CN114871571B - 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 PDF

Info

Publication number
CN114871571B
CN114871571B CN202210594254.5A CN202210594254A CN114871571B CN 114871571 B CN114871571 B CN 114871571B CN 202210594254 A CN202210594254 A CN 202210594254A CN 114871571 B CN114871571 B CN 114871571B
Authority
CN
China
Prior art keywords
blue light
welding
linear
light
main
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210594254.5A
Other languages
Chinese (zh)
Other versions
CN114871571A (en
Inventor
王修正
唐霞辉
彭浩
陈曦
王平
李玉洁
杨航
孙睿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Shenzhen Huazhong University of Science and Technology Research Institute
Original Assignee
Huazhong University of Science and Technology
Shenzhen Huazhong University of Science and Technology Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology, Shenzhen Huazhong University of Science and Technology Research Institute filed Critical Huazhong University of Science and Technology
Priority to CN202210594254.5A priority Critical patent/CN114871571B/en
Publication of CN114871571A publication Critical patent/CN114871571A/en
Application granted granted Critical
Publication of CN114871571B publication Critical patent/CN114871571B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B23K26/06—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
    • 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
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

The invention discloses an integrated main and auxiliary beam splitting device of a blue light laser welding robot, and belongs to the technical field of blue light semiconductor lasers. The device 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 locating light path and a CCD camera; the blue light beam is expanded and collimated by the blue light beam collimation system and then is incident to the blue light main and auxiliary beam splitting system, and the blue light beam is decomposed to form a main beam for blue light welding and an auxiliary beam for blue light scanning; the focusing system is used for converging the main light beam at a specified welding position to weld; the side beam collimation beam linear conversion system is used for converting the side beam into linear laser; the linear blue light scanning locating 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 welding spot position of actual welding. The invention integrates two functions of laser welding and laser weld detection onto one welding device, and does not need hand-eye calibration.

Description

Integrated main and auxiliary beam splitting device of blue laser welding robot
Technical Field
The invention belongs to the technical field of blue light semiconductor lasers, and particularly relates to an integrated main and auxiliary beam splitting device of a blue light laser welding robot.
Background
In recent years, there has been a great demand for laser processing of copper materials having high thermal and electrical conductivity, however, the laser absorptivity of copper materials for the infrared band is only 10% or less, and on the other hand, as the wavelength is reduced to 500nm or less, the absorptivity of copper materials for light is drastically increased, which enables better processing effects to be obtained by welding of high-reflection materials with blue light. The blue semiconductor laser has powerful advantages in the fields of automobile power batteries, aerospace, electrical and other high-definition requirements.
The laser welding generally binds with the joint robot, and compared with manual welding, the welding robot can greatly reduce the production cost of welding manpower, improve the automatic intelligent operation degree of welding work, and can automatically complete various welding actions in a certain working space, so that the gesture of each welder can be automatically adjusted randomly. In the process of robot welding, the welding seam track is often inconsistent 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 actual position of a welding line is deduced through an additional visual sensor and 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, which is a traditional and mature method. The line laser is used as an externally-added active light source in the whole system, when the line laser obliquely irradiates the surface of a welding line of a workpiece, a laser spot is generated, an image of the laser spot enters a camera after being reflected, and the image is formed into 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 fixed support, and when the welding seam surface of a detected workpiece moves up and down or left and right, the position of an image point correspondingly changes, so that the position of the welding gun in the height and horizontal direction can be calculated according to the position change relation of the image point.
At present, in laser welding robot equipment, a laser welding head and a laser sensor are two independent individuals, and in the actual production and application process, after the laser sensor is installed on the laser welding head, a user needs to realize conversion from a scanning position of the sensor to an actual position of a welding line through modes such as hand-eye calibration and the like. If a user removes the laser welding head from the robot during equipment maintenance, a position offset occurs between the sensor and the laser welding head, and the user needs to perform hand-eye calibration again to ensure the scanning accuracy during equipment operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an integrated main and auxiliary beam splitting device of a blue light laser welding robot, which integrates a laser welding head and a line scanning sensor required by blue light welding, and aims to solve the problem that hand-eye calibration is required to be frequently carried out in the actual production welding process so as to ensure the accuracy of equipment.
In order to achieve the above 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 locating 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 and the linear blue light scanning locating light path are arranged along the light path. The blue light beam output by the blue light semiconductor laser is subjected to beam expansion and collimation by the blue light beam collimation system and then is incident to the blue light main and auxiliary beam splitting system, and the blue light main and auxiliary beam splitting system is used for splitting the blue light beam to form a main beam for blue light welding and an auxiliary beam for blue light scanning;
the focusing system is used for converging the main light beam at a specified welding position to weld;
the side beam collimation beam linear conversion system is used for converting the side beam into linear laser, and the linear laser is positioned right in front of a welding position in the welding process and can be received by the CCD camera after being reflected;
the linear blue light scanning locating 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 welding spot position of actual welding.
Preferably, the beam collimation system comprises a kepler telescope structure formed by two convex lenses arranged along the light path, wherein the focal length of the first convex lens is smaller than that of the second convex lens. The blue light semiconductor laser outputs the coupling optical fiber to the beam collimation system, and the beam expansion collimation is carried out on the blue light semiconductor laser through a telescope system consisting of two convex lenses.
Preferably, the blue light main and auxiliary beam splitting system comprises a total reflecting mirror and a spectroscope, wherein the spectroscope is preferably a reflecting mirror with the transmittance of 0.1%, so as to realize the decomposition of the blue light collimated beam and form a main beam for blue light welding and an auxiliary beam for blue light scanning. After the collimated light beam is incident on the total reflection mirror, the direction of the light beam is deflected by 90 degrees and is incident on the spectroscope with the transmittance of 0.1%, wherein 99.9% of blue light is reflected and is incident on the light beam focusing system, and after 0.1% of blue light is transmitted, the direction of the light beam is adjusted by one reflection mirror, and then the light beam enters the side light beam collimated light beam linear conversion system.
Preferably, the main beam of the laser collimated beam passes through a focusing system, and is converged at a specified welding position after being incident on a focusing mirror.
Preferably, the side beam collimation beam linear conversion system comprises a third convex lens, a fourth convex lens and two cylindrical mirrors, wherein the third convex lens, the fourth convex lens and the two cylindrical mirrors are arranged along a light path and used for blue light beam converging, the side beam firstly passes through the beam converging system formed by the two convex lenses, and then sequentially enters the two cylindrical mirrors after the beam radius is reduced, and finally is converted into linear laser output. In the welding process, the linear laser is positioned right in front of the welding position, and can be received by a CCD camera at the same height position as the focusing mirror after reflection.
Preferably, the linear blue light scanning locating light path comprises two plane reflectors for reflecting line laser, the CCD camera is positioned at the focusing lens, the collimated laser is incident on the first plane reflector and the second plane reflector after passing through the collimated light beam linear conversion device, the collimated laser irradiates on the Cu material spliced weld after twice reflection, the linear light beam is just positioned in the welding advancing direction, and according to the triangulation principle, 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 invention, the central axis of each optical lens coincides with the central axis of the light beam.
In the beam collimation system, the focal length of the first convex lens is smaller than that of the second convex lens, the two convex lenses are arranged in parallel, the interval distance is larger than the sum of the focal lengths of the two convex lenses, blue light output by the end face of the optical fiber has a certain beam divergence angle, the beam passes through the first convex lens and then is converged at the focal point of the second 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 obtain parallel blue light beam output with a very small divergence angle after passing through the second convex lens.
As a further preference of the invention, all optical lenses are coated with a film layer which is anti-reflective to blue light to reduce power loss caused by reflection or scattering of the lens surface, and the light-emitting surface of the spectroscope is coated with a special medium, so that 99.9% of energy in the blue light beam is reflected into the laser collimation beam focusing system, and the rest 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;
in the linear conversion system of the side beam collimated light beam, the focal length of the third convex lens is larger than that of the fourth convex lens, the two convex lenses are arranged in parallel, the interval distance is just equal to the sum of the focal lengths of the two convex lenses, the light beam passes through the third convex lens and then is converged at the focal point of the third convex lens, and the distance from the point to the fourth convex lens is just equal to the focal length of the fourth convex lens, so that the blue light beam can obtain parallel blue light beam output with smaller spot size after passing through the fourth convex lens.
As a further preferred aspect of the present invention, when the welding robot performs tool TCP setting, it is necessary to use the intersection point of the main beam collected by the focusing lens for focusing the main beam as a tool point, and when the focal length of the focusing lens is selected, if the main beam is perpendicular to the plane of the Cu material weld, the intersection point of the main beam should be on the same plane as the linear scanning spot reflected by the second plane mirror onto 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 placed at the same height, and the receiving surface of the CCC camera should be parallel to the beam, so that the influence of spatter generated during welding and disturbance light on position tracking can be reduced to the maximum extent.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the integrated main and auxiliary beam splitting device of the blue laser welding robot provided by the invention integrates two functions of laser welding and laser weld detection on one welding device, and can obtain the position transmission matrix relation between the scanning point position and the actual welding focus position by fixing the relative positions of each group of lenses, so that a user only needs to perform hand-eye calibration once when debugging the device.
2. According to the invention, after the laser beam output by the blue semiconductor laser is collimated, the laser beam is split by a reflecting mirror with the transmittance of 0.1%, wherein 99.9% of the beam energy is focused by a focusing mirror after reflection and is used as welding light for welding Cu materials, and 0.1% of the beam energy is shaped into linear light spots for detecting the actual welding seam position after passing through the reflecting mirror.
3. For welding of Cu materials, when the welding power of blue light is increased, the influence of spattering and interference light at the welding position becomes large, but since the beam transmittance of the spectroscope is 0.1%, when the output power of blue light is increased, the energy of a side beam for scanning is also increased, so that the light beam received by the CCD camera is mainly derived from reflection of a linear scanning spot.
Drawings
Fig. 1 is a schematic diagram of an integrated main and auxiliary 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 invention.
Fig. 3 is a schematic diagram of blue light main and sub beam splitting according to an embodiment of the present invention.
Fig. 4 is a diagram showing the positional relationship of blue light main and sub light beams according to an embodiment of the present invention.
Fig. 5 is a diagram of a side-beam collimated beam linear conversion device in accordance with an embodiment of the present invention.
FIG. 6 is a schematic diagram of a linear blue-ray scanning locating optical path according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not interfere with each other.
In order to achieve the above purpose, the invention provides an integrated main and auxiliary beam splitting device of a blue laser welding robot, which comprises a blue light collimation and beam expansion system, a blue light beam splitting system, a collimation beam shaping system, a linear blue light scanning locating light path, a collimation beam converging system and a CCD camera for observation, wherein the blue light collimation and beam expansion system, the blue light beam splitting system, the collimation beam shaping system, the linear blue light scanning locating light path and the collimation 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 locating 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 locating light path and the CCD camera are arranged along the light path. The blue light beam output by the blue light semiconductor laser is subjected to beam expansion and collimation by the blue light beam collimation system and then is incident to the blue light main and auxiliary beam splitting system, and the blue light main and auxiliary beam splitting system is used for splitting the blue light beam to form a main beam for blue light welding and an auxiliary beam for blue light scanning;
the focusing system is used for converging the main light beam at a specified welding position to weld;
the side beam collimation beam linear conversion system is used for converting the side beam into linear laser, and the linear laser is positioned right in front of a welding position in the welding process and can be received by the CCD camera after being reflected;
the linear blue light scanning locating 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 welding spot position of actual welding.
Specifically, the beam collimation system comprises a kepler 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. The blue light semiconductor laser outputs the coupling optical fiber to the beam collimation system, and the beam expansion collimation is carried out on the blue light semiconductor laser through a telescope system consisting of two convex lenses.
Specifically, the blue light main and auxiliary beam splitting system comprises a total reflecting mirror and a spectroscope with the transmittance of 0.1%, so that the blue light collimated beam is decomposed, and a main beam for blue light welding and an auxiliary beam for blue light scanning are formed. After the collimated light beam is incident on the total reflection mirror, the direction of the light beam is deflected by 90 degrees and is incident on the spectroscope with the transmittance of 0.1%, wherein 99.9% of blue light is reflected and is incident on the light beam focusing system, and after 0.1% of blue light is transmitted, the direction of the light beam is adjusted by one reflection mirror, and then the light beam enters the side light beam collimated light beam linear conversion system.
Specifically, a main beam of the laser collimated beam passes through a focusing system, and is converged at a specified welding position after being incident on a focusing mirror.
Specifically, the side beam collimation beam linear conversion system comprises a third convex lens, a fourth convex lens and two cylindrical mirrors, wherein the third convex lens, the fourth convex lens and the two cylindrical mirrors are arranged along a light path and used for blue light beam converging, the side beam first passes through the beam converging system formed by the two convex lenses, and after the beam radius is reduced, the side beam sequentially enters the two cylindrical mirrors, and finally is converted into linear laser output. In the welding process, the linear laser is positioned right in front of the welding position, and can be received by a CCD camera at the same height position as the focusing mirror after reflection.
Specifically, the linear blue light scanning locating light path comprises two plane reflectors for reflecting line laser, the CCD camera is positioned at the focusing lens, the collimated laser is incident on the first plane reflector and the second plane reflector after passing through the collimated light beam linear conversion device, the collimated laser irradiates on a Cu material spliced weld after twice reflection, the linear light beam is just positioned in the welding advancing direction, and according to the triangulation principle, the reflected light reflected by the Cu material can be incident on the CCD camera, and then the actual welding spot 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 beam collimation system, the focal length of the first convex lens is smaller than that of the second convex lens, the two convex lenses are arranged in parallel, the interval distance is larger than the sum of the focal lengths of the two convex lenses, blue light output by the end face of the optical fiber has a certain beam divergence angle, the light beam is converged 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 obtain parallel blue light beam output with a very small divergence angle after passing through the second convex lens.
Specifically, all the optical lenses are plated with a film layer for enhancing the reflection of blue light so as to reduce power loss caused by reflection or scattering of the surfaces of the lenses, and a layer of special medium is plated on the light-emitting surface of the spectroscope, so that 99.9% of energy in the blue light beam is reflected into a laser collimation beam focusing system, and the rest 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 side beam collimation beam linear conversion system, the focal length of the third convex lens is larger than that of the fourth convex lens, the two convex lenses are arranged in parallel, the interval distance is just equal to the sum of the focal lengths of the two convex lenses, the light beam is converged at the focal position of the third convex lens after passing through the third convex lens, and the distance from the point to the fourth convex lens is just equal to the focal length of the fourth convex lens, so that the blue light beam can obtain parallel blue light beam output with smaller light spot size after passing through the fourth convex lens.
Specifically, when the welding robot sets the tool TCP, the intersection point of the main beam after 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, under the condition that the main beam is perpendicular to the welding line plane of the Cu material, the intersection point of the main beam and the linear scanning light spot reflected to the welding line of the Cu material by the second plane mirror should be located on the same 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 splash generated during welding and interference light on position tracking can be reduced to the maximum extent.
The following details are provided in connection with alternative embodiments:
in this embodiment, as shown in fig. 1, the application scenario of the integrated main and auxiliary beam splitting device of the blue laser welding robot is weld detection scanning welding of Cu material splice welds, the integrated main and auxiliary beam splitting device of the blue laser welding robot is packaged in a welding device 5, and the welding device 5 is fixed on the flange 4 of the industrial six-axis robot 2. The welding track of the industrial six-axis robot 2 is set firstly, after the movement starts, the industrial six-axis robot 2 sends a signal to the blue light semiconductor laser 1, the blue light semiconductor laser 1 generates a blue light beam, the blue light beam is transmitted into the welding device 5 through the optical fiber 6, after passing through an integrated main and auxiliary beam splitting device of the blue light laser welding robot, the main beam intersection 22 focused by the convex lens 21 moves horizontally to the right along the Cu material spliced weld joint 3 of the spliced weld, meanwhile, a linear scanning light spot 18 formed by shaping the auxiliary light beam is positioned in the advancing direction of the robot, reflected light information acquired by the CCD camera 19 is processed by the image processing system 20, and coordinate information of the actual weld joint is sent to the industrial six-axis robot 2.
In this embodiment, as shown in fig. 2, the beam collimation 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, and the distance is slightly larger than f1+f2. When blue light generated by the blue laser is output through the optical fiber, the blue light has a certain blue light divergence angle, is converged at the focus of the convex lens 8 after being converged by the convex lens 7, and is output through the convex lens 8 to obtain collimated blue laser.
In this embodiment, as shown in fig. 3, the collimated light beam passing through the convex lens 8 passes through one mirror 9 to change the propagation direction of the light beam, and is incident on the mirror 10 with a special material, the reflectivity of the mirror 10 to blue light is 99.9%, the blue light is split at the mirror 10, and is split into reflected light (main beam) containing 99.9% of energy and transmitted light (sub beam) containing 0.1% of energy, and the blue light collimated light beam containing 0.1% of energy transmitted by the mirror 10 is reflected by the mirror 11 and then is incident on the collimated light beam linear conversion system.
In this embodiment, as shown in fig. 4, the placement position of the convex lens 21 is at the same height as the CCD camera 19, and the main beam intersection 22 focused by the convex lens 21 just converges on the Cu material splice joint 3, and is positioned so as to be coplanar with the linear scanning spot 18 and behind the linear scanning spot 18 in the welding direction.
In this embodiment, as shown in fig. 5. The side-beam collimated beam linear conversion system consists of two convex lenses 12, 13 and two cylindrical mirrors 14, 15. The focal lengths of the convex lenses 12 and 13 are f3 and f4 respectively, f3 is larger than f4, the two convex lenses are arranged in parallel, the interval distance is just equal to the sum of the focal lengths of the two convex lenses, the parallel light beams are converged at the focal position of the convex lens 12 after passing through the convex lens 12, and the distance from the point to the convex lens 13 is just equal to the focal length of the convex lens 13, so that the blue light beams can obtain parallel blue light beams with smaller light spot size after passing through the convex lens 13 for outputting. The blue light parallel light after beam collection is 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, the linear effect is caused on the image plane, and the divergent 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 locating system is composed of two mirrors 16 and 17 with a certain angle, the linear blue light passing through the cylindrical mirror 15 is continuously reflected by the mirrors 16 and 17 and then obliquely incident on the Cu plate, the linear scanning light spot 18 and the Cu material spliced weld joint 3 form a vertical relationship in the horizontal plane, the linear scanning light spot is received by the CCD camera 19 after being reflected by the Cu material surface, in the triangulation principle, the spot light spot is imaged on the CCD linear array, and the imaging position has a unique corresponding relationship with the depth position of the light spot, and the center position of the real image imaged on the CCD linear array is measured, namely, the depth coordinate of the light spot at the moment can be obtained by a geometric optical calculation method, so that the depth parameter of the measured surface at the point can be obtained. Blue light at the position of the welding seam can penetrate the welding seam and cannot be reflected back to the CCD camera 19 normally, and an obvious breakpoint is formed 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 fixed, the position of the welding seam under the coordinate system of the sensor is obtained by reading the image through the CCD camera 19, and then the position of the welding seam under the coordinate system of the robot is obtained by calculation through 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 readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (7)

1. The integrated main and auxiliary beam splitting device of the 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 locating 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 locating light path and the CCD camera are arranged along the light path; the blue light beam output by the blue light semiconductor laser is subjected to beam expansion and collimation by the blue light beam collimation system and then is incident to the blue light main and auxiliary beam splitting system, and the blue light main and auxiliary beam splitting system is used for splitting the blue light beam to form a main beam for blue light welding and an auxiliary beam for blue light scanning;
the focusing system is used for converging the main light beam at a specified welding position to weld;
the side beam collimation beam linear conversion system is used for converting the side beam into linear laser, and the linear laser is positioned right in front of a welding position in the welding process and can be received by the CCD camera after being reflected;
the linear blue light scanning locating 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 welding spot position of actual welding; the linear blue light scanning locating light path comprises a first plane reflecting mirror and a second plane reflecting mirror, the first plane reflecting mirror and the second plane reflecting mirror are used for reflecting linear laser, the linear laser irradiates on a spliced welding line after being reflected twice to form linear scanning light spots, reflected light reflected by materials can be incident on a CCD camera, and the position of a welding spot actually welded is obtained through image processing.
2. The integrated primary and secondary beam splitting device of claim 1, wherein the blue light beam collimating system comprises a first convex lens and a second convex lens disposed along the optical path to form a kepler telescope structure for performing beam expansion collimation on the blue light beam.
3. The integrated main and sub beam splitting device according to claim 2, wherein the blue light main and sub beam splitting system comprises a total reflection mirror and a beam splitter, the collimated blue light beam is incident on the total reflection mirror, the beam direction is deflected by 90 ° and is incident on the beam splitter, the reflected light is the main light beam, and the transmitted light is the sub light beam.
4. The integrated primary and secondary beam splitting device according to claim 1 or 3, wherein the secondary beam collimated beam linear conversion system comprises a third convex lens and a fourth convex lens which are arranged along the optical path and used for blue light beam converging, a first cylindrical lens and a second cylindrical lens which are used for beam shaping, and 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 lens and the second cylindrical lens, and is converted into linear laser output.
5. The integrated primary and secondary beam splitting device according to claim 1, wherein the focusing system is a focusing lens, a primary beam intersection point after focusing by the focusing lens is a tool point, and the primary beam intersection point and the linear scanning light spot are in the same plane.
6. The integrated primary and secondary beam splitting device of claim 2, wherein the focal length of the first convex lens is smaller than the focal length of the second convex lens, and the separation distance is greater than the sum of the focal lengths of the two convex lenses.
7. The integrated primary and secondary beam splitter of claim 4, wherein the third convex lens has a focal length greater than the focal length of the fourth convex lens and is spaced apart a distance equal to the sum of the focal lengths of the two convex lenses.
CN202210594254.5A 2022-05-27 2022-05-27 Integrated main and auxiliary beam splitting device of blue laser welding robot Active CN114871571B (en)

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

Applications Claiming Priority (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

Publications (2)

Publication Number Publication Date
CN114871571A CN114871571A (en) 2022-08-09
CN114871571B true CN114871571B (en) 2023-05-26

Family

ID=82679851

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210594254.5A Active CN114871571B (en) 2022-05-27 2022-05-27 Integrated main and auxiliary beam splitting device of blue laser welding robot

Country Status (1)

Country Link
CN (1) CN114871571B (en)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AUPO810997A0 (en) * 1997-07-18 1997-08-14 Lions Eye Institute Of Western Australia Incorporated, The Method and apparatus for calibration of ablation lasers
JP3424001B2 (en) * 2000-12-28 2003-07-07 川崎重工業株式会社 Laser welding method and laser welding apparatus
JP5010978B2 (en) * 2007-05-22 2012-08-29 株式会社ディスコ Laser processing equipment
CN103399405B (en) * 2013-07-17 2016-07-06 苏州大学 A kind of laser wide-band cladding device and method
US10751835B2 (en) * 2015-06-19 2020-08-25 Ipg Photonics Corporation Laser welding head with dual movable mirrors providing beam movement and laser welding systems and methods using same
CN107378255B (en) * 2017-07-14 2019-03-15 中国科学院微电子研究所 A kind of method and device laser machining wafer
CN109945800B (en) * 2019-03-28 2020-06-05 浙江大学 Linear spectrum confocal system for three-dimensional surface shape measurement
IT201900023202A1 (en) * 2019-12-06 2021-06-06 Adige Spa Procedure and system for determining the separation distance between a body and the surface of an object using low coherence optical interferometry techniques in subsampling distortion regime

Also Published As

Publication number Publication date
CN114871571A (en) 2022-08-09

Similar Documents

Publication Publication Date Title
US11219967B2 (en) Machining head for a laser machining device
US5001324A (en) Precision joint tracking laser welding system
CA2792322C (en) Laser processing head and method for processing a workpiece by means of a laser beam
US4673795A (en) Integrated robotic laser material processing and imaging system
CN103781618B (en) Apparatus and method for implementation and monitoring plastics laser transmission welding technique
Lee et al. A study on automatic seam tracking in pulsed laser edge welding by using a vision sensor without an auxiliary light source
JP2003200286A (en) Laser microspot welding equipment
US4636611A (en) Quiescent circle and arc generator
CN104002051A (en) Vertical detection device and method for laser welding
CN103399405A (en) Laser broadband cladding device and method
KR20070002466A (en) Laser vision sensor system tracking welding line
CN210755921U (en) Fusion depth detection equipment based on low coherence interferometry
Kratzsch et al. Coaxial process control during laser beam welding of tailored blanks
CN112264722A (en) Laser micropore machining equipment and machining method suitable for thin-wall parts
US4683493A (en) Compact optical apparatus for tracking a path of movement of a tool along a line of travel on a workpiece
CN114871571B (en) Integrated main and auxiliary beam splitting device of blue laser welding robot
CN112548324A (en) Laser welding method and apparatus for laser welding
CN216966642U (en) Coaxial welding light path structure
Kang et al. Laser vision system for automatic seam tracking of stainless steel pipe welding machine (ICCAS 2007)
EP1091824A1 (en) An apparatus for determining the position of the focal point in a laser machining system
CN205798696U (en) Laser machine
CN105572138A (en) High-light-reflection butt weld detecting method and device based on polarization detection
JP2008221224A (en) Laser beam welding method and apparatus
CN218455537U (en) Laser power stability detection device for welding scene
CN112859359A (en) Focal spot control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant