CN107378246A - A kind of method and system for correcting laser welding track - Google Patents
A kind of method and system for correcting laser welding track Download PDFInfo
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- CN107378246A CN107378246A CN201610321343.7A CN201610321343A CN107378246A CN 107378246 A CN107378246 A CN 107378246A CN 201610321343 A CN201610321343 A CN 201610321343A CN 107378246 A CN107378246 A CN 107378246A
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- welding
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- target weld
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- 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
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of method and system for correcting laser welding track, it is related to laser welding technology field, the skew of welding track during for correcting laser welding.Methods described includes herein below, and the welding route of standard is preset in laser welding system；Pre-sampling is carried out to Target Weld focus using sensor in welding process；Calculate correction-compensation value of the actual welding focus relative to Target Weld focus；Off normal correction mechanism is modified according to correction-compensation value to welding track.The system and method to Target Weld focus by carrying out pre-sampling, the track of automatic amendment welding in welding process so that actual welding track can coincide substantially with Target Weld track, reach welding process requirement.
Description
Technical field
The present invention relates to laser welding technology field, especially a kind of method for correcting laser welding track and it is
System.
Background technology
When to batch workpiece laser welding, current NC laser welding lathe is usually using same NC
(Number Control) program presets the welding track of laser welding head, to improve the efficiency of welding.But
It is in actual production, the size of same class workpiece is difficult to reach precisely consistent so that target weld seam on workpiece
Relative position shifts.When laying workpiece to be welded, the precision of fixture also influences whether target on workpiece
The relative position of weld seam.In addition, in laser beam welding, workpiece has thermal deformation in itself.These factors are all
Track and the target weld seam of laser welding can be caused inconsistent, eventually affect the quality of welding.
Published Chinese patent application " the arc welding robot laser vision weld joint tracking control based on segregation reasons
Method processed " (application number：201110249074.5) one kind is disclosed " by combining weld joint tracking segregation reasons
The information such as given target prior model and weld joint tracking motion planning track to be measured, it is comprehensive using sensing
Device detects forecasting mechanism and online 6 dimension welding track synthesis mechanism to complete online robot welding line tracking
The method of task ".Specifically carry out according to the following steps：(1), segregation reasons：By being welded in advance with obtaining planning
Stitch pursuit path, welding line joint skeleton pattern to be measured；(2), using current weld image, and treated with described
Survey welding line joint skeleton pattern and carry out outline, to obtain current welding line joint profile；(3), to described
Current welding line joint profile is continuously detected, and extracts the weld seam path point of two dimension；(4), compensation is described works as
The welding gun pose point time point that the sampling time point of preceding weld image and vision controller corresponding therewith obtain
Between communication delay, and pass through sensing head measurement model and obtain three-dimensional weld seam path point；(5), from continuous
The described three-dimensional weld seam path point of extraction obtains smooth actual welds pursuit path afterwards after filtering；
(6), with reference to described advance planning weld joint tracking track and actual welds pursuit path generation robot welding line
Online movement locus is tracked to drive robot welding.
This method can also correct the track of laser welding to a certain extent, but only needed in general
Being in line, then application cost is higher for the NC laser welding lathe of Antiinterference.
The content of the invention
The invention provides a kind of system and method for correcting laser welding track, it is intended to solves prior art and exists
The technical problem that welding track is offset during laser welding.
A kind of method for correcting laser welding track, including herein below, set in advance in laser welding system
Calibrate accurate welding route；Pre-sampling is carried out to Target Weld focus using sensor in welding process；Calculate
Go out correction-compensation value of the actual welding focus relative to Target Weld focus；Off normal correction mechanism is mended according to amendment
Value is repaid to be modified welding track.
Further, it is possible to the setting welding route in laser welding system；
Displacement detecting sensor can be installed on laser welding head, for being adopted in advance to Target Weld focus
Sample；
In welding process, constantly gathered by displacement detecting sensor during target weld seam detects relative to light
The offset of the heart, and related data is uploaded into data processing and control unit.
Further, data processing and control unit calculate Target Weld focus according to the offset data of acquisition and sat
Mark；And calculate correction-compensation value of the actual welding focus relative to Target Weld focus.
Further, Target Weld focal shift data are represented with Δ Y；Target Weld focal coordinates are represented with P；
Plumb joint focal coordinates are represented with mPos；The welding corresponding with Target Weld focal coordinates P is represented with mPos'
Head actual focal spot coordinate；Actual welding focal shift data, namely correction-compensation value are represented with Δ Y'；With D tables
Show the distance between the inspection center of displacement detecting sensor and the welding focus of laser welding head；
Δ Y' calculating process is as follows：
Definition, plumb joint coordinate mPos is (Xm、Ym)；
Then, target weld seam focal coordinates P is (Xm+D、Ym+ΔY)；
Then, plumb joint actual coordinate mPos' is (Xm+D、Y'm)；
Then, actual welding focal shift data Δ Y'=Y'm-(Ym+ Δ Y), namely correction-compensation value is
Δ Y'=Y'm-(Ym+ΔY)。
Further, described method can be used for amendment linear weld seam, shaped form weld seam, rectilinear curve to combine
The skew of shape weld seam.
Further, the system includes being used for the laser soldering device for carrying out laser welding, for being welded to target
The sensor device that focus carries out pre-sampling is connect, for carrying out data processing and sending the centre of control instruction
Manage device, and for drive laser soldering device Y-direction drive shaft and X to drive shaft；
X is main movement shaft to drive shaft, and Y-direction drive shaft is off normal amendment axle；The vertical installing of Y-direction drive shaft
In X in drive shaft；Y-direction drive shaft driving Y-direction drive shaft is moved along Y-direction drive shaft；Laser soldering device
It is arranged on sensor device combination in Y-direction drive shaft.
Further, the laser soldering device, sensor device, Y-direction drive shaft and X distinguish energy to drive shaft
Carry out data transmission with central processing unit.
Further, the sensor device can be installed on laser soldering device, and is hinged with positioned at Laser Welding
The front of direct of travel when putting welding；Y-direction drive shaft drives laser soldering device and sensor device to be driven along Y-direction
Moving axis moves.
Compared with prior art, the invention has the advantages that：Method described in the embodiment of the present invention is by swashing
The welding route of standard is preset in flush weld welding system, using sensor to Target Weld in welding process
Focus carries out pre-sampling, and calculates correction-compensation value of the actual welding focus relative to Target Weld focus,
Then off normal correction mechanism is modified according to correction-compensation value to welding track.This method passes through to target
Weld focus and carry out pre-sampling, the track of automatic amendment welding in welding process so that actual welding track
It can substantially be coincide with Target Weld track, reach welding process requirement.System described in the embodiment of the present invention
Including the laser soldering device for carrying out laser welding, for carrying out the biography of pre-sampling to Target Weld focus
Sensor arrangement, for carrying out data processing and send the central processing unit of control instruction, it is and sharp for driving
The Y-direction drive shaft of flush weld connection device and X are to drive shaft.Simple structure, welding precision are high.
Brief description of the drawings
Fig. 1 is the method and step figure of amendment laser welding of embodiment of the present invention track.
Fig. 2 is the method schematic of amendment laser welding of embodiment of the present invention track.
Fig. 3 is the coordinate diagram for calculating target weld seam focal coordinates P and actual welding focal shift data Δ Y'.
Fig. 4 is a kind of schematic diagram for correcting laser welding Trajectory System of the embodiment of the present invention.
Description of reference numerals：1-laser welding head, 2-displacement detecting sensor, 3-data processing and control
Unit, 4-laser welding head off normal correction mechanism, 5-workpiece, 10-laser soldering device, 20-sensing
Device device, 30-central processing unit, 60-Y-direction drive shaft, 70-X are to drive shaft.
Δ Y refers to Target Weld focal shift data；
P refers to Target Weld focal coordinates；
Plumb joint focal coordinates (the X that mPos refers tom、Ym)；
MPos' refers to the plumb joint actual focal spot coordinate corresponding with Target Weld focal coordinates P
(Xm+D、Y'm)；
Δ Y' refers to actual welding focal shift data.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.
Presently preferred embodiments of the present invention is given in accompanying drawing.But the present invention can come in fact in many different forms
It is existing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is made to this
The understanding of the disclosure of invention more thorough and comprehensive.
Unless otherwise defined, technology of all of technologies and scientific terms used here by the article with belonging to the present invention
The implication that the technical staff in field is generally understood that is identical.Art used in the description of the invention herein
Language is intended merely to describe the purpose of specific embodiment, it is not intended that in the limitation present invention.
The method of amendment laser welding track of the present invention, total thinking are：
The welding route of standard is preset in laser welding system；Using sensor to mesh in welding process
Mark welding focus carries out pre-sampling；Calculate correction-compensation of the actual welding focus relative to Target Weld focus
Value；Off normal correction mechanism is modified according to correction-compensation value to welding track.
First embodiment：
With reference to figure 1, the method for first embodiment of the invention amendment laser welding track comprises the following steps：
Step S1：According to needs are welded, the welding route of standard is preset in laser welding system.
Step S2：Pre-sampling is carried out to Target Weld focus in welding process using sensor, when actual weldering
When connecing focus and advancing to corresponding Target Weld focal point, actual welding focus is calculated relative to target
Weld the correction-compensation value of focus.
Step S3：Welding track is modified according to correction-compensation value using off normal correction mechanism.
With reference to figure 2, it is assumed that workpiece 5 is workpiece to be welded, it is necessary to straight line weld seam.In actual welding mistake
Cheng Zhong, workpiece 5 cause the target weld seam on workpiece 5 relative to advance because of temperature distortion or other reasonses
The standard welding route of setting shifts.
During implementation steps S1, welding route can be set in laser welding system and is welded as straight line.
Under normal circumstances, running orbit of the laser welding head 1 in welding process is consistent with the track welded,
Therefore during implementation steps S2, displacement detecting sensor 2 can be installed on laser welding head 1, for mesh
Mark welding focus carries out pre-sampling.The inspection center of displacement detecting sensor 2 is located at laser welding head 1 and advanced
The front in direction, and apart from the welding focus suitable distance of laser welding head 1.For example, displacement is examined
It can be laser displacement sensor to survey sensor 2, be capable of detecting when target weld seam relative to light inspection center
Offset.The light inspection center of laser displacement sensor be located at the direct of travel of laser welding head 1 just before
Side, and apart from the welding focus suitable distance of laser welding head 1.In welding process, displacement detecting sensing
Device 2 constantly gathers offset of the target weld seam relative to light inspection center, and related data is uploaded into number
According to processing and control element (PCE) 3.Data processing and control unit 3 calculate target according to the offset data of acquisition and welded
Connect focal coordinates.
Complete to after the pre-sampling of Target Weld focus, it is necessary to calculate actual welding focus relative to Target Weld
The correction-compensation value of focus.This calculating process can be completed by data processing and control unit 3.In order to just
In calculating, laser welding head 1 needs the actual welding to data processing and the Real-time Feedback itself of control unit 3
Focal coordinates.Data processing and control unit 3 are according to Target Weld focal coordinates and actual welding focal coordinates
Calculate correction-compensation value.
During implementation steps S3, it can be completed by the off normal correction mechanism in laser welding system, off normal is repaiied
Positive mechanism allows laser welding head 1 to move, and then cause the reality of laser welding head 1 according to correction-compensation value
Welding focus overlaps with the Target Weld focus of workpiece 5, corrects the skew of actual welds.
Data processing and control unit 3, which calculate correction-compensation value, can use following computational methods.
Referring to figs. 2 and 3 Δ Y refers to Target Weld focal shift data, can be sensed by displacement detecting
The detection of device 2 is drawn, and uploads to data processing and control unit 3.P refers to Target Weld focal coordinates,
When the target weld seam of workpiece 5 shifts, Target Weld focal coordinates P needs data processing and control unit
3 recalculate.The plumb joint focal coordinates that mPos refers to.MPos' is referred to and Target Weld focal coordinates P phases
Corresponding plumb joint actual focal spot coordinate.Δ Y' refers to actual welding focal shift data, namely correction-compensation
Value.D is referred between the detection light center of displacement detecting sensor 2 and the welding focus of laser welding head 1
Distance.
Δ Y' calculating process is as follows：
Definition, plumb joint coordinate mPos is (Xm、Ym)；
Then, target weld seam focal coordinates P is (Xm+D、Ym+ΔY)；
Then, plumb joint actual coordinate mPos' is (Xm+D、Y'm)；
Then, actual welding focal shift data Δ Y'=Y'm-(Ym+ Δ Y), namely correction-compensation value is
Δ Y'=Y'm-(Ym+ΔY)。
Although the method described in first embodiment of the invention is used for the skew that amendment is linear weld seam,
This method is not limited to correct the skew of linear weld seam, for shaped form weld seam, rectilinear curve combination shape
The amendment of weld seam and the weld seam of other shapes, this method are also suitable.
With reference to figure 4, a kind of amendment laser welding track corresponding with first embodiment of the invention methods described
System, including for carrying out the laser soldering device 10 of laser welding, it is pre- for being carried out to Target Weld focus
The sensor device 20 of sampling, for carrying out data processing and sending the central processing unit 30 of control instruction, with
And for drive laser soldering device 10 Y-direction drive shaft 60 and X to drive shaft 70.Wherein, Laser Welding
Connection device 10, sensor device 20, Y-direction drive shaft 60 and X distinguish energy and central processing to drive shaft 70
Device 30 carries out data transmission.The sensor device 20 can be installed on laser soldering device 10, and position
The front of direct of travel when laser soldering device 10 welds.X is main movement shaft to drive shaft 70, and Y-direction is driven
Moving axis 60 is off normal amendment axle.Y-direction drive shaft 60 it is vertical be installed in X in drive shaft 70.Y-direction is driven
Moving axis 60 drives Y-direction drive shaft 60 to be moved along Y-direction drive shaft 60.Laser soldering device 10 and sensor
The combination of device 20 is arranged in Y-direction drive shaft 60.Y-direction drive shaft 60 drives laser soldering device 10 and passed
Sensor arrangement 20 is moved along Y-direction drive shaft 60.
With reference to figure 4, the system amendment laser welding track of laser welding track is corrected described in the embodiment of the present invention
Process includes herein below：
Sensor device 20 continuously detects the offset distance of welding workpiece Target Weld focus.Central processing unit 30
After the offset distance for obtaining Target Weld focus, each Target Weld focal coordinates are calculated, and store these mesh
Mark welding focal coordinates.In laser soldering device 10 and the traveling process of sensor device 20, Laser Welding tipping
Put 10 and feed back the plumb joint coordinate of itself to central processing unit 30.When laser soldering device 10 advance to respectively
When corresponding to Target Weld focal coordinates at plumb joint actual focal spot coordinate, central processing unit 30 calculates now
Actual welding focal shift data, and this data is transferred to Y-direction drive shaft 60 and performed.Y-direction drive shaft
60 move according to actual welding focal shift data-driven laser soldering device 10 and sensor device 20, from
And correct welding track.
The embodiment of the present invention mainly has following beneficial effect：
Method described in the embodiment of the present invention in laser welding system by presetting the welding road of standard
Line, pre-sampling is carried out to Target Weld focus using sensor in welding process, and calculate actual welding
Focus is relative to the correction-compensation value of Target Weld focus, and then off normal correction mechanism is according to correction-compensation value pair
Welding track is modified.This method to Target Weld focus by carrying out pre-sampling, in welding process
The track of automatic amendment welding so that actual welding track can coincide substantially with Target Weld track, reach
Welding process requirement.System described in the embodiment of the present invention includes being used for the Laser Welding tipping for carrying out laser welding
Put 10, for Target Weld focus carry out pre-sampling sensor device 20, for carry out data processing and
The central processing unit 30 of control instruction is sent, and for driving the Y-direction drive shaft of laser soldering device 10
60 and X is to drive shaft 70.Simple structure, welding precision are high.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-mentioned
The limitation of embodiment, other it is any without departing from the present invention Spirit Essences and principle under made change, modification,
Substitute, combine, simplify, should be equivalent substitute mode, be included within protection scope of the present invention.
Claims (8)
- A kind of 1. method for correcting laser welding track, it is characterised in that：Methods described includes herein below, and the welding route of standard is preset in laser welding system；Pre-sampling is carried out to Target Weld focus using sensor in welding process；Calculate correction-compensation value of the actual welding focus relative to Target Weld focus；Off normal correction mechanism is modified according to correction-compensation value to welding track.
- 2. according to the method for claim 1, it is characterised in that：Welding route can be set in laser welding system；Displacement detecting sensor can be installed on laser welding head, for carrying out pre-sampling to Target Weld focus；In welding process, offset of the target weld seam relative to light inspection center is constantly gathered by displacement detecting sensor, and related data is uploaded into data processing and control unit.
- 3. according to the method for claim 2, it is characterised in that：Data processing and control unit calculate Target Weld focal coordinates according to the offset data of acquisition；And calculate correction-compensation value of the actual welding focus relative to Target Weld focus.
- 4. according to the method for claim 1, it is characterised in that：Target Weld focal shift data are represented with Δ Y；Target Weld focal coordinates are represented with P；Plumb joint focal coordinates are represented with mPos；The plumb joint actual focal spot coordinate corresponding with Target Weld focal coordinates P is represented with mPos'；Actual welding focal shift data, namely correction-compensation value are represented with Δ Y'；The distance between the inspection center of displacement detecting sensor and the welding focus of laser welding head are represented with D；Δ Y' calculating process is as follows：Definition, plumb joint coordinate mPos is (Xm、Ym)；Then, target weld seam focal coordinates P is (Xm+D、Ym+ΔY)；Then, plumb joint actual coordinate mPos' is (Xm+D、Y'm)；Then, actual welding focal shift data Δ Y'=Y'm-(Ym+ Δ Y), namely correction-compensation value is Δ Y'=Y'm-(Ym+ΔY)。
- 5. according to the method for claim 1, it is characterised in that：Described method can be used for the skew of amendment linear weld seam, shaped form weld seam, rectilinear curve combination shape weld seam.
- A kind of 6. system of the amendment laser welding track corresponding with claim 1-5 any one methods describeds, it is characterised in that：The system includes being used for the laser soldering device (10) for carrying out laser welding, for carrying out the sensor device (20) of pre-sampling to Target Weld focus, for carrying out data processing and sending the central processing unit (30) of control instruction, and for drive laser soldering device (10) Y-direction drive shaft (60) and X to drive shaft (70)；X is main movement shaft to drive shaft (70), and Y-direction drive shaft (60) is off normal amendment axle；Y-direction drive shaft (60) it is vertical be installed in X in drive shaft (70)；Y-direction drive shaft (60) driving Y-direction drive shaft (60) is moved along Y-direction drive shaft (60)；Laser soldering device (10) and sensor device (20) combination are arranged in Y-direction drive shaft (60).
- 7. according to the method for claim 6, it is characterised in that：The laser soldering device (10), sensor device (20), Y-direction drive shaft (60) and X can carry out data transmission with central processing unit (30) respectively to drive shaft (70).
- 8. the method according to claim 6 or 7, it is characterised in that：The sensor device (20) can be installed on laser soldering device (10), and is located at the front of direct of travel when laser soldering device (10) welds；Y-direction drive shaft (60) driving laser soldering device (10) and sensor device (20) move along Y-direction drive shaft (60).
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| CN108204811A (en) * | 2018-01-09 | 2018-06-26 | 山东大学 | A kind of hand-held spatial complex curve welding track coordinate measuring apparatus and measuring method |
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