WO2002058881A1 - Procede et dispositif de soudage bord a bord de deux pieces en feuille - Google Patents
Procede et dispositif de soudage bord a bord de deux pieces en feuille Download PDFInfo
- Publication number
- WO2002058881A1 WO2002058881A1 PCT/FR2002/000268 FR0200268W WO02058881A1 WO 2002058881 A1 WO2002058881 A1 WO 2002058881A1 FR 0200268 W FR0200268 W FR 0200268W WO 02058881 A1 WO02058881 A1 WO 02058881A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- frame
- laser beam
- welding head
- scene
- head according
- Prior art date
Links
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
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
- B23K26/1462—Nozzles; Features related to nozzles
- B23K26/1464—Supply to, or discharge from, nozzles of media, e.g. gas, powder, wire
- B23K26/147—Features outside the nozzle for feeding the fluid stream towards the workpiece
-
- 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
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
-
- 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
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
-
- 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
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
- B23K2101/185—Tailored blanks
Definitions
- the present invention relates to the welding of two parts edge to edge by means of a laser beam.
- This technique is commonly used in the field of automotive bodywork to assemble edge to edge two flat blanks of sheet metal before their forming by stamping, these blanks can be of similar or different thickness.
- the beam is focused on the contact line of the blanks and is moved along this line at a determined speed, for example of the order of 10 to 15 meters per minute (of course depending on the thickness to be welded).
- the relative movement is obtained by displacement of the focusing head of the laser beam over a table where the blanks are clamped and kept in contact with each other. More rarely, when the beam is fixed, the blank support table is moved under the focusing point.
- the relative displacement of the focused beam and the parts to be welded results from a programming of the machine or a robot which defines in a given reference point a theoretical trajectory.
- the coincidence between this theoretical trajectory and that actually traveled is never obtained, taking into account on the one hand, an uncertainty in the position and the orientation of the contact line of the blanks in the reference of the theoretical trajectory and d on the other hand, the dimensional clearances and tolerances that the motor mechanism has to accomplish this trajectory. It is therefore necessary to permanently correct the trajectory of the relative movement by means of a servo mechanism.
- This control mechanism includes a device for observing the contact line, for example a camera, which is integral with the head of welding, which makes it possible to obtain an image of an area of this line in the coordinate system of the welding head.
- the position of this line in the image corresponds to the offset of the contact line of the parts to be welded relative to the position of the beam.
- the successive values of offsets make it possible to generate readjustment instructions sent to the servo mechanism to correct the trajectory of the camera, and therefore of the welding head since they are integral, in order to cancel the offset of the focal point of the beam relative to the joint.
- the document EP 0 452 138 relates to a device of the same kind as that of the previous document, in which the joint detector differs in that it uses a scanning camera for observing a scene lit by light, preferably monochromatic, brought by the end of coaxial optical fibers to the path of the reflected light towards the camera.
- the means ensuring the controlled alignment of the welding beam on the line to be followed are crossed tables which carry the parts to be welded.
- the assembly thus formed is also bulky and the distance between the observed scene and the welding beam is large.
- This state of the art includes very specific materials which are ill-suited to be able to process a large number of different weld configurations.
- the subject of the invention is an edge-to-edge welding head of two sheet parts comprising a frame containing a means for transmitting and focusing a laser beam, the frame forming the support of a device for illumination of a scene located upstream of the focal point of the laser beam on the contact line of the two parts in which the frame is equipped opposite the illumination device with a support for its attachment to a programmable actuator, which support comprises a part provided with means for its coupling to the actuator and a part integral with the frame, the two parts being mounted movable relative to each other along a direction perpendicular to the axis of the beam laser and coupled to each other by means of a motorized mechanism for adjusting their relative position along this direction.
- the welding head of the invention can be coupled to any actuator, be it a robot arm or a gantry. Position control of the welding beam relative to the point contact line is achieved regardless of the actuator drive which is programmed to move the head along a theoretical path. There is therefore no need to carry out a complex adaptation of the actuator control program.
- the scene illuminated by the illumination device is located in the immediate vicinity of the focal point so that the path d 'at least part of the rays reflected by this scene is inside the frame and substantially parallel to the axis of the laser beam while the frame carries a mirror for reflecting these rays located above the means of transmission and focusing the laser beam, in the direction of a lateral device for collecting and processing these rays, carried by the frame.
- the information collected by the camera is transmitted to a processor which can simply be constituted by a personal computer completely independent of the welding machine, this computer being connected to the motor interposed between the two parts of the connection support of the welding head frame to the actuator.
- the lighting device emits a laser beam in the form of a brush oriented transversely to the contact line of the two parts to be welded.
- the source of this laser radiation will be a helium / neon source preferably distant from the welding head, emitting radiation of extremely precise wavelength led to the level of the scene by optical fibers.
- the frame is equipped with a nozzle for blowing a sweeping gas situated upstream of the observed scene and turned towards this scene.
- This nozzle defines a blowing channel for the sweeping gas inclined upwards by an angle of between 10 and 20 ° relative to the surface of the parts and opening into the atmosphere through a slot parallel to this surface so as to produce a pneumatic blade.
- a pneumatic blade will also be provided for protecting the means for focusing laser power radiation.
- the welding head shown comprises a frame 1 to which an energy in the form of laser radiation, focused by an optic 3, housed inside the frame 1 at a point 4 located, terminates by an optical fiber 2 coming from a source 2a. on a contact line 5 of two sheets 6 and 7 to be welded edge to edge.
- an optical plate 8 In the optical system 3 for focusing the laser welding beam (YAG laser), an optical plate 8 has been incorporated which behaves with respect to the beam like a mirror.
- the optical strip 8 behaves like a strip transparent which allows the reflected beam 9 to pass in the direction of a second mirror 11 which returns the beam 9 to a camera 12 also carried by the frame 1.
- the camera can be constituted by any known means making it possible to observe the position of the image of line 5 in scene 10 and calculate a significant error signal of the deviation of this image compared to a setpoint position which is representative of the position that line 5 should have if it was observed along the theoretical path of the frame 1 with respect to the parts 6 and 7.
- the camera 12 can be a CCD camera or a device using CMOS technology.
- the camera 12 is capable of processing at least one image every four to five milliseconds.
- the scene 10 emitting the reflected beam 9 is preferably illuminated by an illumination device 13, carried by the frame which can be connected to a source emitting 13a of laser radiation, preferably a helium / neon laser, in the field visible by means of an optical fiber.
- a source emitting 13a of laser radiation preferably a helium / neon laser
- the optics of this light source will be such that the radiation which results therefrom forms a brush 14, the intersection of which with the parts 6 and 5 forms a light line 15 substantially transverse to the contact line 5.
- the parts to be welded are of different thicknesses (and in this case the rung is located on the upper face of the assembly), we can see a break in this line 15, the break point corresponding to the position of line 5 in the scene observed.
- the brush To make this break visible the brush must be inclined relative to normal to the surfaces of the parts to be welded.
- the inclination here is of the order of 25 °. It can reach 45 ° if necessary.
- the frame 1 of the welding head carries, below the light source 13, a nozzle 16 for blowing a sweeping gas intended to evacuate the fumes which can disturb the vision of the scene 10 by the camera 12.
- This nozzle 16 is connected to an inlet tube 17 of a pressurized gas. Opposite this tube, it opens towards the atmosphere in the direction of the weld point 4 through an opening 18 in the form of a slot substantially parallel to the upper surface of the parts 6 and 7, a slot which constitutes the end part d 'a flat channel 19 for distributing the flow of gas under pressure in the form of a pneumatic blade 20.
- the channel 19 is inclined upwards and backwards relative to the direction of movement A, by an angle a between 10 and 20 ° and, preferably equal to 15 °.
- the pneumatic blade 20 thus produced, confines the fumes emitted by the welding in a space situated beyond the welding point relative to the scene 10, space noted 21 in the figure.
- the scene 10 is thus freed from an atmosphere which can alter the quality of the images obtained by the camera 12.
- the camera 12 is equipped with an optical filter 23 with very narrow bandwidth (for example example of the order of Inm) centered on the emission wavelength of the source 13a which generates the lighting beam of the scene.
- the quality of the image received by the camera 12 is further improved.
- the precision of the images received makes it possible to use the device according to the invention to perform from each image not only a calculation of the correction setpoint but also a verification according to which the tracking error, the mismatching of the sheets and their spacing remain within an acceptable tolerance range in order to trigger an alarm in the event that one of these values goes out of the authorized range.
- the frame 1 of the welding head is connected to a support 22 which has the primary function of forming the connection interface of the welding head with an actuator (here a robot arm 24) programmed to move the head along a trajectory theoretical A 'which is the rectilinear or curved one which corresponds to the line 5 of contact of the parts edge to edge.
- an actuator here a robot arm 24
- a part 25 of the support 22, in the form for example of a hollow beam, is externally equipped with means 26 for its attachment to the actuator 24 which may be, instead of a robot arm, a carriage gantry or the like.
- the means 26 can be designed, for example, interchangeable to be easily adapted to each end of the actuator.
- the support 22 comprises a second part 27 which is connected to the frame 1 and which cooperates with sliding with the part 25 relative to the latter, sliding controlled by a motor member 28 interposed between the part 25 and the part 27.
- This motor member can for example be a direct drive linear motor.
- the control of this motor is ensured by a processor (for example a microcomputer 29) which receives the position information from the camera 12 at a rate, preferably, of 240 images per second.
- the motor 28 requires approximately 4.5 milliseconds to ensure an amplitude movement compatible with the maximum correction that can be requested. If the welding speed is around 15 meters per minute and the observation point located 3 mm upstream of the fusion, at the rate of acquisition of 240 images per second, there remain approximately 7.5 milli-seconds to acquire the image, digitize it, process it, calculate the position of the joint relative to that of the head and work out the instruction to transmit to the engine, which is quite achievable with a common personal computer.
- the welding equipment according to the invention is economically and easily adaptable to any type of actuator.
- it has the advantage, by the precision of the correction and the high frequency of each correction cycle, of being adaptable to actuators which are not very precise in the execution of the tracking of a programmed trajectory as can be for example a robot arm.
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02700377A EP1353774A1 (fr) | 2001-01-23 | 2002-01-23 | Procede et dispositif de soudage bord a bord de deux pieces en feuille |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR01/00852 | 2001-01-23 | ||
FR0100852A FR2819743A1 (fr) | 2001-01-23 | 2001-01-23 | Procede et dispositif de soudage bord a bord de deux pieces en feuille |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002058881A1 true WO2002058881A1 (fr) | 2002-08-01 |
Family
ID=8859114
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2002/000268 WO2002058881A1 (fr) | 2001-01-23 | 2002-01-23 | Procede et dispositif de soudage bord a bord de deux pieces en feuille |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1353774A1 (fr) |
FR (1) | FR2819743A1 (fr) |
WO (1) | WO2002058881A1 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014044498A3 (fr) * | 2012-09-21 | 2014-05-15 | Lpkf Laser & Electronics Ag | Dispositif de commande de position d'un faisceau d'usinage laser |
CN114669932A (zh) * | 2021-12-16 | 2022-06-28 | 浙江大华技术股份有限公司 | 一种智能焊接方法及相关装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5001324A (en) * | 1989-09-14 | 1991-03-19 | General Electric Company | Precision joint tracking laser welding system |
EP0452138A2 (fr) * | 1990-04-12 | 1991-10-16 | Armco Inc. | Appareil et méthode pour aligner automatiquement un dispositif de soudage pour souder des pièces d'oeuvre bout à bout |
US5925268A (en) * | 1996-06-06 | 1999-07-20 | Engauge Inc. | Laser welding apparatus employing a tilting mechanism and seam follower |
-
2001
- 2001-01-23 FR FR0100852A patent/FR2819743A1/fr active Pending
-
2002
- 2002-01-23 WO PCT/FR2002/000268 patent/WO2002058881A1/fr not_active Application Discontinuation
- 2002-01-23 EP EP02700377A patent/EP1353774A1/fr not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5001324A (en) * | 1989-09-14 | 1991-03-19 | General Electric Company | Precision joint tracking laser welding system |
EP0452138A2 (fr) * | 1990-04-12 | 1991-10-16 | Armco Inc. | Appareil et méthode pour aligner automatiquement un dispositif de soudage pour souder des pièces d'oeuvre bout à bout |
US5925268A (en) * | 1996-06-06 | 1999-07-20 | Engauge Inc. | Laser welding apparatus employing a tilting mechanism and seam follower |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014044498A3 (fr) * | 2012-09-21 | 2014-05-15 | Lpkf Laser & Electronics Ag | Dispositif de commande de position d'un faisceau d'usinage laser |
CN114669932A (zh) * | 2021-12-16 | 2022-06-28 | 浙江大华技术股份有限公司 | 一种智能焊接方法及相关装置 |
CN114669932B (zh) * | 2021-12-16 | 2024-05-24 | 浙江大华技术股份有限公司 | 一种智能焊接方法及相关装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1353774A1 (fr) | 2003-10-22 |
FR2819743A1 (fr) | 2002-07-26 |
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