CN205254348U - Laser welding real time on line monitoring system to complicated curved surface component - Google Patents
Laser welding real time on line monitoring system to complicated curved surface component Download PDFInfo
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- CN205254348U CN205254348U CN201520990229.4U CN201520990229U CN205254348U CN 205254348 U CN205254348 U CN 205254348U CN 201520990229 U CN201520990229 U CN 201520990229U CN 205254348 U CN205254348 U CN 205254348U
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Abstract
The utility model discloses a laser welding real time on line monitoring system to complicated curve component. This online monitored control system's hardware platform includes laser welder head, robot, image collection equipment, image processing unit, data processing unit, feedback regulation unit, robot control unit. The purpose of this system is through the relative morpheme of real -time shooting soldered connection with the work piece, compares actual morpheme with advising the rowing position, calculates and returns the required compensation vector in planning route, welds in order to adjust the robot this vector according to the desired trajectory on being stated from the robot then.
Description
Technical field
The utility model belongs to laser weld dynamic monitoring field, particularly, relates to a kind of for complexityThe laser weld real time and on line monitoring system of curve member.
Background technology
In Aero-Space manufacture field, in order to adapt to aerodynamic configuration and the streamline form of aircraft, multipleThe application of assorted curve member is very extensive, as parts such as aircraft skin, empennage, inner stringer supportsAll there is similar architectural feature. Meanwhile, due to the weight control to aircraft in Aero-Space manufacturing industrySystem is close to harshness, and complex curve member mostly is thin-wall member, very strict to the control of sweating heat input,Adopt the mode of laser weld can effectively realize low_input_power efficient welding.
But, because the weld seam of complex curve member mostly is space curve, use traditional lead-through teaching realWelding connects the larger position deviation of existence. Such position deviation is for the very high laser of welding required precisionThere is very large impact in weldering, cannot through welding member thereby likely cause Laser Welding part to defocus, also haveMay cause light-beam position skew to cause welding position to be forbidden and piece skew. Once occur local looseJiao or welding position misalignment have very big impact to the welding effect of member, will cause member military service levelSharply decline, thereby affect service life of whole aircraft.
Solve the research existing certain progress of teaching curve with real space curve deviation, but all depositIn self limitation: although adopt the mode of full weld seam off-line programing to can be good at adapting to complex curveStructural requirement, but need accurate way to acquire curvilinear function, and this process is a lot of complicated bentIn wire bonding, be all unpractical; Although the mode of preposition guiding light can be improved part to a certain extentDefocus, be but limited to member profile curvature blocking of light of guiding cannot be suitable for comprehensively; Numerous adaptiveAnswer path trace plumb joint also to exist manufacture difficulty high, the problem that application adaptability is poor.
Therefore, currently defocus and light beam and piece offset problem for complex component laser weld part,Lack effective solution, and this problem exists to the production of large size, thin walled member importantImpact, is necessary to study a kind of part of can adjusting in real time and defocuses and the monitoring system of the offset problem of pieceSystem.
Summary of the invention
For the deficiencies in the prior art, the utility model provides a kind of swashing for complex-curved memberPhotocoagulation real time and on line monitoring system, the part that solves thus complex-curved member laser weld defocus withAnd the offset problem of light beam and piece, thereby ensure that space curve seam laser welding overall process is accurately poly-Jiao, to realize full weld joint stable penetration, obtains high-quality weld seam.
For achieving the above object, the utility model provides a kind of parametric curve weld seam Real-Time Monitoring to beSystem, this system is by laser welding system, robot, image modalities, graphics processing unit, dataProcessing unit, feedback regulation unit, robot control unit's composition. By output offset correction instructionTo robot, driven machine people completes corresponding compensating for path walking action, constantly revises defocus condition.Repeat said process, ensure that laser beam welding is accurately according to the path of welding enforcement of planning.
Preferably, the laser instrument of laser weld real time and on line monitoring system can be to use optical fibre transmissionLaser instrument, such as optical fiber laser, semiconductor laser, DISK laser instrument etc. Laser instrument can be adoptedBy the bright dipping mode of continuous laser or the bright dipping mode of laser intermittently.
Preferably, laser instrument is middle superpower laser, and peak power output can reach 4000W.
Preferably, the laser welding system of laser weld real time and on line monitoring system is single laser welding system,Can workpiece be melted by Output of laser, follow corresponding physical and chemical process to realize and connect.
Preferably, the robot of laser weld real time and on line monitoring system, is five-axle linkage robot,Can realize the motion of complex curve path.
Preferentially, by adding after suitable filter disc, can filter welding before image modalities camera lensThe high light and the stray light etc. that produce, obtain truly plumb joint morpheme relative to workpiece clearly.
Preferentially, image modalities is set up rational frequency acquisition and obtains Laser Welding crucial momentThe analysis image mating, captured image can be sent to graphics processing unit in real time.
Preferably, can to select two CCD high-speed cameras to complete several vertical for image modalitiesWelding real time and on line monitoring in plane, realizes three-dimensional real-time correction pad with this and defocusesState, improves the offset problem of light beam and piece.
The laser weld real time and on line monitoring system for complex-curved member the utility model proposes,For the offset problem of the part in current complex component laser weld and light beam and piece, by realityTime on-line monitoring and corresponding compensation vector calculating and loading, realize laser weld overall process accurate welding,There is the beneficial effect of following many technology and economic aspect:
(1) solve that part defocuses and the space curve weld seam Welding Problems such as light beam and piece skew. ThisThe laser weld real time and on line monitoring system for complex-curved member of utility model is mainly for complexityThe part of curved surface member laser weld defocuses and light beam and piece offset problem. Its object is maximumIn degree, improve the welding that defocuses the insufficient (incomplete) penetration that causes and cause due to facula position deviation due to partThe problems such as moulding is bad. Real time on-line monitoring of the present utility model, can be to any material time pointPlumb joint morpheme is demarcated, and adjusts on this basis the relative morpheme of plumb joint with workpiece, therebySolving part defocuses and light beam and piece offset problem.
(2) realize Laser Processing control more accurately. By adding of real-time monitoring system, to swashingThe self adaptation ability of regulation and control of photocoagulation system is a huge promotion. Due to such adjusting energy of being certainly in harmonyThe lifting of power, will obtain corresponding lifting for the quality of parametric curve.
(3) promote welding efficiency. Laser weld for complex-curved member of the present utility model is real-timeOnline monitoring system can be controlled preferably part and defocuses and improve welding quality, will alleviate traditionalThe extra work amount that lead-through teaching is brought. In follow-up complex space curved surfaces member laser beam welding,Without carrying out strict curve and segmentation, and can replace row with a comparatively rough conic sectionWalk path, then by the laser weld real time and on line monitoring system for complex-curved member, path is carried outRegulate in real time.
(4) integrated degree is high. Laser weld for complex-curved member of the present utility model is real-timeOnline monitoring system has carried out the steps such as welding enforcement, morpheme monitoring, process analysis procedure analysis, feedback regulationEffective integration, can be used engineering staff easily.
(5) applicability is strong. Laser weld real-time online for complex-curved member of the present utility modelMonitoring system is a kind of real-time monitoring system for space curved surface member, its application be not subject to material properties,The restriction of the problems such as material thickness of slab, material surface state, has good adaptability.
Brief description of the drawings
Shown in Fig. 1 is the prison of the laser weld real-time online for complex-curved member of the present utility modelControl system schematic;
Shown in Fig. 2 is the prison of the laser weld real-time online for complex-curved member of the present utility modelControl system operational flow diagram.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction withDrawings and Examples, are further elaborated to the utility model. Should be appreciated that this place retouchesThe specific embodiment of stating is only in order to explain the utility model, and is not used in restriction the utility model. In addition,Below in each embodiment of described the utility model involved technical characterictic if each other itBetween do not form conflict just can mutually combine.
Referring to Fig. 1, in the present embodiment, the hardware platform of this online monitoring system comprise laser welding system,Robot, adopts CCD high-speed camera as image modalities, graphics processing unit, data placeReason unit, feedback regulation unit are realized in same computer, and robot control unit is as separatelyEquipment realize. The present embodiment adopt graphics processing unit realize gray scale processing, image filtering noise reduction andLaser weld welding position, plumb joint go out the feature information extraction of light spot position; Data processing unit withFeedback regulation unit compensates calculating and the decomposition of vector, generates compensating movement; Finally pass through machineThe instruction that people's control module transmits according to feedback regulation unit, sends correction instruction to welding robot.The object of this system is the relative morpheme with workpiece by real-time shooting plumb joint, to the same rule of actual morphemeDraw morpheme comparison, calculate and return the required compensation vector of path planning, then this vector is loaded on to machineDevice people is upper to regulate robot to weld according to desired trajectory.
Particularly, referring to Fig. 1, laser process equipment is made up of robot, laser welding system, workpiece.Wherein the general volume of workpiece to be processed is large and be complex space curved surfaces member, and the weld seam of this class A of geometric unitA isSpace curve and be difficult to represent its profile by analytical expression. Wherein, machine people is five-axle linkage machineDevice people, has three direction straight lines and two angular turn frees degree. This robot is at welding complex spaceWhen curved surface member, can meet the accessibility demand in path, but need to preset run trace. Laser WeldingJoint is processing terminal equipment, is additional in robot, keeps relatively static with robot end, withRobot moves. In laser beam welding, first moved according to default track by robot,Meanwhile, laser welding system foundation in advance initial program starts bright dipping, and workpiece is welded.
The main body of image modalities is two CCD high-speed cameras that shooting face is vertical, accompanies by auxiliaryLight source, optical filter, the first-class related accessories of wide-angle lens, carry out real time image collection to laser beam welding.In laser welding system bright dipping, open shooting equipment, the equipment of simultaneously making a video recording is processed single with imageUnit carries out data connection, the view data of Real-time Collection with the form of packet according to each acquisition timeStep-length is sent to graphics processing unit.
Graphics processing unit be one can runs image processing software terminal. Image processingThe function of unit is carry out pretreatment and extract phase by CCD camera is taken to 256 color images that obtainAnswer key position coordinate, pretreatment comprises carries out gray scale processing to picture: 256 chromatic graph sheets are converted intoThe 8 bitmap sheets that only have gray scale to represent; Picture is carried out to filtering noise reduction, i.e. butt joint and workpiece weldingIntensive treatment is done at position: other interfering signals are carried out to filtering, strengthening position profile information. The 3rd stepFor extracting picture feature information, mainly comprise that laser weld welding position and plumb joint go out light spot positionChoose, the positional information of the picture finally extraction being completed passes to data processing unit.
Data processing unit is analyzed the picture key message of graphics processing unit transmission, to takePlane is datum level, and welding position while welding is converted into a coordinate district, and plumb joint is as oneWith the normal vector of end points. To implement welding position point as initial point, along the normal of surface of the work to welderingJoint direction is extended the defocusing amount L of a theoretical planning0, orientate position (X as0,Y0), go out luminous pointPosition is (X1,Y1), calculate position compensation vector dX=X1-X0,dY=Y1-Y0, subsequently, compensationVector (dX, dY) is passed to feedback regulation unit.
This moment compensation vector obtaining according to transmitting, feedback regulation unit decomposes this vector,Be decomposed into the exercisable corresponding actions of joint of robot, and form action lists. This action lists transmitsGive robot control unit, use robot off-line by robot control unit by computer self-programmingProgramming software is worked out each action off-line procedure, is exported as ripe program sample. Finally, addedBe loaded in the feedback regulation that completes this time step in robot.
Continuous repetition said process can be realized laser weld overall process and monitor in real time, completes without local looseThe laser weld of Jiao and welding position misalignment phenomenon.
Below, provide with the prison of the laser weld real-time online for complex curve member of the present utility modelSome instantiations of control system welding and the welding effect significantly promoting.
Example 1: certain titanium alloy aircraft skin welding
Fusion length: about 2m
Laser power: 4000w
Speed of welding: 4m/min
Spot diameter: 0.5mm
Throughput: 3.5m3/h
Can complete smoothly through welding, and obtain and there is sufficient intensity in the situation that not losing speed of weldingWelding point. After stretched test, find that strength of welded joint reaches mother metal 90%, think completeMeet requirement of strength. Meanwhile, microexamination can see, welding point is perfect to fall into, and organizesFor fine and closely woven even, welding quality excellence.
Example 2: aluminium alloy aircraft skin testpieces welding
Fusion length: about 10m
Material thickness: 1.8mm
Laser power: 1800w
Speed of welding: 3m/min
Spot diameter: 0.5mm
Throughput: 3.5m3/h
Realized the effect of covering back side single-side welding double-side forming, postwelding T shape weld seam is peeled off realityTest and meet navigation mark requirement, reach desirable welding effect.
Therefore the laser weld real time and on line monitoring for complex curve member, the utility model proposesSystem, can significantly promote the welding quality of complex space curved surfaces member laser weld. Meanwhile,Due to the simplification in teaching path design, can effectively promote complex component laser weld efficiency.
Those skilled in the art will readily understand, the foregoing is only preferred embodiments of the present utility model and, not in order to limit the utility model, allly within spirit of the present utility model and principle, doAny amendment, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (12)
1. the laser weld real time and on line monitoring system for complex curve member, it is characterized in that, it comprises laser instrument, laser welding system, welding robot, image modalities, graphics processing unit, data processing unit, feedback regulation unit and robot control unit, wherein:
Described laser welding system is contained on robotic weld arm, and controls its path of welding by the action of welding robot; Described laser instrument Output of laser is delivered to laser welding system;
Described image modalities is installed relatively fixing, and moves with the movement of laser welding system, keeps relative static with laser welding system, and its pick-up lens is aimed at laser welding system and laser weld welding district all the time;
The image that described image modalities gathers, sends into graphics processing unit extraction laser welding system and goes out light spot position and lane place, laser weld welding position, delivers to data processing unit;
Described data processing unit is by the laser welding system bright dipping point coordinates and the laser weld welding position coordinates that extract, and the plumb joint bright dipping point coordinates contrast with planning, calculates offset vector, sends into feedback regulation unit;
Described feedback regulation unit is two parts on horizontal plane by described offset vector Orthogonal Decomposition, generates the offset operation instruction of horizontal plane position, sends robot control unit to;
The instruction that described robot control unit is transmitted according to feedback regulation unit, sends real time correction instruction by off-line programing to welding robot;
Described welding robot is made offset correction by correction instruction, and compensating for path is carried out walking action, constantly revises that pad defocuses and light beam and piece offset problem.
2. laser weld real time and on line monitoring system as claimed in claim 1, it is characterized in that, described data processing unit treatment step is as follows: taking camera plane as datum level, to implement welding position point as initial point, extend the defocusing amount L of a theoretical planning to plumb joint axis direction along the normal of surface of the work0, orientate position (X as0,Y0), going out light spot position is (X1,Y1), calculate position compensation vector dX=X1-X0,dY=Y1-Y0; Subsequently, compensation vector (dX, dY) outputs to feedback regulation unit.
3. laser weld real time and on line monitoring system as claimed in claim 1 or 2, it is characterized in that, two CCD high-speed cameras that shooting face is vertical in described image modalities, they complete respectively two welding Real-time Collections on vertical plane, the information of two vertical plane collections is sent into graphics processing unit, data processing unit, feedback regulation unit and robot control unit at twice and process, realize three-dimensional real-time correction pad and defocus and light beam and piece offset problem.
4. laser weld real time and on line monitoring system as claimed in claim 1 or 2, is characterized in that, described laser instrument is the laser instrument that uses optical fibre transmission, and laser welding system is single laser welding system.
5. laser weld real time and on line monitoring system as claimed in claim 1 or 2, is characterized in that, described machine people is five-axle linkage robot, can realize the motion of complex curve path.
6. laser weld real time and on line monitoring system as claimed in claim 1 or 2, it is characterized in that, described image modalities is CCD high-speed camera, more than its filming frequency should reach 1000 frames, can clearly obtain the image of each welding moment plumb joint and workpiece.
7. laser weld real time and on line monitoring system as claimed in claim 1 or 2, is characterized in that, described graphics processing unit carries out gray scale processing, image filtering noise reduction successively, obtain laser welding system goes out the characteristic information of luminous point and laser weld welding zone position.
8. laser weld real time and on line monitoring system as claimed in claim 1 or 2, is characterized in that, before the pick-up lens of described image modalities, is provided with optical filtering, the high light and the stray light that during for filtering laser weld, produce.
9. laser weld real time and on line monitoring system as claimed in claim 1 or 2, is characterized in that, described graphics processing unit, data processing unit and feedback regulation unit run on same computer.
10. laser weld real time and on line monitoring system as claimed in claim 3, is characterized in that, before the pick-up lens of described image modalities, is provided with optical filtering, the high light and the stray light that during for filtering laser weld, produce.
11. laser weld real time and on line monitoring systems as claimed in claim 6, is characterized in that, are provided with optical filtering, the high light and the stray light that during for filtering laser weld, produce before described high-speed camera camera lens.
12. laser weld real time and on line monitoring systems as claimed in claim 7, is characterized in that, are provided with optical filtering, the high light and the stray light that during for filtering laser weld, produce before the pick-up lens of described image modalities.
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Cited By (10)
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CN105345264A (en) * | 2015-12-03 | 2016-02-24 | 华中科技大学 | Laser welding real-time on-line monitoring system specific to complex curved surface members |
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CN105345264B (en) * | 2015-12-03 | 2017-04-26 | 华中科技大学 | Laser welding real-time on-line monitoring system specific to complex curved surface members |
CN105345264A (en) * | 2015-12-03 | 2016-02-24 | 华中科技大学 | Laser welding real-time on-line monitoring system specific to complex curved surface members |
CN106001912A (en) * | 2016-06-29 | 2016-10-12 | 中车青岛四方机车车辆股份有限公司 | Welding equipment |
CN107876953B (en) * | 2016-09-29 | 2022-04-22 | 福特环球技术公司 | Splicer with position guidance system |
CN107876953A (en) * | 2016-09-29 | 2018-04-06 | 福特环球技术公司 | Jointing machine with position guidance system |
CN106514077A (en) * | 2016-11-28 | 2017-03-22 | 苏州五圣通机器人自动化有限公司 | High-precision robot automatic welding device special for grid plate and working method thereof |
CN106514077B (en) * | 2016-11-28 | 2019-03-12 | 苏州五圣通机器人自动化有限公司 | A kind of Turbogrid plates special high-accuracy robot automatic welding device and its working method |
CN106670652A (en) * | 2016-12-29 | 2017-05-17 | 苏州逸美德科技有限公司 | Laser coaxial processing device and method |
CN108422087A (en) * | 2018-04-03 | 2018-08-21 | 郑德辉 | A kind of electrical engineering automatic welding machine |
CN108274187A (en) * | 2018-04-27 | 2018-07-13 | 苏州艾弗伦智能技术有限公司 | A kind of complex curved surface parts defect repair system and restorative procedure |
CN110425979A (en) * | 2019-08-07 | 2019-11-08 | 江苏汇博机器人技术股份有限公司 | A kind of dot laser measurement method and device based on real training robot |
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