CN114871571A - Integrated main and auxiliary beam splitting device of blue laser welding robot - Google Patents
Integrated main and auxiliary beam splitting device of blue laser welding robot Download PDFInfo
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- CN114871571A CN114871571A CN202210594254.5A CN202210594254A CN114871571A CN 114871571 A CN114871571 A CN 114871571A CN 202210594254 A CN202210594254 A CN 202210594254A CN 114871571 A CN114871571 A CN 114871571A
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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
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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
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
- B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
- B23K26/0643—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms comprising mirrors
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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
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
- B23K26/073—Shaping the laser spot
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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
- B23K26/702—Auxiliary equipment
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Abstract
The invention discloses an integrated main and auxiliary beam splitting device of a blue laser welding robot, and belongs to the technical field of blue semiconductor lasers. The system comprises a blue light beam collimation system, a blue light primary and secondary beam splitting system, a focusing system, a secondary light beam collimation beam linear conversion system, a linear blue light scanning position-finding light path and a CCD camera; the blue light beam is expanded and collimated by the blue light beam collimating system and then enters the blue light primary and secondary light beam splitting system to decompose the blue light beam to form a primary light beam for blue light welding and a secondary light beam for blue light scanning; the focusing system is used for converging the main light beam at a specified welding position for welding; the secondary beam collimated beam linear conversion system is used for converting the secondary beam into linear laser; the linear blue light scanning position-finding light path is used for carrying out image processing according to the reflected light of the linear laser received by the CCD camera to obtain the actual welding point position. The laser welding and laser welding seam detection device integrates two functions of laser welding and laser welding seam detection into one welding device, and does not need calibration by hands and eyes.
Description
Technical Field
The invention belongs to the technical field of blue-ray semiconductor lasers, and particularly relates to an integrated main beam splitting device and an integrated auxiliary beam splitting device of a blue-ray laser welding robot.
Background
In recent years, there is a great demand for laser processing of copper materials having high thermal and electrical conductivity, however, the laser absorption rate of the copper material in the infrared band is only 10% or less, and on the other hand, as the wavelength is reduced to 500nm or less, the absorption rate of the copper material to light is rapidly increased, which enables welding of high-reflective materials using blue light to achieve a better processing effect. In the fields with high fineness requirements such as automobile power batteries, aerospace, electricity and the like, the blue-light semiconductor laser has a powerful advantage in laser welding.
Laser welding generally can bind with joint robot, and for manual welding, welding robot can reduce welding manpower manufacturing cost by a wide margin, improves weldment work's automatic intelligent operation degree, and welding robot can accomplish a large amount of welding actions in certain workspace voluntarily, consequently every welder's of automatically regulated gesture that can be arbitrary. In the process of welding by the robot, the welding seam track often does not accord with the preset track of the robot due to the problems of workpiece deformation, irregular welding seam, deviation of workpiece placement and the like. In order to change the era that welding programming education is called blind welding, in the existing laser welding robot system, the real position of a welding seam is pushed by adding a visual sensor and adopting a triangulation principle, and then the track of the robot is adjusted in real time.
The working principle of laser vision is based on the principle of laser triangulation distance measurement, which is a traditional and mature method. The linear laser is used as an external active light source in the whole system, when the linear laser obliquely irradiates the surface of a welding seam of a workpiece, a laser spot is generated, an image of the laser spot enters a camera after being reflected, and the image is imaged as an image point on a photosensitive detector of the camera. In the system, the welding gun and the laser vision sensor are rigidly fixed through the fixing support, and when the welding seam surface of the detected workpiece moves up and down or left and right, the positions of the image points are correspondingly changed, so that the height and the horizontal position of the welding gun can be calculated according to the position change relation of the image points.
At present, in laser welding robot equipment, a laser welding head and a laser sensor are mostly two independent individuals, and in the actual production and application process, after a user installs the laser sensor on the laser welding head, the conversion from a sensor scanning position to a welding seam actual position is realized through the modes of hand-eye calibration and the like. If a user detaches the laser welding head from the robot when the user performs equipment maintenance, the position of the sensor and the laser welding head is deviated, and the user needs to perform hand-eye calibration again to ensure the scanning accuracy when the equipment operates.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an integrated main beam splitting device and an integrated auxiliary beam splitting device of a blue-ray laser welding robot, which integrate a laser welding head and a line scanning sensor required by blue-ray welding into a whole and aims to solve the problem that hand-eye calibration is required frequently in the actual production welding process to ensure the accuracy of equipment.
In order to achieve the purpose, the invention provides an integrated main and auxiliary beam splitting device of a blue laser welding robot, which comprises a blue light beam collimation system, a blue light main and auxiliary beam splitting system, a focusing system, an auxiliary beam collimation beam linear conversion system, a linear blue light scanning position finding light path and a CCD camera for observation, wherein the blue light beam collimation system, the blue light main and auxiliary beam splitting system, the focusing system, the auxiliary beam collimation beam linear conversion system, the linear blue light scanning position finding light path and the CCD camera are arranged along a light path. The blue light beam output by the blue light semiconductor laser is expanded and collimated by the blue light beam collimating system and then enters the blue light primary and secondary light beam splitting system, and the blue light primary and secondary light beam splitting system is used for decomposing the blue light beam to form a primary light beam for blue light welding and a secondary light beam for blue light scanning;
the focusing system is used for converging the main light beam at a specified welding position for welding;
the secondary beam collimated light beam linear conversion system is used for converting the secondary beam into linear laser, and in the welding process, the linear laser is positioned right in front of the welding position and can be received by the CCD camera after being reflected;
the linear blue light scanning position-finding light path is used for carrying out image processing according to the reflected light of the linear laser received by the CCD camera to obtain the actual welding point position.
Preferably, the beam collimation system comprises a keplerian telescope structure consisting of two convex lenses arranged along the optical path, wherein the focal length of the first convex lens is smaller than that of the second convex lens. And the blue light semiconductor laser outputs the coupling optical fiber to a light beam collimation system, and the light beam is expanded and collimated by a telescope system consisting of two convex lenses.
Preferably, the blue main and sub light beam splitting system comprises a total reflection mirror and a beam splitter, wherein the beam splitter is preferably a reflection mirror with the transmittance of 0.1%, so as to split the collimated blue light beam and form a main light beam for blue light welding and a sub light beam for blue light scanning. After the collimated light beam is incident on the total reflection mirror, the light beam is deflected by 90 degrees and then is incident on the spectroscope with the transmittance of 0.1 percent, wherein 99.9 percent of blue light is incident on the light beam focusing system after being reflected, and after 0.1 percent of the blue light is transmitted, the light beam direction is adjusted through a reflection mirror, and then the light beam enters the linear conversion system for the collimated light beam of the secondary light beam.
Preferably, the main beam of the collimated laser beam passes through the focusing system, and the main beam is converged at the designated welding position after being incident on the focusing mirror.
Preferably, the linear conversion system for collimated sub-beam beams comprises a third convex lens and a fourth convex lens which are arranged along the light path and used for collecting blue light, and two cylindrical mirrors used for beam shaping, the sub-beam passes through the collection system formed by the two convex lenses, the beam radius is reduced, then the sub-beam is sequentially incident on the two cylindrical mirrors, and finally the sub-beam is converted into linear laser to be output. In the welding process, the linear laser is just in front of the welding position, and can be received by the CCD camera at the position as high as the focusing mirror after being reflected.
Preferably, the linear blue light scanning position-finding light path comprises two plane reflectors for reflecting the linear laser, the CCD camera is located at the focusing lens, the collimated laser passes through the collimated light linear conversion device and then is incident on the first plane reflector and the second plane reflector, the linear light beam is irradiated on the Cu material splicing weld after two reflections and is just positioned in the advancing direction of the welding, according to the principle of triangulation, the reflected light reflected by the Cu material is incident on the CCD camera, and then the actual welding spot position is obtained through image processing.
As a further preferred aspect of the present invention, the central axis of each optical lens coincides with the central axis of the light flux.
As a further preferred aspect of the present invention, in the light beam collimating system, the focal length of the first convex lens is smaller than that of the second convex lens, the two convex lenses are placed in parallel, and the distance between the two convex lenses is greater than the sum of the focal lengths of the two convex lenses, the blue light output from the end face of the optical fiber has a certain light beam divergence angle, the light beam converges at the focal position of the second convex lens after passing through the first convex lens, the distance from the point to the second convex lens is exactly equal to the focal length of the second convex lens, and the parallel blue light beam with a very small divergence angle can be output after passing through the second convex lens.
As a further preferred embodiment of the present invention, all the optical lenses are coated with a film layer for increasing the transmittance of blue light, so as to reduce the power loss caused by reflection or scattering on the lens surface, and the light-emitting surface of the beam splitter is coated with a special medium, so that 99.9% of the energy in the blue light beam is reflected into the collimated laser beam focusing system, and the remaining 0.1% of the energy passes through the beam splitter. The other reflectors are plated with film layers for enhancing blue light reflection so as to reduce power loss;
as a further preferable feature of the present invention, in the sub-beam collimated light beam linear conversion system, a focal length of the third convex lens is greater than that of the fourth convex lens, the two convex lenses are placed in parallel, and the distance between the third convex lens and the fourth convex lens is exactly equal to the sum of the focal lengths of the two convex lenses, and the light beam converges at a focal position of the third convex lens after passing through the third convex lens.
As a further preferable aspect of the present invention, when the welding robot performs the setting of the tool TCP, the intersection point of the main beam converged by the focusing lens focused by the main beam is required to be used as a tool point, and when the focal length of the focusing lens is selected, the intersection point of the main beam and the linear scanning spot reflected onto the Cu material weld by the second plane mirror should be on the same plane in a case that the main beam is perpendicular to the plane of the Cu material weld.
As a further preferred aspect of the present invention, the focusing lens for focusing the main beam and the CCD camera for receiving the linear reflected light should be disposed at the same height, and the receiving surface of the CCC camera is parallel to the beam, so that the influence of the spatter and disturbance light generated during welding on the position tracking can be minimized.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the integrated main and auxiliary beam splitting device of the blue laser welding robot integrates two functions of laser welding and laser weld joint detection on one welding device, the position transmission matrix relation between the scanning point position and the actual welding focus position can be obtained by fixing the relative position of each group of lenses, and a user only needs to calibrate hands and eyes once when debugging the device.
2. The laser beam output by the blue semiconductor laser is collimated, and then is split by a reflector with the transmittance of 0.1%, wherein 99.9% of the beam energy is focused by a focusing mirror after being reflected and is used as welding light for welding Cu materials, and 0.1% of the beam energy is shaped into linear light spots after penetrating through the reflector and is used for detecting the actual welding seam position.
3. For the welding of Cu material, when the welding power of blue light increases, the influence of splash and interference light at the welding position will become bigger, but because the beam transmittance of the spectroscope mirror is 0.1%, when the output power of blue light increases, the energy of the sub-beam used for scanning will also increase, so that the main source of the beam received by the CCD camera is the reflection of the linear scanning spot.
Drawings
Fig. 1 is a schematic diagram of an integrated primary and secondary beam splitting device of a blue laser welding robot according to an embodiment of the present invention.
Fig. 2 is a diagram of a beam collimation system in accordance with an embodiment of the present invention.
Fig. 3 is a schematic diagram of splitting a main beam and an auxiliary beam of blue light according to an embodiment of the present invention.
FIG. 4 is a diagram of the position of the blue primary and secondary beams according to an embodiment of the present invention.
Fig. 5 is a diagram of a side-beam collimated light beam linear conversion device according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a linear blue light scanning seek path according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In order to achieve the purpose, the invention provides an integrated main beam splitting device and an integrated auxiliary beam splitting device of a blue laser welding robot, which comprise a blue light collimation and beam expansion system, a blue light beam splitting system, a collimated light beam shaping system, a linear blue light scanning and position finding light path, a collimated light beam converging system and a CCD (charge coupled device) camera for observation, wherein the blue light collimation and beam expansion system, the blue light beam splitting system, the collimated light beam shaping system, the linear blue light scanning and position finding light path and the collimated light beam converging system are arranged along a light path.
The invention provides an integrated main and auxiliary beam splitting device of a blue laser welding robot, which comprises a blue light beam collimation system, a blue light main and auxiliary beam splitting system, a focusing system, an auxiliary beam collimation beam linear conversion system, a linear blue light scanning position-finding light path and a CCD (charge coupled device) camera for observation, wherein the blue light beam collimation system, the blue light main and auxiliary beam splitting system, the focusing system, the auxiliary beam collimation beam linear conversion system, the linear blue light scanning position-finding light path and the CCD camera are arranged along a light path. The blue light beam output by the blue light semiconductor laser is expanded and collimated by the blue light beam collimating system and then enters the blue light primary and secondary light beam splitting system, and the blue light primary and secondary light beam splitting system is used for decomposing the blue light beam to form a primary light beam for blue light welding and a secondary light beam for blue light scanning;
the focusing system is used for converging the main light beam at a specified welding position for welding;
the secondary beam collimated light beam linear conversion system is used for converting the secondary beam into linear laser, and in the welding process, the linear laser is positioned right in front of the welding position and can be received by the CCD camera after being reflected;
the linear blue light scanning position-finding light path is used for carrying out image processing according to the reflected light of the linear laser received by the CCD camera to obtain the actual welding point position.
Specifically, the beam collimation system comprises a Keplerian telescope structure formed by two convex lenses arranged along an optical path, wherein the focal length of the first convex lens is smaller than that of the second convex lens. And the blue light semiconductor laser outputs the coupling optical fiber to a light beam collimation system, and the light beam is expanded and collimated by a telescope system consisting of two convex lenses.
Specifically, the blue main and auxiliary light beam splitting system comprises a total reflection mirror and a spectroscope with the transmittance of 0.1%, so that the blue collimated light beam is decomposed to form a main light beam for blue light welding and an auxiliary light beam for blue light scanning. After the collimated light beam is incident on the total reflection mirror, the light beam is deflected by 90 degrees and then is incident on the spectroscope with the transmittance of 0.1 percent, wherein 99.9 percent of blue light is incident on the light beam focusing system after being reflected, and after 0.1 percent of the blue light is transmitted, the light beam direction is adjusted through a reflection mirror, and then the light beam enters the linear conversion system for the collimated light beam of the secondary light beam.
Specifically, a main beam of the collimated laser beam passes through the focusing system, and the main beam is incident on the focusing mirror and then converged at a specified welding position.
Specifically, the linear conversion system for collimated light beams of the secondary light beams comprises a third convex lens, a fourth convex lens and two cylindrical mirrors, wherein the third convex lens and the fourth convex lens are arranged along a light path and used for collecting blue light beams, the cylindrical mirrors are used for shaping light beams, the secondary light beams firstly pass through a collecting system formed by the two convex lenses, after the radius of the light beams is reduced, the secondary light beams sequentially enter the two cylindrical mirrors, and finally the secondary light beams are converted into linear laser beams to be output. In the welding process, the linear laser is just in front of the welding position, and can be received by the CCD camera at the position as high as the focusing mirror after being reflected.
Specifically, the linear blue light scanning position-finding light path comprises two plane reflectors for reflecting line laser, a CCD camera is located at a focusing lens, collimated laser passes through a collimated light beam linear conversion device and then is incident on a first plane reflector and a second plane reflector, linear light beams are irradiated on a Cu material splicing welding seam after two reflections and are just positioned in the advancing direction of welding, according to the principle of triangulation, reflected light reflected by the Cu material can be incident on the CCD camera, and then the actually welded welding point position is obtained through image processing.
Specifically, the central axis of each optical lens coincides with the central axis of the light beam.
Specifically, in the light beam collimating system, the focal length of the first convex lens is smaller than that of the second convex lens, the two convex lenses are placed in parallel, the spacing distance is larger than the sum of the focal lengths of the two convex lenses, the blue light output by the end face of the optical fiber has a certain light beam divergence angle, the light beam converges at the focal position of the second convex lens after passing through the first convex lens, the distance from the point to the second convex lens is just equal to the focal length of the second convex lens, and the blue light beam can be output by obtaining the parallel blue light beam with a small divergence angle after passing through the second convex lens.
Specifically, all optical lenses are coated with a film layer for increasing the reflection of blue light so as to reduce power loss caused by reflection or scattering on the surfaces of the lenses, and a special medium is coated on the light-emitting surface of the spectroscope, so that 99.9% of energy in a blue light beam is reflected to enter a laser collimated light beam focusing system, and the remaining 0.1% of energy passes through the spectroscope. The other reflectors are plated with film layers for enhancing blue light reflection so as to reduce power loss;
specifically, in the linear conversion system for collimated light beams of sub-beams, the focal length of the third convex lens is greater than that of the fourth convex lens, the two convex lenses are placed in parallel, the spacing distance is just equal to the sum of the focal lengths of the two convex lenses, and the light beams converge at the focal position of the third convex lens after passing through the third convex lens.
Specifically, when the welding robot sets a tool TCP, a main beam intersection point obtained by converging a focusing lens focused by a main beam is required to be used as a tool point, and when the focal length of the focusing lens is selected, the main beam intersection point and a linear scanning spot reflected to a Cu material weld joint through a second plane mirror are on the same plane under the condition that the main beam is perpendicular to the Cu material weld joint plane.
Specifically, the focusing lens for focusing the main beam and the CCD camera for receiving the linear reflected light should be placed at the same height, and the receiving surface of the CCD camera is parallel to the beam, so that the influence of the spatter and the disturbing light on the position tracking during welding can be minimized.
The following detailed description is made with reference to alternative embodiments:
in this embodiment, as shown in fig. 1, the application scenario of the primary and secondary beam splitting devices of the integrated blue-ray laser welding robot is weld detection scanning welding of the Cu material splicing weld, the primary and secondary beam splitting devices of the integrated blue-ray laser welding robot are packaged in a welding device 5, and the welding device 5 is fixed on the flange plate 4 of the industrial six-axis robot 2. Firstly, welding track setting is carried out on an industrial six-axis robot 2, after the movement starts, the industrial six-axis robot 2 sends signals to a blue-light semiconductor laser 1, the blue-light semiconductor laser 1 generates blue light beams which are transmitted into a welding device 5 through an optical fiber 6, after the signals pass through an integrated main beam splitting device and an integrated auxiliary beam splitting device of the blue-light laser welding robot, a main beam intersection point 22 focused through a convex lens 21 moves to the right along a Cu material splicing welding seam 3 in splicing welding horizontally, meanwhile, a linear scanning light spot 18 formed by shaping the auxiliary beams is located in the advancing direction of the robot, reflected light information collected through a CCD camera 19 is processed by an image processing system 20, and then coordinate information of an actual welding seam is sent to the industrial six-axis robot 2.
In this embodiment, as shown in fig. 2, the light beam collimating system is composed of two convex lenses 7 and 8, the focal length of the convex lens 7 is f1, the focal length of the convex lens 8 is f2, and the two convex lenses are placed in parallel with a distance slightly larger than f1+ f 2. When the blue light generated by the blue laser is output through the optical fiber, the blue light has a certain blue light divergence angle, converges at the focus of the convex lens 8 after the convergence action of the convex lens 7, and then passes through the convex lens 8 to obtain the collimated blue laser output.
In this embodiment, as shown in fig. 3, the collimated light beam passing through the convex lens 8 passes through a reflecting mirror 9 to change the propagation direction of the light beam, and then is incident on a reflecting mirror 10 coated with a special material, the reflectivity of the reflecting mirror 10 to blue light is 99.9%, the blue light is split at the reflecting mirror 10 and is decomposed into reflected light (main light beam) containing 99.9% of energy and transmitted light (sub-light beam) containing 0.1% of energy, and the collimated light beam of the blue light containing 0.1% of energy transmitted by the reflecting mirror 10 is reflected by a reflecting mirror 11 and then is incident on a collimated light beam linear conversion system.
In this embodiment, as shown in fig. 4, the position of the convex lens 21 is at the same height as the CCD camera 19, and the intersection 22 of the main light beams focused by the convex lens 21 just converges on the Cu material splice seam 3, and meets the requirement of being coplanar with the linear scanning spot 18 in position and being behind the linear scanning spot 18 in the welding direction.
In this embodiment, as shown in fig. 5. The linear conversion system for the collimated sub-beam is composed of two convex lenses 12 and 13 and two cylindrical lenses 14 and 15. The focal lengths of the convex lens 12 and the convex lens 13 are respectively f3 and f4, and f3 is larger than f4, the two convex lenses are placed in parallel, the spacing distance is just equal to the sum of the focal lengths of the two convex lenses, parallel light beams converge at the focal position of the convex lens 12 after passing through the convex lens 12, and because the distance from the point to the convex lens 13 is just equal to the focal length of the convex lens 13, parallel blue light beams with small spot size can be output after passing through the convex lens 13. The received blue parallel light can be quickly focused in the lens after contacting the first surface of the cylindrical mirror 14, so that the divergence angle of the light beam is very large, and the light beam can have a linear effect on an image plane, and the diverged light beam is further shaped by the cylindrical mirror 15, so that the linear laser suitable for laser scanning is finally obtained.
In this embodiment, as shown in fig. 6, the linear blue light scanning position finding system is composed of two mirrors 16, 17 with a certain angle, the linear blue light passing through the cylindrical mirror 15 is reflected by the reflecting mirror 16 and the reflecting mirror 17 continuously, and then is obliquely incident on the Cu plate, and the linear scanning light spot 18 and the Cu material splicing welding seam 3 form a vertical relation in a horizontal plane, the linear scanning light spot is reflected by the surface of the Cu material and then received by a CCD camera 19, in the principle of triangulation, a point light spot is imaged on a CCD linear array, the imaging position and the depth position of the light spot have unique corresponding relation, the central position of the real image formed on the CCD linear array is measured, the depth coordinate of the light spot at the moment can be obtained by a geometrical optics calculation method, so that the depth parameter of the point of the measured surface is obtained, because the light spot used during scanning is a linear light spot, a plurality of sampling points in the vertical direction of the welding seam can be measured to obtain a group of data of the surface appearance of the measured surface. Because the blue light at the welding seam position can penetrate through the welding seam and can not be normally reflected back to the CCD camera 19, an obvious breakpoint can be generated after the scanned image is processed. Since the relative positions of the linear scanning beam and the welding focus are fixed, the position transmission matrix between the linear scanning beam and the welding focus is also fixed, after the image is read by the CCD camera 19 to obtain the position of the welding seam under the sensor coordinate system, the position of the welding seam under the robot coordinate system is calculated by the image processing system 20 according to the known position transmission matrix and is transmitted to the industrial six-axis robot 2.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. An integrated main and auxiliary beam splitting device of a blue laser welding robot is characterized by comprising a blue light beam collimation system, a blue light main and auxiliary beam splitting system, a focusing system, an auxiliary beam collimation beam linear conversion system, a linear blue light scanning position-finding light path and a CCD camera, wherein the blue light beam collimation system, the blue light main and auxiliary beam splitting system, the focusing system, the auxiliary beam collimation beam linear conversion system, the linear blue light scanning position-finding light path and the CCD camera are arranged along a light path; the blue light beam output by the blue light semiconductor laser is expanded and collimated by the blue light beam collimating system and then enters the blue light primary and secondary light beam splitting system, and the blue light primary and secondary light beam splitting system is used for decomposing the blue light beam to form a primary light beam for blue light welding and a secondary light beam for blue light scanning;
the focusing system is used for converging the main light beam at a specified welding position for welding;
the secondary beam collimated light beam linear conversion system is used for converting the secondary beam into linear laser, and in the welding process, the linear laser is positioned right in front of the welding position and can be received by the CCD camera after being reflected;
the linear blue light scanning position-finding light path is used for carrying out image processing according to the reflected light of the linear laser received by the CCD camera to obtain the actual welding point position.
2. The integrated primary and secondary beam splitting device of claim 1, wherein the blue light beam collimation system comprises a first convex lens and a second convex lens which are arranged along an optical path to form a keplerian telescope structure, so as to perform beam expansion collimation on the blue light beam.
3. The integrated primary and secondary beam splitting device as claimed in claim 2, wherein the blue primary and secondary beam splitting system comprises a total reflection mirror and a beam splitter, after the collimated blue beam is incident on the total reflection mirror, the beam is incident on the beam splitter with a 90 ° deflection direction, the reflected light is a primary beam, and the transmitted light is a secondary beam.
4. The integrated primary and secondary beam splitting device according to claim 1 or 3, wherein the secondary beam collimated light beam linear conversion system comprises a third convex lens and a fourth convex lens which are arranged along the light path and used for collecting blue light, and a first cylindrical mirror and a second cylindrical mirror which are used for beam shaping, wherein the secondary beam sequentially passes through the third convex lens and the fourth convex lens to reduce the beam radius, then sequentially enters the first cylindrical mirror and the second cylindrical mirror, and is converted into linear laser output.
5. The integrated main and auxiliary beam splitting device according to claim 1, wherein the linear blue scanning position finding optical path comprises a first plane mirror and a second plane mirror for reflecting linear laser, the linear laser irradiates the splicing welding seam after two reflections to form a linear scanning light spot, the reflected light reflected by the material is incident to a CCD camera, and the actual welding spot position is obtained through image processing.
6. The integrated main-auxiliary beam splitting device according to claim 5, wherein the focusing system is a focusing lens, an intersection point of main beams converged by the focusing lens is a tool point, and the intersection point of the main beams and the line-shaped scanning spot are on the same plane.
7. The integrated primary and secondary beam splitting device of claim 2, wherein the focal length of the first convex lens is smaller than that of the second convex lens, and the spacing distance is greater than the sum of the focal lengths of the two convex lenses.
8. The integrated primary and secondary beam splitting device of claim 4, wherein the focal length of the third convex lens is greater than the focal length of the fourth convex lens, and the separation distance is equal to the sum of the focal lengths of the two convex lenses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210594254.5A CN114871571B (en) | 2022-05-27 | 2022-05-27 | Integrated main and auxiliary beam splitting device of blue laser welding robot |
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| CA2296484A1 (en) * | 1997-07-18 | 1999-01-28 | The Lions Eye Institute Of Western Australia Incorporated | Method and apparatus for surface profiling of materials and calibration of ablation lasers |
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| CN109945800A (en) * | 2019-03-28 | 2019-06-28 | 浙江大学 | A kind of linear Spectral Confocal system for tri-dimensional facial type measurement |
| CA3101718A1 (en) * | 2019-12-06 | 2021-06-06 | Adige S.P.A. | Method and system for determining the separation distance between a bodyand the surface of an object by means of low coherence optical interferoometry techniques under distortion due to sub-sampling |
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| CA2296484A1 (en) * | 1997-07-18 | 1999-01-28 | The Lions Eye Institute Of Western Australia Incorporated | Method and apparatus for surface profiling of materials and calibration of ablation lasers |
| EP1219380A2 (en) * | 2000-12-28 | 2002-07-03 | Kawasaki Jukogyo Kabushiki Kaisha | Laser welding method and laser welding apparatus |
| US20080290078A1 (en) * | 2007-05-22 | 2008-11-27 | Disco Corporation | Laser processing machine |
| CN103399405A (en) * | 2013-07-17 | 2013-11-20 | 苏州大学 | Laser broadband cladding device and method |
| CA2989860A1 (en) * | 2015-06-19 | 2016-12-22 | Ipg Photonics Corporation | Laser welding head with dual movable mirrors providing beam movement and laser welding systems and methods using same |
| CN107378255A (en) * | 2017-07-14 | 2017-11-24 | 中国科学院微电子研究所 | Method and device for processing wafer by laser |
| CN109945800A (en) * | 2019-03-28 | 2019-06-28 | 浙江大学 | A kind of linear Spectral Confocal system for tri-dimensional facial type measurement |
| CA3101718A1 (en) * | 2019-12-06 | 2021-06-06 | Adige S.P.A. | Method and system for determining the separation distance between a bodyand the surface of an object by means of low coherence optical interferoometry techniques under distortion due to sub-sampling |
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