CN110773862A - Laser wire filling welding method, control device, equipment and storage medium - Google Patents
Laser wire filling welding method, control device, equipment and storage medium Download PDFInfo
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- CN110773862A CN110773862A CN201910932473.8A CN201910932473A CN110773862A CN 110773862 A CN110773862 A CN 110773862A CN 201910932473 A CN201910932473 A CN 201910932473A CN 110773862 A CN110773862 A CN 110773862A
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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
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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
- B23K26/70—Auxiliary operations or equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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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Abstract
The invention relates to a laser wire filling welding method, a control device, equipment and a storage material, wherein the method comprises the following steps: acquiring an image which is shot by an industrial camera and contains the end part of the welding wire to the contact part of the welding wire and a wire mouth of a wire feeding device; calculating the distance between the end of the welding wire and the wire mouth of the wire feeding device, namely the length of the welding wire according to the image; comparing the length of the welding wire with a preset length range, if the length of the welding wire is not within the preset length range, controlling a wire feeding device to adjust the length of the welding wire, and controlling a laser welding head to weld after the adjustment is finished; and if the length of the welding wire is within the preset length range, controlling a laser welding head to weld. The method can effectively control the length of the welding wire, thereby obtaining stable, continuous and beautiful welding seams.
Description
Technical Field
The invention belongs to the technical field of laser welding, and particularly relates to a laser filler wire welding method, a control device, equipment and a storage medium.
Background
The laser welding has the advantages of small heat affected zone, small welding deformation, good bonding strength, high production efficiency, easy realization of automatic processing and the like. However, laser welding still has the following limitations: the laser welding has strict requirements on joint gaps, and the allowed gap amount is not more than 10% of the plate thickness at most; the welding process is unstable, the weld joint is not ideal to form, and the defects of collapse, air holes, cracks and the like are easy to generate; the welding joint is easy to burn, the chemical components of the welding seam completely depend on the base metal, and the performance can not be regulated and controlled according to the requirement. The laser wire-filling welding technology effectively solves the defects and is widely researched. In the laser wire filling welding process, the welding wire mainly has the following functions: necessary alloying elements are provided for the welding seam, so that the structural performance of the welding seam is improved, and the defects of welding seam cracks, tissue softening and the like are reduced; the element burning loss in the welding process is compensated, full weld joint forming is obtained, and the defects of collapse, air holes and the like are avoided.
The traditional arc welding mode has a unique self-adjusting mechanism, so that the length of the welding wire can be adjusted to be proper through a self-feedback adjusting mode due to the fact that the welding wire is too long or too short, and meanwhile, due to the fact that the heat input quantity is large during arc welding, the effect of melting the welding wire can be achieved even if the welding wire deviates to a certain degree. The laser wire filling welding is different from the traditional arc welding mode, the laser wire filling welding is characterized in that the heat input amount is concentrated, the wire feeding mechanism and the welding system are two separated systems, mutual adjustment is not needed between the wire feeding mechanism and the welding system in the welding process, and therefore when the welding wire is too long or too short, the welding effect is unstable, and uniform welding seams cannot be obtained.
Disclosure of Invention
The invention provides a laser wire filling welding method, which is used for solving the technical problems that the welding effect is unstable and uniform welding seams cannot be obtained due to overlong or overlong welding wires during laser wire filling welding in the prior art.
The invention provides a laser filler wire welding method in a first aspect, which comprises the following steps:
acquiring an image which is shot by an industrial camera and contains the end part of the welding wire to the contact part of the welding wire and a wire mouth of a wire feeding device;
calculating the distance from the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device according to the image, wherein the distance is used as the length of the welding wire;
comparing the length of the welding wire with a preset length range, and judging whether the length of the welding wire is within the preset length range;
if the length of the welding wire is not within the preset length range, controlling a wire feeding device to adjust the length of the welding wire, and controlling a laser welding head to weld after the adjustment is finished; and if the length of the welding wire is within the preset length range, controlling a laser welding head to weld.
Preferably, the control wire feeder adjusts the length of the welding wire, and includes:
calculating the length value of the welding wire required to be adjusted, and controlling the wire feeding device to adjust the length of the welding wire according to the length value required to be adjusted.
Preferably, the controlling the wire feeder to adjust the length of the welding wire further comprises: when the wire feeding device adjusts the length of the welding wire, the real-time length of the welding wire is calculated according to the picture shot by the industrial camera in real time, the length of the welding wire is continuously compared with the preset length range until the length of the welding wire reaches the preset length range, and the wire feeding device is controlled to stop adjusting the length of the welding wire.
Preferably, the welding wire is any one of an aluminum wire, a steel wire, a copper wire, a titanium wire and a nickel wire.
The second aspect of the present invention also provides a laser filler wire welding control apparatus, including:
the image acquisition module is used for acquiring an image which is shot by the industrial camera and contains the end part of the welding wire to the contact part of the welding wire and the wire mouth of the wire feeding device;
the calculation module is used for calculating the distance from the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device, namely the length of the welding wire according to the image;
the comparison module is used for comparing the length of the welding wire with a preset length range;
the control module is used for controlling the wire feeding device to adjust the length of the welding wire if the length of the welding wire is not within the preset length range, and controlling the laser welding head to weld after the adjustment is finished; and if the length of the welding wire is within the preset length range, controlling a laser welding head to weld.
The third aspect of the invention provides laser wire filling welding equipment, which comprises an industrial camera, a wire feeding device, a laser welding head and a control device, wherein the control device is the laser wire filling welding control device provided by the second aspect of the invention.
The fourth aspect of the present invention also provides a readable storage medium, on which a computer program is stored, which, when being executed by a processor, realizes the steps of the laser filler wire welding method provided by the first aspect of the present invention.
From the embodiment of the invention, the laser wire filling welding method obtains the length of the welding wire by controlling the industrial camera to shoot the distance between the welding wire and the wire nozzle, compares the length of the welding wire with the preset length range, and controls the wire feeding device to adjust the length of the welding wire and then controls the laser welding head to weld if the length of the welding wire is not in the preset range. And if the length of the welding wire is within the preset length range, controlling a laser welding head to weld. The method can effectively control the length of the welding wire within a preset range, thereby obtaining a stable welding effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a laser filler wire welding method according to an embodiment of the present disclosure;
fig. 2 is a schematic block diagram of a laser filler wire welding control device according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, 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 with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For better understanding of the technical content of the present invention, the following detailed description of the technical solution of the present application is provided with reference to fig. 1, which is a schematic flow chart of a laser filler wire welding method provided in an embodiment of the present application, and the method includes:
101, acquiring an image which is shot by an industrial camera and contains an image from the end of a welding wire to the contact position of the welding wire and a wire mouth of a wire feeding device;
102, calculating the distance from the end of the welding wire to the contact position of the welding wire and a wire mouth of a wire feeding device according to the image, wherein the distance is used as the length of the welding wire;
in the embodiment of the application, an industrial camera is adopted to shoot an image from the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device, the specific coordinate position of the selected characteristic point is contained in the shot image collected by the industrial camera, the end of the welding wire and the contact position of the welding wire and the wire mouth are adopted as two characteristic points for data collection in the embodiment of the application, and the distance between the two characteristic points can be calculated according to the coordinate information of the two characteristic points, namely the length of the welding wire.
103, comparing the length of the welding wire with a preset length range, and judging whether the length of the welding wire is within the preset length range;
in the embodiment of the application, the lengths of the welding wires required by stable and uniform welding seams and welding spots formed by different welding materials and different welding wires are different, and the length range of the welding wires required to be used is determined according to manufacturing experience in practical application and is used as a comparison range standard. When the length of the welding wire is within this range, a stable and uniform weld can be formed, and when the length of the welding wire is not within this range, the welding effect is unstable.
104, if the length of the welding wire is not within the preset length range, controlling a wire feeding device to adjust the length of the welding wire, and controlling a laser welding head to weld after the adjustment is finished;
in the embodiment of the present application, when the comparison result in step 103 is that the length of the welding wire is not within the range of the length of the welding wire that can obtain a stable and uniform weld, the wire feeding device is controlled to adjust the length of the welding wire to a preset length range, and then the laser welding head is controlled to perform welding.
And 105, controlling a laser welding head to weld if the length of the welding wire is within a preset length range.
According to the laser wire filling welding method provided by the embodiment of the application, the length of the welding wire is obtained by controlling the industrial camera to shoot the distance between the welding wire and the wire nozzle of the wire feeding device, the length of the welding wire is compared with the preset length range, if the length of the welding wire is not in the preset range, the wire feeding device is controlled to adjust the length of the welding wire, and then the laser welding head is controlled to weld. And if the length of the welding wire is within the preset length range, controlling the laser welding head to weld. The method can effectively control the length of the welding wire within a preset range, thereby obtaining a stable welding effect.
Optionally, controlling the wire feeder to adjust the length of the welding wire comprises: calculating the length value of the welding wire required to be adjusted, and controlling the wire feeding device to adjust the length of the welding wire according to the length value required to be adjusted.
In the embodiment of the application, when the length of the welding wire is not in the preset length range, the difference value between the middle value of the preset length range and the actually calculated length of the welding wire is calculated, if the difference value is a positive value, which indicates that the length of the welding wire is shorter, the wire feeding device is controlled to lengthen the length of the welding wire, and the lengthened length is an absolute value of the difference value. If the difference value is a negative value, the length of the welding wire is longer, the wire feeding device is controlled to shorten the length of the welding wire, and the shortened length is an absolute value of the difference value. And after the wire feeding device is adjusted, controlling the laser welding head to weld so as to obtain a stable and good welding seam.
Optionally, controlling the wire feeder to adjust the wire length further comprises: when the wire feeding device adjusts the length of the welding wire, the real-time length of the welding wire is calculated according to the picture shot by the industrial camera in real time, the length of the welding wire is continuously compared with the preset length range until the length of the welding wire reaches the preset length range, and the wire feeding device is controlled to stop adjusting the length of the welding wire.
In the embodiment of the application, the control device monitors the adjusting process of the length of the welding wire in real time. And when the size of the welding wire detected for the first time is smaller than the preset size range, controlling the wire feeding device to lengthen the length of the welding wire. And when the size of the welding wire detected for the first time is larger than the preset size range, controlling the wire feeding device to shorten the length of the welding wire. And in the lengthening or shortening process, controlling the industrial camera to continuously obtain the length of the welding wire, comparing the length of the welding wire with a preset length range, and controlling the wire feeding device to stop adjusting the length of the welding wire until the length of the welding wire reaches the preset length range. And then controlling the laser welding head to weld so as to obtain a stable and good welding seam.
Preferably, the welding wire is any one of an aluminum wire, a steel wire, a copper wire, a titanium wire and a nickel wire.
In a second aspect, as shown in fig. 2, a module schematic diagram of a laser filler wire welding control device provided in an embodiment of the present application is provided, where the device includes:
the image acquisition module 201 is used for acquiring an image which is shot by the industrial camera and contains the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device.
And the calculating module 202 is used for calculating the distance from the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device, namely the length of the welding wire according to the image.
A comparison module 203, configured to compare the length of the welding wire with a preset length range;
the control module 204 is used for controlling the wire feeding device to adjust the length of the welding wire if the length of the welding wire is not within the preset length range, and controlling the laser welding head to weld after the adjustment is finished; and if the length of the welding wire is within the preset length range, controlling the laser welding head to weld.
It is understood that the functions of the modules are consistent with those of the laser filler wire welding method provided in the embodiment of fig. 1, and are not described herein.
The laser wire filling welding control device provided by the embodiment of the application obtains the length of the welding wire by controlling the industrial camera to shoot the distance between the welding wire and the wire nozzle, compares the length of the welding wire with the preset length range, and controls the wire feeding device to adjust the length of the welding wire and then controls the laser welding head to weld if the length of the welding wire is not within the preset range. And if the length of the welding wire is within the preset length range, controlling the laser welding head to weld. The control device can effectively control the length of the welding wire within a preset range, so that a stable welding effect can be obtained.
In a third aspect, an embodiment of the present application further provides a laser filler wire welding apparatus, including: the industrial camera, the wire feeding device, the laser welding head and the control device, wherein the control device is the laser wire filling welding control device provided in the embodiment of fig. 2.
In a fourth aspect, embodiments of the present application further provide a readable storage medium, on which a computer program is stored, which, when being executed by a processor, realizes the steps of the laser filler wire welding method provided in the first aspect.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the technical solutions provided by the present invention, those skilled in the art will recognize that there may be variations in the technical solutions and the application ranges according to the concepts of the embodiments of the present invention, and in summary, the content of the present specification should not be construed as limiting the present invention.
Claims (7)
1. A laser filler wire welding method, characterized in that the method comprises:
acquiring an image which is shot by an industrial camera and contains the end part of the welding wire to the contact part of the welding wire and a wire mouth of a wire feeding device;
calculating the distance from the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device according to the image, wherein the distance is used as the length of the welding wire;
comparing the length of the welding wire with a preset length range, and judging whether the length of the welding wire is within the preset length range;
if the length of the welding wire is not within the preset length range, controlling a wire feeding device to adjust the length of the welding wire, and controlling a laser welding head to weld after the adjustment is finished; and if the length of the welding wire is within the preset length range, controlling a laser welding head to weld.
2. The laser filler wire welding method of claim 1, wherein said controlling the wire feeder to adjust the length of the welding wire comprises:
calculating the length value of the welding wire required to be adjusted, and controlling the wire feeding device to adjust the length of the welding wire according to the length value required to be adjusted.
3. The laser filler wire welding method of claim 1, wherein the controlling the wire feeder to adjust the length of the wire further comprises: when the wire feeding device adjusts the length of the welding wire, the real-time length of the welding wire is calculated according to the picture shot by the industrial camera in real time, the length of the welding wire is continuously compared with the preset length range until the length of the welding wire reaches the preset length range, and the wire feeding device is controlled to stop adjusting the length of the welding wire.
4. The laser filler wire welding method according to claim 1, wherein the welding wire is any one of an aluminum wire, a steel wire, a copper wire, a titanium wire, and a nickel wire.
5. A laser filler wire welding control apparatus, the apparatus comprising:
the image acquisition module is used for acquiring an image which is shot by the industrial camera and contains the end part of the welding wire to the contact part of the welding wire and the wire mouth of the wire feeding device;
the calculation module is used for calculating the distance from the end of the welding wire to the contact position of the welding wire and the wire mouth of the wire feeding device, namely the length of the welding wire according to the image;
the comparison module is used for comparing the length of the welding wire with a preset length range;
the control module is used for controlling the wire feeding device to adjust the length of the welding wire if the length of the welding wire is not within the preset length range, and controlling the laser welding head to weld after the adjustment is finished; and if the length of the welding wire is within the preset length range, controlling a laser welding head to weld.
6. A laser filler wire welding device, which is characterized by comprising an industrial camera, a wire feeding device, a laser welding head and a control device, wherein the control device is the laser filler wire welding control device in claim 5.
7. A readable storage medium having stored thereon a computer program for implementing the steps of the laser filler wire welding method according to any one of claims 1 to 4 when the computer program is executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932473.8A CN110773862A (en) | 2019-09-29 | 2019-09-29 | Laser wire filling welding method, control device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910932473.8A CN110773862A (en) | 2019-09-29 | 2019-09-29 | Laser wire filling welding method, control device, equipment and storage medium |
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| CN110773862A true CN110773862A (en) | 2020-02-11 |
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| CN201910932473.8A Pending CN110773862A (en) | 2019-09-29 | 2019-09-29 | Laser wire filling welding method, control device, equipment and storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761159A (en) * | 2020-06-30 | 2020-10-13 | 北京博清科技有限公司 | Automatic control method and system for welding equipment, welding robot and storage medium |
| CN115138935A (en) * | 2021-03-29 | 2022-10-04 | 本田技研工业株式会社 | Welding device and control method of welding device |
| EP4074450A1 (en) * | 2021-04-16 | 2022-10-19 | Weez-U Welding | Method of detecting a length of feedwire by image processing, and corresponding memory comprising instructions for implementing such process |
| CN115846787A (en) * | 2023-03-02 | 2023-03-28 | 武汉松盛光电科技有限公司 | Control method of ring forming device, control device, ring forming device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111761159A (en) * | 2020-06-30 | 2020-10-13 | 北京博清科技有限公司 | Automatic control method and system for welding equipment, welding robot and storage medium |
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| CN115846787A (en) * | 2023-03-02 | 2023-03-28 | 武汉松盛光电科技有限公司 | Control method of ring forming device, control device, ring forming device and storage medium |
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Application publication date: 20200211 |
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