CN112453703A - Complex special-shaped structure remote laser welding method based on visual sensing - Google Patents
Complex special-shaped structure remote laser welding method based on visual sensing Download PDFInfo
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- CN112453703A CN112453703A CN202011342630.9A CN202011342630A CN112453703A CN 112453703 A CN112453703 A CN 112453703A CN 202011342630 A CN202011342630 A CN 202011342630A CN 112453703 A CN112453703 A CN 112453703A
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- 238000003466 welding Methods 0.000 title claims abstract description 159
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000000007 visual effect Effects 0.000 title claims abstract description 15
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 claims description 6
- 239000007789 gas Substances 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 229910052786 argon Inorganic materials 0.000 claims description 3
- 238000009659 non-destructive testing Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000012805 post-processing Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 12
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- 238000003756 stirring Methods 0.000 description 1
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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
- B23K26/20—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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
-
- 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
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a remote laser welding method for a complex special-shaped structure based on visual sensing, which aims at solving the problem of robot interference in the welding process of the special-shaped structure and adopts a remote laser welding technology to realize welding without space obstacle. The remote welding method comprises the steps of designing a laser scanning path, formulating a reasonable laser welding process, monitoring the welding process in real time, optimizing a focusing position in time and finally realizing the welding of a complex special-shaped structure. Particularly, the effective welding distance of the remote laser welding fingers can reach 450 mm; the laser scanning path is a swing welding path and specifically comprises a V-shaped path and an arc-shaped path; the real-time monitoring process is welding seam automatic tracking based on a visual sensor. The remote welding method is provided for the blind area and the difficult welding area which cannot be deeply formed by the traditional welding head, has the advantages of high flexibility, high precision, high efficiency and the like, and has certain significance for promoting the application and development of the special-shaped structure laser welding technology.
Description
Technical Field
The invention relates to the technical field of laser welding, in particular to a complex special-shaped structure remote laser welding method based on visual sensing.
Background
The laser welding unit technology is commonly used for welding thin-wall titanium alloy components in aviation manufacturing by virtue of the characteristics of high power density, small welding deformation, high automation degree, good reproducibility and the like. The laser welding unit technology for aviation thin-wall components is characterized in that due to the use of a large number of complex special-shaped structures, if a skin reinforcing rib sandwich structure is adopted, the problem of interference is easily caused between a welding robot and a tool, the time spent in positioning in the welding process is long, the welding efficiency is reduced, meanwhile, a plurality of welding stations are arranged, and the number of clamps is correspondingly increased, so that the traditional laser welding technology has certain limitation in the welding of the complex special-shaped structures, and a novel welding technology is urgently needed to solve the technical difficulties.
The remote laser welding has the advantages of good forming quality, high precision, strong self-adaption and the like of the traditional laser welding, and has incomparable advantages of the traditional laser welding. The remote laser welding is mainly performed in a galvanometer scanning laser welding mode, wherein a workpiece graph is scanned through deflection of a galvanometer, and then welding is performed along a scanning track. Because can realize the quick accurate location of welding point through the scanning of galvanometer, welding speed, efficiency and flexibility can improve greatly, reduce the requirement of anchor clamps design and quantity, do not have simultaneously under the condition of interfering the obstacle, can weld the unable deep blind area of traditional soldered connection to realize the welding of multiple welding seam shape. The laser beam is oscillated during welding to stir the molten pool fully, so as to reduce the tendency of producing pores and refine grains. In the actual welding process, due to assembly errors or welding thermal deformation, the position of a welding seam possibly deviates from a set value, the welding seam figure can be collected in real time by utilizing a welding seam tracking technology, the accurate position of the welding seam is controlled, welding parameters are adjusted in time, and the welding quality is improved.
The remote laser welding, swing welding and welding seam tracking technology are combined together to form a complex special-shaped structure remote laser welding system based on visual sensing, and the technology has important research and application significance.
Disclosure of Invention
Aiming at the problems of robot interference, low welding efficiency and the like existing in the welding of special-shaped components in the prior art, the invention aims to provide a visual sensing-based remote laser welding method for a complex special-shaped structure, which has the advantages of high precision, high speed, high efficiency, high flexibility and the like, can effectively improve the welding defects, improves the performance of a welding joint, and is simple in equipment and easy to implement.
In order to achieve the purpose, the invention provides a complex special-shaped structure remote laser welding method based on visual sensing, which comprises the following steps:
(1) scanning path design: and (3) scanning images by using a CCD camera, inputting data into a vision system for calculation, obtaining a space function of a complex special-shaped structure and generating a preset welding line of the workpiece. The welding scanning path is designed as a swinging path, each section of galvanometer scanning line is interpolated, the scanning line is divided into tiny line segments by taking a certain time period as a unit, recorded computer data is transmitted to the galvanometer system, a real-time instruction signal is sent out to control a servo motor to realize the deflection of X, Y galvanometers, and defocusing amount is controlled by a focusing lens, so that a laser beam can scan a complex path in a plane.
(2) Remote laser welding: the galvanometer deflects according to the calculated deflection angle, the track is corrected to start scanning, meanwhile, the galvanometer deflects and the laser system communicate to control the light emission of the laser, the deflection of the galvanometer and the light emission of the laser are carried out according to a reasonable sequence, and the laser beam is controlled to carry out remote laser welding according to a preset welding path.
The specific parameters related to the laser are as follows: the laser power is 2000-. The welding process parameters comprise: the welding speed is 2.5-10m/min, and the defocusing amount is-4- +4 mm. The focusing mode adopts front focusing. 99.9% argon with the gas flow of 15L/min is used as a shielding gas to prevent the weldment from being oxidized in the welding process.
(3) The computer system controls the welding process in real time: the welding seam image is collected by the CCD high-definition camera and then fed back to computer software for image processing, the welding process is monitored in real time, if deviation exists at the welding position, the focus position can be automatically corrected through deflection of the X, Y galvanometer and movement of the focusing lens, and welding quality is guaranteed.
(4) And (3) welding a complex special-shaped structure, optionally carrying out ultrasonic nondestructive testing on the welding line 24 hours after welding, and determining whether the welding line quality is qualified.
Further, the complex special-shaped structure is a T-shaped structure, an L-shaped structure, a cross-shaped structure and the like, wherein the T-shaped structure, the L-shaped structure and the cross-shaped structure have dead zones and difficult welding areas, and welding joints cannot penetrate deeply.
Further, the swing welding path is a V-shaped path or a circular arc-shaped path.
Further, the effective welding distance of the remote welding can reach 450 mm.
Furthermore, the vision sensing-based method is characterized in that a CCD high-definition camera with a vision sensor is used for collecting images of the welding seam and transmitting the images to a computer, and the computer feeds the images back to a galvanometer system after post-processing so as to realize automatic tracking of the welding seam.
The invention has the beneficial effects that:
the invention combines the advantages of remote laser welding and swing welding technology, solves the problem of welding a blind area of a complicated special-shaped structure, adopts the remote laser welding technology, can not be influenced by the interference of a robot, simultaneously realizes the quick and accurate positioning of a welding spot, and solves the problems of low welding efficiency, low welding speed, low flexibility and the like of the traditional laser welding; the swing welding mode is adopted to reduce the tendency of welding pores, refine crystal grains, improve the performance of a welding joint and improve the welding quality; on the basis, a welding seam tracking technology based on visual sensing is added, the welding process is monitored in real time by using image feedback signals, and parameters such as laser power, welding speed and focus position are adjusted in time to obtain a high-quality welding effect. The invention has the advantages of high efficiency, high quality, high flexibility and the like, and meanwhile, the equipment is simple and easy to realize, and has certain significance for promoting the welding of a complex special-shaped structure, reducing the welding difficulty, improving the welding efficiency and reducing the welding defects.
Drawings
FIG. 1 is a flow chart of a method for remote laser welding of complex profiled structures according to the present invention;
FIG. 2 is a flow chart of a computer regulated welding process according to the present invention.
FIG. 3 is a schematic view of an apparatus for remote laser welding according to the present invention;
FIG. 4 is a schematic view of the V-shaped scan path of the present invention;
FIG. 5 is a schematic view of an arcuate scan path according to the present invention;
the system comprises a laser 1, a laser beam 2, a 3-X-axis motor, a 4-X-axis galvanometer, a 5-Y-axis motor, a 6-Y-axis galvanometer, a 7-F-theta lens, an 8-CCD high-definition camera, a computer 9 and a workpiece 10.
Detailed Description
To facilitate understanding of those skilled in the art, the invention is further described below in conjunction with the following drawings, it being understood that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
The welding method of the complex special-shaped structure mainly comprises remote laser welding and swing welding, and the example aims at the welding of the TC4 titanium alloy complex sandwich structure, and the specific steps are as follows:
step one, scanning path design: the method comprises the steps of scanning the spatial position of an I-shaped reinforcing rib by a CCD camera 8, forming a position function, generating a preset welding line of a workpiece, converting the preset welding line into digital quantity, storing the digital quantity in a computer 9, enabling a welding scanning path to be a V-shaped path or an arc path shown in figures 3 and 4, interpolating scanning lines of each section of a galvanometer, dividing the scanning lines into tiny line segments by taking a certain time period as a unit, transmitting computer data to a galvanometer system, controlling servo motors 3 and 5 by the system to respectively deflect an X-axis galvanometer 4 and a Y-axis galvanometer 6, and controlling defocusing quantity by a focusing lens 7 to enable a laser beam 2 to scan a complex path on the surface of the workpiece 10.
Step two, remote laser welding: the galvanometers 4 and 6 deflect according to the calculated deflection angle, the track is corrected to start scanning, meanwhile, the galvanometers 4 and 6 are communicated with a laser system to control the light emission of the laser 1, the deflection of the galvanometers 4 and 6 and the light emission of the laser 1 are carried out according to a reasonable sequence, and remote laser welding is carried out according to a preset welding path.
The specific parameters related to the laser are as follows: the laser power is 8500W, the diameter of a light spot is 0.2mm, and the beam quality is 8 mm-mrad. The specific parameters related to the galvanometer are as follows: the welding speed is 6m/min, and the defocusing amount is 0 mm. The effective welding distance is 450mm, and the focusing mode adopts front focusing. 99.9% argon with the gas flow of 15L/min is used as a shielding gas to prevent the weldment from being oxidized in the welding process.
Step three, the computer system controls the welding process in real time: the CCD high-definition camera 8 is used for collecting welding seam images, then the welding seam images are fed back to computer 9 software for image processing such as light filtering, light reduction, noise reduction, linear fitting and the like, the welding process is monitored in real time, if deviation exists in the welding position, the focus position can be automatically corrected through deflection of the vibrating mirrors 4 and 6 and movement of the focusing lens 7, and welding quality is guaranteed.
And step four, welding of the complex special-shaped structure is achieved, optionally, ultrasonic nondestructive testing is conducted on the welding line 24 hours after welding, and whether the quality of the welding line is qualified or not is confirmed.
It will be understood that the embodiments described above are illustrative only and not limiting, and that various modifications to the examples described herein will be readily apparent to those skilled in the art, and the invention is not to be limited thereto, since various simple modifications or substitutions of the details described above within the spirit and scope of the invention are deemed to be within the ambit of the claims appended hereto.
Claims (5)
1. A complex heterotype structure remote laser welding method based on visual sensing is characterized by comprising the following steps:
step 1, scanning path design: and (3) scanning images by using a CCD camera, inputting data into a vision system for calculation, obtaining a space function of a complex special-shaped structure and generating a preset welding line of the workpiece. The welding scanning path is designed as a swinging path, each section of galvanometer scanning line is interpolated, the scanning line is divided into tiny line segments by taking a certain time period as a unit, recorded computer data is transmitted to the galvanometer system, a real-time instruction signal is sent out to control a servo motor to realize the deflection of X, Y galvanometers, and defocusing amount is controlled by a focusing lens, so that a laser beam can scan a complex path in a plane.
Step 2, remote laser welding: and the galvanometer deflects according to the calculated deflection angle, corrects the track to start scanning, communicates with a laser system to control the laser to emit light, deflects the galvanometer and emits light from the laser in a reasonable sequence, and performs remote laser welding according to a preset welding path.
The specific parameters related to the laser are as follows: the laser power is 2000-. The welding process parameters are as follows: the welding speed is 2.5-10m/min, and the defocusing amount is-4- +4 mm. The focusing mode adopts front focusing. 99.9% argon with the gas flow of 15L/min is used as a shielding gas to prevent the weldment from being oxidized in the welding process.
And 3, controlling the welding process in real time by a computer system: the welding seam image is collected by the CCD high-definition camera and then fed back to computer software for image processing, the welding process is monitored in real time, if deviation exists at the welding position, the focus position can be automatically corrected through deflection of the X, Y galvanometer and movement of the focusing lens, and welding quality is guaranteed.
And 4, welding the complex special-shaped structure, optionally carrying out ultrasonic nondestructive testing on the welding line 24 hours after welding, and determining whether the quality of the welding line is qualified.
2. The remote laser welding method for the complex special-shaped structure based on the visual sensing as claimed in claim 1, wherein the complex special-shaped structure is a T-shaped structure, an L-shaped structure, a cross-shaped structure and the like with a blind area where a welding head cannot penetrate and a difficult welding area.
3. The vision sensing-based remote laser welding method for the complex special-shaped structure, as recited in claim 1, wherein the swing welding path is a V-shaped path or a circular arc path.
4. The remote laser welding method for the complex special-shaped structure based on the visual sensing is characterized in that the effective welding distance of the remote welding can reach 450 mm.
5. The remote laser welding method for the complex special-shaped structure based on the visual sensing as claimed in claim 1, wherein the visual sensing is that a CCD high-definition camera with a visual sensor is used for collecting images of the welding seam and transmitting the images to a computer, and the computer feeds the images back to a galvanometer system after post-processing so as to realize the automatic tracking of the welding seam.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113118625A (en) * | 2021-04-23 | 2021-07-16 | 广州松兴电气股份有限公司 | Laser welding machine |
| CN113305436A (en) * | 2021-06-17 | 2021-08-27 | 同高先进制造科技（太仓）有限公司 | Laser scanning galvanometer welding process with laser output power adaptive to scanning path |
| CN114012260A (en) * | 2021-11-19 | 2022-02-08 | 华能国际电力股份有限公司 | Laser welding repair method for crack damage of high-temperature component of gas turbine |
| CN114012267A (en) * | 2021-11-19 | 2022-02-08 | 华能国际电力股份有限公司 | Gas turbine high-temperature component crack damage laser-electric arc hybrid welding method |
| CN114346409A (en) * | 2021-12-06 | 2022-04-15 | 苏州菲镭泰克激光技术有限公司 | Real-time processing path generation system for three-dimensional scanning and verification |
| CN116475577A (en) * | 2023-06-26 | 2023-07-25 | 杭州凯龙医疗器械有限公司 | Weld joint control method for welding process of CT tube and titanium window |
| CN117283094A (en) * | 2023-11-22 | 2023-12-26 | 内蒙古工业大学 | Welding system capable of automatically tracking and applying ultrasonic assistance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114012260A (en) * | 2021-11-19 | 2022-02-08 | 华能国际电力股份有限公司 | Laser welding repair method for crack damage of high-temperature component of gas turbine |
| CN114012267A (en) * | 2021-11-19 | 2022-02-08 | 华能国际电力股份有限公司 | Gas turbine high-temperature component crack damage laser-electric arc hybrid welding method |
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| CN116475577A (en) * | 2023-06-26 | 2023-07-25 | 杭州凯龙医疗器械有限公司 | Weld joint control method for welding process of CT tube and titanium window |
| CN116475577B (en) * | 2023-06-26 | 2023-09-12 | 杭州凯龙医疗器械有限公司 | Weld joint control method for welding process of CT tube and titanium window |
| CN117283094A (en) * | 2023-11-22 | 2023-12-26 | 内蒙古工业大学 | Welding system capable of automatically tracking and applying ultrasonic assistance |
| CN117283094B (en) * | 2023-11-22 | 2024-01-26 | 内蒙古工业大学 | Welding system capable of automatically tracking and applying ultrasonic assistance |
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Application publication date: 20210309 |