrow direction and the first pad around the weld seam by the first pad
What angle obtained.
In one implementation, for controlling the position of the laser soldering device of transmitting first laser beam and second laser beam
Setting with posture includes: coordinate of the first laser beam by the first pad with second laser beam by the intersection point of the second pad；
Point of intersection cuts arrow direction, and the arrow direction of cutting of point of intersection is that the weld seam at the first pad cuts arrow direction；And virtual welding side
To virtual welding direction is the Bisector of angle using intersection point between the first laser beam of starting point and second laser beam.
In one implementation, the first weld seam chain and the second weld seam chain include one or more continuous directly or bent
Line.
In one implementation, described instruction also controls dual-beam laser welding when being executed by processor 920
Device 900: the welding direction welded in pairs to the first weld seam chain and the second weld seam chain is determined.
The present invention also provides at least one with non-volatile or form of volatile memory computer storage medium, example
Such as electrically erasable programmable read-only memory (EEPROM), flash memory and hard drive, it is stored with computer executable instructions.It calculates
Machine executable instruction combines Fig. 8 to describe before executing dual-beam laser welding control device for example
Process movement.
Processor can be single cpu (central processing unit), but also may include two or more processors.Example
Such as, processor may include general purpose microprocessor；Instruction set processor and/or related chip collection and/or special microprocessor (example
Such as, specific integrated circuit (ASIC)).Processor also may include onboard storage device for cache purposes.For example, calculating
Machine storage medium can be flash memory, random access memory (RAM), read-only memory (ROM) or EEPROM.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to for executing in heretofore described operation
One or more equipment.These equipment can specially design and manufacture for required purpose, or also may include general
Known device in computer.These equipment have the computer program being stored in it, these computer programs are selectively
Activation or reconstruct.Such computer program can be stored in equipment (for example, computer) readable medium or be stored in
It e-command and is coupled in any kind of medium of bus respectively suitable for storage, the computer-readable medium includes but not
Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only
Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable
Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable
Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card
Piece.It is, readable medium includes by equipment (for example, computer) with any Jie for the form storage or transmission information that can be read
Matter.
Those skilled in the art of the present technique be appreciated that can be realized with computer program instructions these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology neck
Field technique personnel be appreciated that these computer program instructions can be supplied to general purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, to pass through the processing of computer or other programmable data processing methods
The scheme specified in frame or multiple frames of the device to execute structure chart and/or block diagram and/or flow graph disclosed in this invention.
Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of dual-beam laser welding control method based on bilateral benchmark, which comprises
It receives to be welded in pairs using first laser beam and second laser beam in the threedimensional model of welded workpiece
The selection of first weld seam chain and the second weld seam chain, wherein first laser beam is used for for welding the first weld seam chain, second laser beam
Weld the second weld seam chain；
For every butt welding contact on the first weld seam chain and the second weld seam chain, wherein every butt welding contact includes described
The second pad corresponding with the first pad on the first pad and the second weld seam chain on one weld seam chain:
Obtain the first welding data of the first pad and the second welding data of the second pad；And
It is calculated according to the first welding data and the second welding data for control the sharp of transmitting first laser beam and second laser beam
The position of flush weld connection device and posture；And
The position of the laser soldering device according to determined by for every butt welding contact and posture control the laser soldering device benefit
The first weld seam chain and the second weld seam chain are welded in pairs with first laser beam and second laser beam.
2. according to the method described in claim 1, further include:
It receives to the same selection with reference to geometric surface where the first weld seam chain and the second weld seam chain.
3. according to the method described in claim 2, further include:
Parameters of laser beam relevant to the first laser beam and second laser beam is set, and the parameters of laser beam includes: described
Laser beam angle between first laser beam and second laser beam；And/or the first laser beam refers to geometry relative to described
The deflection angle of direction of normal of the face at the first pad.
4. according to the method described in claim 3, wherein, the deflection angle is the half of the laser beam angle.
5. the method according to claim 3 or 4, wherein second pad be by first pad and
The intersection point of the plane and the second weld seam chain of swearing that direction is vertical is cut with the weld seam at first pad.
6. according to the method described in claim 5, wherein,
First welding data includes that the coordinate of the first pad, the weld seam at the first pad are cut arrow direction and described first swashed
The opposite direction of action direction of the light beam at the first pad, and
Second welding data includes the action direction of the coordinate and the second laser beam of the second pad at the second pad
Opposite direction.
7. according to the method described in claim 6, wherein, action direction of the first laser beam at the first pad it is anti-
Direction is to cut arrow direction around the weld seam by the first pad by the direction of normal with reference to geometric surface in the first pad
Rotate what the deflection angle obtained with axis determined by the first pad.
8. method according to claim 6 or 7, wherein action direction of the second laser beam at the second pad
Opposite direction be by the first laser beam the action direction of the first pad opposite direction around by the first pad
Weld seam cuts what axis slewed laser beam angle determined by arrow direction and the first pad obtained.
9. the method according to any one of claim 6 to 8, wherein swash for controlling transmitting first laser beam and second
The position of the laser soldering device of light beam and posture include:
First laser beam passes through the coordinate of the intersection point of second pad by first pad and second laser beam；
The point of intersection cuts arrow direction, and the arrow direction of cutting of the point of intersection is that the weld seam at first pad cuts arrow side
To；And
Virtual welding direction, the virtual welding direction be using the intersection point as the first laser beam of starting point and second laser beam it
Between Bisector of angle.
10. method according to any one of claim 1 to 9, wherein the first weld seam chain and the second weld seam chain
Comprising one or more continuous direct or curve.
11. method according to any one of claim 1 to 10, further includes:
Determine the welding direction welded in pairs to the first weld seam chain and the second weld seam chain.
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| CN111015003A (en) * | 2019-12-27 | 2020-04-17 | 河北工业大学 | Surfacing welding track planning method for civil aircraft engine blade |
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