KR19990006679U - Stereo Vision System of Laser Welding Machine - Google Patents

Abstract

The present invention relates to a laser welding machine, and more particularly, to a stereo vision system of a laser welding machine for receiving a measuring laser light to return the measuring laser light to the gap to measure the gap between the plate to be welded.

According to the stereo vision system of the laser welding machine according to the present invention, the first and second measurement nozzles are selectively driven according to the size of the gap to measure the gap of the sheet to be laser welded, and accordingly, the position of the CCD camera is moved up and down. By adjusting left and right, the laser beam outputted from the nozzle can be accurately received, thereby widening the measurement range of the gap between the plates to be welded, and connecting the measuring nozzle and the CCD camera to one side of the Z-axis head. As a result, vibration of the measuring nozzle and the CCD camera can be prevented, so that an accurate gap measurement can be achieved.

Description

Stereo Vision System of Laser Welding Machine

The present invention relates to a laser welding machine, and more particularly, to a stereo vision system of a laser welding machine for receiving a measuring laser light to return the measuring laser light to the gap to measure the gap between the plate to be welded.

Conventional laser welding machine, as shown in Figure 1, the beam head 10 having a reflector for focusing the laser light for focusing, and the focused welding laser light output from the beam head 10 exits A shield gas connected to a left end of the beam head 10 to irradiate a welding nozzle 12 connected to a lower end of the beam head 10 and a shield gas for removing plasma gas generated during welding. Connected by the nozzle 11, the beam head 10 and the connecting member 13 in the Z-axis movement guide (not shown) to move up and down the beam head 10 in the Z-axis direction The Z-axis head 20 to be moved, the connecting member 21 connected to the left side of the beam head 10, and one side surface of the connecting member 21 are horizontally connected. One through-hole is formed so that the measuring nozzle 23 is inserted vertically. On the right side, a gap between the support part 22 is formed perpendicularly to the left through-hole of the support part 22 and the support part 22 is formed to be inclined so that the CCD camera 24 to be described later is inserted obliquely ( Measuring nozzle 23 for irradiating a measuring laser beam for measuring GAP) and a measuring nozzle 23 which is inserted at an angle to the right hole of the support part 22 at an angle and irradiated from the measuring nozzle 23 and returns A CCD (CHARGE COUPLED DEVICE) camera 24 which receives the laser light and outputs it to a connection control device for laser (not shown) is provided.

Referring to the operation of the laser welder configured as described above are as follows.

First, when welding the two plate members (1a, 3a) having a gap of a predetermined thickness in a vertical or inclined range as shown in Figures 2a and 2b using the laser welding machine, the measuring nozzle 23 is the lower end of the gap (α) And irradiating the laser beam for measurement while moving from the upper end to the upper end β, and receiving the laser beam for measurement that is irradiated and returned through the CCD camera 24 and outputting the laser beam to the laser connection control device. The welding speed control device recognizes the size of the gap according to the position of the gap between the two plates 1a and 3a, controls the welding speed by controlling the moving speed of the beam head 10, and in the opposite direction to the gap measurement. As the beam head 10 moves, welding is performed by irradiating a welding laser light and a shield gas from the welding nozzle 12 and the shield gas nozzle 11 to the gap.

At this time, the moving speed of the beam head 10 is slower as the gap is larger, and faster as the gap is smaller.

On the other hand, when welding a plate formed with a gap larger than a predetermined range inclined as shown in Fig. 2c, the range of the measurement laser light irradiated from the measuring nozzle 23 is smaller than the range of the gap of the two plates to be measured. Therefore, accurate gap measurement cannot be made, and the measurement nozzle 23 and the CCD camera 24 are connected to the left side of the beam head 10, so that vibrations are generated when measuring gaps, so that accurate measurement cannot be performed. There was this.

Therefore, the present invention has been made to solve the above problems, and an object of the present invention is to increase the range of measurement of the gap when measuring the gap between the plates for laser welding, and to prevent vibration of the measuring nozzle and the CCD camera It is to provide a stereo vision system of a laser welding machine capable of accurate measurement.

In order to achieve the above object, a stereo vision system of a laser welding machine according to the present invention includes a measuring nozzle for irradiating a measuring laser light to measure a gap between a sheet to be laser welded, and being irradiated from the measuring nozzle and returned. A vision system of a laser welding machine having a CCD camera for receiving laser light and outputting laser light data, comprising: a connecting member vertically connected to the lower end of the Z-axis head, and horizontally connected to one side of the connecting member; A support having two through holes formed therein, and a receiving portion having an arbitrary stopper inserted therein to allow free positioning, and two through holes respectively inserted therein to measure the laser beam for measurement. First and second measurement nozzles for irradiating perpendicular to the gap of the sheet, and the first and second measurement nozzles CCD camera is inserted into and connected to the receiving portion of the support part so as to be able to freely adjust the laser light for measuring and returning the measured laser beam, and the laser light data is applied through the CCD camera and compared with the preset data. And a camera control device for controlling the position adjustment of the CCD camera so that the CCD camera correctly receives the laser light emitted from the first and second measurement nozzles.

1 is a front view showing a laser welding machine having a vision system according to the prior art;

Figure 2a is a plan view showing a two plate material vertically formed a gap of a thickness within a certain range,

Figure 2b is a plan view showing a two-plate member in which a gap of a thickness within a predetermined range inclined;

Figure 2c is a plan view showing a two-sheet material in which a gap of a thickness larger than a predetermined range inclined;

Figure 3a is a front view showing a laser welding machine having a stereo vision system according to an embodiment of the present invention,

3B is a plan view of the portion A of FIG. 3A as viewed from the T side;

4 is a control block diagram for controlling a stereo vision system of a laser welding machine according to an embodiment of the present invention.

Explanation of symbols for main parts of the drawings

10 beamhead 11 shield gas nozzle

12: welding nozzle 20: Z-axis head

21: connecting member 22: support

23a: nozzle for first measurement 23b: nozzle for second measurement

24: C.C.D. Camera 25: receptacle

200: microcomputer 300: motor driving means

400: motor unit

Hereinafter, with reference to the accompanying drawings for a stereo vision system of a laser welding machine according to an embodiment of the present invention will be described in detail.

Figure 3a is a front view showing a laser welding machine having a stereo vision system according to an embodiment of the present invention, Figure 3b is a plan view of the portion A of Figure 3a viewed from the T side, Figure 4 is an embodiment of the present invention As a control block diagram for controlling a stereo vision system of a laser welding machine, the same parts as in the prior art are denoted by the same reference numerals, and redundant description thereof will be omitted.

Stereo vision system of the laser welding machine according to an embodiment of the present invention is a connecting member 21 is vertically connected to the lower end of the Z-axis head 20, as shown in Figure 3a and 3b, and the connecting member ( 21) horizontally connected to one side, two through-holes are formed at one side, left and right, and at the other side, a receiving unit 25 is formed to allow the CCD camera 24 to be described later to be inserted and freely adjustable. First and second measurement nozzles 23a and 23b which are inserted into the support part 22 and the two through-holes of the support part 22, respectively, and irradiate perpendicularly to the gap of the plate member to measure the laser beam for measurement; Receiving portion of the support portion 22 so as to be able to freely adjust the position to output the laser light data by accurately receiving the measurement laser light irradiated from the first and second measurement nozzles (23a, 23b) CCD car inserted into 25) The laser camera 24 is applied to the laser beam 24 through the CCD camera 24, and the CCD camera 24 is irradiated from the first and second measurement nozzles 23a and 23b. It consists of a camera control device for controlling the position adjustment of the CCD camera 24 so as to correctly receive the returned laser light.

As shown in FIG. 4, the camera control device includes a microcomputer 200, a motor driving means 300, and a motor unit 400.

The microcomputer 200 is a microcomputer, receives laser light data from the CCD camera 24, compares the laser light data with a preset value, and outputs a control signal corresponding to the predetermined program. The motor driving means 300 is switched by receiving the control signal output from the microcomputer 200 to control the driving of the motor unit 400, wherein the motor unit 400 is the motor driving means 300. The driving is controlled by the switching operation of the to adjust the position of the CCD camera 24.

The motor driving means 300 is to control the driving of the up and down adjustment motor 410 to be described later to control the drive of the up and down control motor 410 and the left and right control motor 420 to be described later It consists of a left / right control motor drive means 320 which is switched to control.

The motor unit 400 is controlled by the up / down control motor driving unit 310 to control the up / down control motor 410 for adjusting the up / down position of the CCD camera 24, and The driving is controlled by the left / right adjustment motor driver 320 and the left / right adjustment motor 420 adjusts the left / right position of the CCD camera 24.

Referring to the operation and operation of the stereo vision system of the laser welder according to an embodiment of the present invention configured as described above are as follows.

First, when welding the two plate members (1a, 3a) having a gap of a predetermined thickness in a vertical or inclined range as shown in Figs. 2a and 2b, only the first measuring nozzle 23a is driven using an operation means (not shown). While moving the beam head 10 from the lower end (α) to the upper end (β) of the gap while irradiating the measuring laser light, the CCD camera 24 is irradiated from the first measuring nozzle 23a and returned to the measurement Receives laser light for output and outputs laser light data.

At this time, the microcomputer 200 receives the laser light data output from the CCD camera 24 and compares the laser light data with a value set inside the microcomputer 200 so that the CCD camera 24 is used for the first measurement. It determines the position where the laser light outputted from the nozzle 23a can be correctly received and outputs a control signal corresponding thereto.

Subsequently, the motor driving means 300 is switched by receiving a control signal output from the microcomputer 200. Accordingly, the motor unit 400 is driven to control the position of the CCD camera 24 to return. Ensure that the laser light is received correctly.

On the other hand, when welding a plate formed with a gap larger than a predetermined range to be inclined as shown in Figure 2c by simultaneously driving the first and second measurement nozzles (23a, 23b) using a control means not shown to widen the laser light for measurement While moving the beam head 10 from the lower end α to the upper end β of the gap while irradiating, the CCD camera 24 irradiates and returns from the first and second measurement nozzles 23a and 23b. Receives light and outputs laser light data.

At this time, the microcomputer 200 receives the laser light data output from the CCD camera 24 and compares the laser light data with a value set inside the microcomputer 200 so that the CCD camera 24 is connected to the first and the second. A position capable of accurately receiving the laser light output from the measuring nozzles 23a and 23b is determined, and a control signal corresponding thereto is output.

Subsequently, the motor driving means 300 is switched by receiving a control signal output from the microcomputer 200, and accordingly, the motor unit 400 is driven, so that the CCD camera 24 operates the first measurement nozzle ( The positions are adjusted left, right, up, and down so as to receive both the laser light outputted simultaneously from the 23a) and the second measuring nozzle 23b.

According to the stereo vision system of the laser welding machine according to the present invention as described above, in order to measure the gap of the sheet to be laser welded, the first and second measurement nozzles are selectively driven according to the size of the gap, and thus the position of the CCD camera. By adjusting the up, down, left, and right to accurately receive the laser light output from the nozzle, it is possible to widen the measurement range of the gap between the plate to be welded, and the Z-axis of the measuring nozzle and CCD camera By connecting to one side of the head, vibration of the measuring nozzle and the CCD camera can be prevented, so that an accurate gap measurement can be made.

Claims (2)

Laser welding machine having a measuring nozzle for irradiating measuring laser light to measure the gap between the sheet to be laser welded, and a CCD camera for receiving the laser light irradiated from the measuring nozzle and returning the laser light data. In the vision system of the present invention, a connecting member 21 vertically connected to the lower end of the Z-axis head 20 is connected horizontally to one side of the connecting member 21, and two through holes are formed at one side thereof. An arbitrary stopper is inserted into the other side, and a support part 22 having a receiving part 25 formed therein for freely adjustable position is inserted into the two through-holes of the support part 22, respectively, to measure a laser beam for measurement. The first and second measurement nozzles 23a and 23b irradiated perpendicularly to the gap between the two plates and the measurement laser beam irradiated and returned from the first and second measurement nozzles 23a and 23b can be accurately corrected. The CCD camera 24 is inserted into and connected to the receiving portion 25 of the support portion 22 so as to be freely adjustable in order to extend the laser beam data through the CCD camera 24. By comparing and analyzing the CCD camera 24 to control the position adjustment of the CCD camera 24 to accurately receive the laser beam irradiated from the first and second measurement nozzles (23a, 23b) and return Stereo vision system of a laser welding machine, characterized in that made. The method of claim 1, wherein the camera control device receives the laser light data output from the CCD camera 24 and compares with the data set therein, the CCD camera 24 is the first and second measurement nozzles A microcomputer 200 for outputting a control signal for adjusting the position so that the laser light output from the (23a, 23b) can be accurately received, and the motor driving means is switched by receiving the control signal output from the microcomputer 200 300 and a stereo vision system of a laser welding machine, characterized in that the motor portion 400 is driven by the switching operation of the motor driving means (300).