CN114515795A - Laser auxiliary correction method and device based on visual error compensation - Google Patents
Laser auxiliary correction method and device based on visual error compensation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
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Abstract
The invention discloses a laser auxiliary correction device based on visual error compensation. The laser module is used for emitting laser beams and radiating laser tracks on the surface of a material to be processed; the visual detection module is used for detecting laser track position data, visual measurement mark point position data and material boundary position data, and is arranged right above the material and coaxially mounted with the laser module; the signal transmission module is used for transmitting the detected position data to the central processing module. The invention also discloses the laser auxiliary correction method. The device and the method can ensure continuous production and position correction without stopping the machine, and improve the practical significance of laser assistance in the processing and application of metal materials.
Description
Technical Field
The invention belongs to the field of metal forming, and particularly relates to a laser auxiliary correction method and device based on visual error compensation.
Background
Based on rapid market change, the demand for high-performance and high-value-added parts is increased exponentially; weight reduction has become a major concern in various large industrial fields. Thus, a number of new metal working processes have been proposed and studied. The heat-assisted forming is one of core technologies, multiple modes are adopted for processing, the laser-assisted forming technology adopting laser as an energy source has the advantages of quick response, accurate forming, low equipment modification degree and the like, the manufactured parts can have good mechanical performance and surface smoothness, meanwhile, the material consumption and hardware upgrading cost are reduced in the manufacturing process, the yield is not influenced at all, and the advantages are difficult to achieve by a plurality of traditional processes and additional processes.
However, in the laser-assisted forming process, there is a difficult drawback, that is, the problem of the cooperative work of the laser, the metal material and the machining system in the complex machining environment. Taking a metal stamping process as an example, a material is displaced by a huge impact force, which can cause that a laser profile of pre-heating radiation is difficult to be perfectly processed, resulting in deviation, part surface defects, quality reduction and even complete disappearance of a laser auxiliary effect, and the problem can greatly influence the practicability of a laser auxiliary forming process.
Currently, to solve the above problem, only an extremely passive part-based analytical compensation process can be employed: after the parts are produced, the finished parts are used as standards, the deviation between the laser heating trace and the actual processing trace on the parts is judged, and then the laser/material position is manually adjusted, so that the process is extremely inefficient and poor in effect, and the reasons are as follows:
1. the metal forming process is a continuous process, the actual obtained part has overlarge lag, and 4-8 stations or more are consumed on average, so that huge labor hour waste is caused;
2. the continuous process results in that all the subsequent parts cannot be guaranteed in quality before the reference part is obtained, and raw materials are greatly wasted;
3. errors in materials and processing processes are accumulated and superposed, and the existing reference part cannot represent the current material state, so that the correction significance is not great;
4. repeated shutdown correction for many times consumes a large amount of production time, increases the manufacturing cost on the contrary, and has no practical significance.
In summary, how to solve or monitor the position state of the material in real time is the basis of the laser assisted forming process, and if the core problem is not solved, the economic benefit and good performance impact brought by the laser assisted forming will be greatly reduced.
Disclosure of Invention
Aiming at the problem of material deviation caused by vibration, equipment interference and environmental influence in the laser-assisted forming process in the field of metal processing at present, the invention provides a laser-assisted correction method and device based on visual error compensation.
The laser auxiliary process is a certain laser auxiliary forming process which needs to be carried out on a specific position of a material, such as laser heating, marking, etching, polishing and the like; or a certain pretreatment process, namely a subsequent metal processing process such as stamping, drawing, milling and the like. The metal forming method includes all metal processing modes of metal drawing, metal finishing, metal machining, metal polishing, metal milling and the like which adopt laser assistance as a preorder process besides a metal stamping mode. The forming equipment can be metal forming equipment such as various punching machines, machine tools, CNC and the like. The core work of the invention lies in the process of cooperating laser and metal processing, and the invention is suitable for various processing technologies.
The invention provides a laser auxiliary correction device based on visual error compensation, which comprises a laser module, a visual detection module, a signal transmission module and a central processing module, wherein,
the laser module is used for emitting laser beams and radiating laser tracks on the surface of a material to be processed;
the visual detection module is used for detecting laser track position data, visual measurement mark point position data and material boundary position data;
the signal transmission module is used for transmitting the detected position data to the central processing module;
and the central processing module is used for calculating a material offset angle and an XY axis offset under a reference system according to the laser track position data, the visual measurement mark point position data and the material boundary position data, the reference system is established by taking the parallel edges of the visual measurement mark points as references, compensation calculation is carried out according to the offset angle and the offset to obtain a rotating angle and a distance which are required to be cooperatively moved along with the material position of the laser track, the laser module is adjusted to enable laser to be radiated to the compensated position to generate the laser track corrected for the material, or an alarm is carried out when the offset angle and/or the offset exceeds a threshold value.
In the embodiment of the invention, the visual measurement mark points are respectively stuck in the upper direction and the lower direction of the station of the visual detection area, and have different colors and reflectivity from the material.
The laser adjusting module comprises an adjusting vibrating mirror and a reflecting structure angle.
The vision inspection module includes an optical camera and may emit inspection light. The visual inspection module may be disposed directly above the material. The visual detection module may be mounted coaxially with the laser module.
The laser module further comprises a laser protection device.
The central processing module can perform a predetermined action while alarming when the offset angle and/or the offset amount exceeds a threshold value, wherein the predetermined action comprises shutdown.
The specific calculation process of calculating the material offset angle and the XY axis offset under the reference system according to the laser track position data, the visual measurement mark point position data and the material boundary position data is as follows: and obtaining the offset angle of the material by using the parallel edges of the visual measurement mark points as reference, calculating the offset about the Y axis by using the position of the laser track, and calculating the X-axis offset again according to the Y-axis offset and the corresponding angle.
The invention also provides a laser auxiliary correction method for visual error compensation, which comprises the following steps:
step 3, detecting laser track position data, material boundary position data and vision measurement marking point position data by a vision detection module;
step 4, taking the parallel edges of the visual measurement mark points as a reference system, calculating the XY axis offset and the angle offset data of the material according to the laser track position data, the material boundary position data and the visual measurement mark point position data, and performing corresponding compensation calculation to obtain the rotating angle and the distance data of the laser track which should move along with the material position in a coordinated manner;
and 5, adjusting a laser module according to the rotation angle and the distance data obtained by compensation calculation, radiating laser to the compensated position, generating a laser track corrected for the material, or alarming when the XY axis offset and/or the angle offset data exceed a threshold value.
The steps are repeatedly completed, and the fine adjustment of the laser radiation position is completed before each metal processing, so that the perfect processing effect is achieved.
Furthermore, the method can be applied to metal stamping, the visual measurement mark points have different colors and reflectivity from the material, and the step 5 of adjusting the laser module comprises adjusting the angle of the vibrating mirror and the reflecting structure.
Further, the visual inspection module is arranged right above the material and is coaxially installed with the laser module, and the laser module comprises a laser protection device.
Further, when the offset angle and/or the offset amount exceeds a threshold value, an alarm is given, and the machine is stopped.
Further, the specific calculation process of calculating the material offset angle and the XY-axis offset in step 4 is as follows: and obtaining the offset angle of the material by using the parallel edges of the visual measurement mark points as reference, calculating the offset about the Y axis by using the position of the laser track, and calculating the X-axis offset again according to the Y-axis offset and the corresponding angle.
The laser auxiliary correction method and device based on visual error compensation can be applied to metal stamping, and the core part of the device comprises a visual detection module, a signal transmission module, a central processing module and the like; the device is arranged in a laser auxiliary area and used for monitoring the displacement condition of the material in real time, making corresponding analysis and compensation calculation, transmitting a signal to a laser emission system, and enabling the laser to adjust the corresponding angle and position so as to match the position of the existing metal material. And finally, the metal forming equipment processes the raw material with the laser radiation position adjusted, and forms corresponding parts more accurately.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural diagram of a laser-assisted correction method and apparatus based on visual error compensation according to the present invention;
FIG. 2 is a schematic illustration of the deviation of the position of laser radiation based on material displacement;
fig. 3 is a schematic diagram of a vision capture and correction process.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The laser auxiliary process is a certain laser auxiliary forming process which needs to be carried out on a specific position of a material, such as laser heating, marking, etching, polishing and the like; or a certain pretreatment process, namely a subsequent metal processing process such as stamping, drawing, milling and the like; the forming equipment can be metal forming equipment such as various punching machines, machine tools, CNC and the like.
The invention provides a laser auxiliary correction method and device based on visual error compensation, and the device and method are used for solving the problem of material deviation caused by vibration, equipment interference and environmental influence aiming at the existing laser auxiliary forming process in the field of metal processing. The device and the method can be applied to a plurality of fields, because different machining and metal material forming modes all need a positioning correction method to improve the productivity and the quality, and the device and the method can be applied universally. In order to clearly show the whole process, the invention adopts the metal stamping process as a case and carries out process explanation.
Fig. 1 shows a punch structure with a visual inspection module installed, and a corresponding die and laser device, and the whole system is not shown in fig. 1 because only the visual inspection module is required to be installed in a working area, and other modules such as a signal transmission module and a central processing module can transmit signals through cables, and thus, the whole system is installed in a space far away from mechanical equipment. The core of the visual detection module is an optical camera or other similar functional systems, and a preset structural target object can be quickly captured; the visual detection module is small in size, is arranged right above the metal material and can be coaxially mounted with the laser head, so that a short distance in space is ensured; the system is provided with a laser protection device and a built-in light source, so that the visual capture process is more convenient to carry out; the vision measurement mark point is made of a reflective material suitable for optical detection, can stably reflect light rays and provides input data for a vision system.
As shown in fig. 1, the punch 1 is provided with an upper die, a lower die, an upper die 7 and a lower die 8 for metal forming, and the punch 1 is provided with a laser auxiliary processing station in the feeding direction, in which a laser module 2 is arranged. Meanwhile, the core working part of the invention, the visual detection module 3, is arranged near the laser module 2, and in order to better obtain visual contents, the visual detection module 3 and the laser module can be coaxially arranged, so that the visual detection module 3 is close to a laser auxiliary radiation area as much as possible. In the following work, the laser module 2 emits a laser beam 4 according to an auxiliary instruction, the laser beam is radiated on the material 5 to complete a designed laser track, and then the material is driven by the feeder 6 to move and enter a processing area of the punch; the upper die 7 moves downwards, the punching passes through the laser radiation area, and at the moment, whether the punching position and the laser position are carried out according to the preset relation is a key point of the whole forming process.
FIG. 2 is a schematic illustration of the deviation of the position of laser radiation based on material displacement; the figure shows the top view perspective of the material, and the figure adopts 3 steps, which sequentially illustrate the process relationship of the processing error caused by the material deviation.
As shown in fig. 2.1 of fig. 2, the laser machined area is indicated by a square dashed box 2.1.3 and the metal forming area is indicated by a square dashed box 2.1.4. The laser scans the desired geometric profile 2.1.2 (a circular example is used in the present invention) across the surface of the material, preset by the system. The material is then moved by the feeder and, ideally, is transported flat and without deflection to the corresponding position of the punch shown in 2.1.5.
In the ideal case, the position of the material is as shown in fig. 2.2 of fig. 2, the two circular tracks having corresponding positions on the material to be processed, being of standard concentric geometry.
However, in the actual processing situation, due to the influence of a large number of engineering equipment problems, such as old punching machine, inaccurate feeder, large environmental vibration, friction in transportation and the like, the material is driven by the feeder to be in irregular fine orientation fluctuation, and the orientation fluctuation can not show obvious influence if in the traditional processing technology; however, in the process of multi-process cooperation such as laser assistance, an irregular equal deviation between the previous and subsequent processes may be caused, as shown in fig. 2.3 of fig. 2: it can be seen that when the metal slightly moves angularly (for convenience, assuming that the material rotates by 1 °), the original laser trajectory 2.1.2 has a large deviation from the punched trajectory circle 2.1.5, and the laser trajectory cannot provide functional help for the original product manufacture, but on the contrary, useless laser traces remain on the product, which may reduce the product value.
Fig. 3 shows how the system monitors and corrects in real time: fig. 3.1 shows the same situation as in fig. 2.3, assuming that this is the first time the laser track 3.1.6 enters the punching zone, when the laser track 3.1.6 has deviated from the punching position 3.1.7. At this moment, the visual detection module can begin to work in visual detection area 3.1.2 (circular line frame shows), and the visual detection module can launch detection red light (or other monochromatic light sources that suitably detect), and received after the light reflection laser trace, because punch press, mould and visual detection module all belong to the rigid mount, so go up the mould position and can not change, therefore the punching press position at this moment can be simulated to the visual detection module.
In the visual detection area, two visual measurement mark points 3.1.3 with strong reflection effect are pasted. Since the surface of the metal material is smooth and easy to cause light reflection, the position of the material is difficult to accurately and directly identify. Therefore, the system adopts a brand new design concept, adopts the visual identification mark points, and applies lines formed by the material edges and the external space to carry out visual identification and analysis, thereby greatly improving the identification efficiency and accuracy.
Fig. 3.2 illustrates the identification process, when the visual inspection module identifies two boundaries of the offset material, two visual measurement marker points 3.1.3 in the system are identified again. When the position data of the four elements are all read, the data can be transmitted to the central processing module for analysis. In the analysis process, the parallel sides of the visual measurement mark points are used as references to obtain the offset angle 3.2.3 of the material, the offset L1\ L2 about the Y axis can be calculated by using the positions of the laser tracks as data 3.2.1 and 3.2.2, and the X-axis offset can be calculated again through the Y-axis offset and the corresponding angles. Therefore, the material offset under the station can completely and accurately obtain the material position data.
Then as shown in fig. 3.3, data is fed back to the laser system, which adjusts the angle of the galvanometer and the reflecting structure, and can instantly perform new laser scanning at a completely new offset correction position 3.3.1, to generate a laser track simulation position corrected for the material, where the new position 3.3.2 will not remain at the original material position, but it can be concentrically matched with the stamping track 3.1.7, thereby greatly reducing production errors. In addition, the system can also be provided with an error alarm function, for example, if the error is found to be too large through measurement, the system can directly alarm and carry out actions such as shutdown and the like according to preset instructions, because the too large error can mean that the design of the mold is wrong or the feeder is damaged and exceeds the normal acceptable range.
In an exemplary embodiment, the laser-assisted correction method of visual error compensation comprises the steps of:
step 3, detecting laser track position data, material boundary position data and vision measurement mark point position data by a vision detection module;
step 4, taking the parallel edges of the visual measurement mark points as a reference system, calculating the XY axis offset and the angle offset data of the material according to the laser track position data, the material boundary position data and the visual measurement mark point position data, and performing corresponding compensation calculation to obtain the rotating angle and the distance data of the laser track which should move along with the material position in a coordinated manner;
and 5, adjusting a laser module according to the rotation angle and the distance data obtained by compensation calculation, radiating laser to the compensated position, generating a laser track corrected for the material, or alarming when the XY axis offset and/or the angle offset data exceed a threshold value.
The steps are repeatedly completed, and the fine adjustment of the laser radiation position is completed before each metal processing, so that the perfect processing effect is achieved.
Furthermore, the method can be applied to metal stamping, the visual measurement mark points have different colors and reflectivity from the material, and the step 5 of adjusting the laser module comprises adjusting the angle of the vibrating mirror and the reflecting structure.
Further, the visual inspection module is arranged right above the material and is coaxially installed with the laser module, and the laser module comprises a laser protection device.
Further, when the offset angle and/or the offset amount exceeds a threshold value, an alarm is given, and the machine is stopped.
Further, the specific calculation process of calculating the material offset angle and the XY-axis offset in step 4 is as follows: and obtaining the offset angle of the material by using the parallel edges of the visual measurement mark points as reference, calculating the offset about the Y axis by using the position of the laser track, and calculating the X-axis offset again according to the Y-axis offset and the corresponding angle.
Therefore, on the premise of no shutdown, the laser auxiliary correction method and device based on visual error compensation can ensure that the whole process can be continuously used for production and position correction, each time of laser radiation can be finely adjusted based on a brand-new material position, the whole process directly eliminates the overlapping movement of materials, meanwhile, manual correction after the completion of stamping is not needed, and the method and device improve the practical significance of laser assistance in the processing and application of metal materials.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. The utility model provides a supplementary correcting unit of laser based on visual error compensation which characterized in that: the device comprises a laser module, a visual detection module, a signal transmission module and a central processing module, wherein,
the laser module is used for emitting laser beams and radiating laser tracks on the surface of a material to be processed;
the visual detection module is used for detecting laser track position data, visual measurement mark point position data and material boundary position data; the visual detection module is arranged right above the material and is coaxially installed with the laser module;
the signal transmission module is used for transmitting the detected position data to the central processing module;
and the central processing module is used for calculating a material offset angle and an XY axis offset under a reference system according to the laser track position data, the visual measurement mark point position data and the material boundary position data, the reference system is established by taking the parallel edges of the visual measurement mark points as references, compensation calculation is carried out according to the offset angle and the offset to obtain a rotating angle and a distance which are required to be cooperatively moved along with the material position of the laser track, the laser module is adjusted to enable laser to be radiated to the compensated position to generate the laser track corrected for the material, or an alarm is carried out when the offset angle and/or the offset exceeds a threshold value.
2. The laser-assisted correction device based on visual error compensation of claim 1, characterized in that: and respectively sticking a visual measurement marking point in the upper and lower directions of the station in the visual detection area, wherein the visual measurement marking point has a color and a reflectivity different from those of the material, and the laser adjusting module comprises an adjusting vibrating mirror and a reflecting structure angle.
3. The laser-assisted correction device based on visual error compensation of claim 1, characterized in that: the laser module includes a laser protection device.
4. The laser-assisted correction device based on visual error compensation of claim 1, characterized in that: and the central processing module alarms when the offset angle and/or the offset exceeds a threshold value and stops the machine.
5. The laser-assisted correction device based on visual error compensation of claim 1, characterized in that: the specific calculation process for calculating the material offset angle and the XY axis offset under the reference system according to the laser track position data, the visual measurement mark point position data and the material boundary position data is as follows: and obtaining the offset angle of the material by using the parallel edges of the visual measurement mark points as reference, calculating the offset about the Y axis by using the position of the laser track, and calculating the X-axis offset again according to the Y-axis offset and the corresponding angle.
6. A laser-assisted correction method based on visual error compensation is characterized by comprising the following steps:
step 1, respectively sticking a visual measurement mark point at the upper part and the lower part of a station of a visual detection area;
step 2, the laser module emits laser beams, and laser tracks are radiated on the surface of the material to be processed;
step 3, detecting laser track position data, material boundary position data and vision measurement mark point position data by a vision detection module, wherein the vision detection module is arranged right above the material and is coaxially installed with the laser module;
step 4, taking the parallel edges of the visual measurement mark points as a reference system, calculating the XY axis offset and the angle offset data of the material according to the laser track position data, the material boundary position data and the visual measurement mark point position data, and performing corresponding compensation calculation to obtain the rotating angle and the distance data of the laser track which should move along with the material position in a coordinated manner;
and 5, adjusting a laser module according to the rotation angle and the distance data obtained by compensation calculation, radiating laser to the compensated position, generating a laser track corrected for the material, or alarming when the XY axis offset and/or the angle offset data exceed a threshold value.
7. The laser-assisted correction method based on visual error compensation according to claim 6, characterized in that: the method can be applied to metal stamping, the visual measurement mark points have different colors and reflectivity from materials, and the step 5 of adjusting the laser module comprises adjusting the angle of a vibrating mirror and a reflecting structure.
8. The laser-assisted correction method based on visual error compensation as claimed in claim 6, characterized in that: the laser module includes a laser protection device.
9. The laser-assisted correction method based on visual error compensation according to claim 6, characterized in that: and alarming when the offset angle and/or the offset exceeds a threshold value, and stopping the machine.
10. The laser-assisted correction method based on visual error compensation according to claim 6, characterized in that: the specific calculation process for calculating the material offset angle and the XY axis offset in the step 4 is as follows: and obtaining the offset angle of the material by using the parallel edges of the visual measurement mark points as reference, calculating the offset about the Y axis by using the position of the laser track, and calculating the X-axis offset again according to the Y-axis offset and the corresponding angle.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010099674A (en) * | 2008-10-21 | 2010-05-06 | Mitsubishi Electric Corp | Laser beam machining apparatus |
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2022
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| JP2010099674A (en) * | 2008-10-21 | 2010-05-06 | Mitsubishi Electric Corp | Laser beam machining apparatus |
| CN107378246A (en) * | 2016-05-16 | 2017-11-24 | 大族激光科技产业集团股份有限公司 | A kind of method and system for correcting laser welding track |
| CN108941894A (en) * | 2018-07-20 | 2018-12-07 | 富通尼激光科技（东莞）有限公司 | A kind of laser processing device and method |
| DE102018217940A1 (en) * | 2018-10-19 | 2020-04-23 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Method and processing machine for processing a workpiece |
| CN111843219A (en) * | 2019-04-19 | 2020-10-30 | 大族激光科技产业集团股份有限公司 | Automatic error compensation method for laser optical path system and laser optical path system |
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