CN109365998A - Laser soldering device and vision positioning method based on machine vision positioning - Google Patents
Laser soldering device and vision positioning method based on machine vision positioning Download PDFInfo
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- CN109365998A CN109365998A CN201811584894.8A CN201811584894A CN109365998A CN 109365998 A CN109365998 A CN 109365998A CN 201811584894 A CN201811584894 A CN 201811584894A CN 109365998 A CN109365998 A CN 109365998A
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- axis
- slide unit
- laser
- vision positioning
- displacement slide
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Classifications
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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
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention provides a kind of laser soldering devices and vision positioning method based on machine vision positioning, wherein the laser soldering device includes: marble vibrationproof platform；X-axis motion module is arranged on the crossbeam of the marble vibrationproof platform；Z axis motion module is arranged in the X-axis motion module, including one around the manual rotatable platform of Y-axis；Vision positioning module is arranged described on the manual rotatable platform of Y-axis；Y-axis motion module is arranged on the pedestal of the marble vibrationproof platform, including an automatic rotatable platform about the z axis；Control drive module, including an industrial personal computer and a servo-driver；Weld refrigerating module, including an optical fiber laser and an industrial water cooling unit.This invention simplifies the motion controls of machine, improve the flexibility of welding workpiece and laser welding head, and complicated welding procedure can be performed, and the positioning accuracy of machine vision is high, easy to operate, improve laser welding production efficiency.
Description
Technical field
The present invention relates to technical field of laser welding, in particular to a kind of laser soldering device based on machine vision positioning
And vision positioning method.
Background technique
Laser welding is a kind of high-efficiency and precision welding method using the laser beam of high-energy density as heat source, due to it
Unique advantage, such as can to focus on the region of very little, welding workpiece deflection small for laser beam, has been successfully applied to micro-, small-sized
In the precision welding of part.Machine vision is a branch of artificial intelligence fast development, and NI Vision Builder for Automated Inspection will be ingested
Target is converted into picture signal, sends dedicated image processing system to, obtains the shape information of target subject, according to pixel point
The information such as cloth and brightness, color, are transformed into digitized signal, and image processing system carries out various operations to these signals to extract
Clarification of objective, further according to the device action at characteristic results control scene.NI Vision Builder for Automated Inspection is applied in laser welding field
When, machine controls the weld job of laser welding head by vision positioning, is laser instead of traditional mechanical clamp positioning method
Welding system provides accurate positional parameter, increases the accuracy of laser welding system.
Chinese patent literature CN102645219B discloses a kind of climbing for weld seam detection on December 03rd, 2014
The welding positioning method and weld excursion amount acquisition methods, the patent of the weld seam of wall robotic vision navigation system are mainly introduced
The vision navigation system of climbing robot to the welding positioning method of weld seam, emphasis point to welding positioning principle discussion and
The specific processing method for absorbing image does not provide the structure feature of climbing robot vision navigation system, connection relationship, control
And mode of operation etc..
Chinese patent literature CN204414117U disclosed a kind of vision positioning welding robot on 06 24th, 2015
People, which schematically illustrates the design feature and vision positioning mode of a kind of vision positioning welding robot, without needle
The processes such as vision positioning, laser welding are specifically completed to how robot passes through its design feature.
Summary of the invention
The purpose of the invention is to provide it is a kind of based on machine vision positioning laser soldering device and vision positioning side
Method, including complete welding control system, vision positioning system and welding execution system, using specific machine vision positioning side
Method to the weld and HAZ of welding workpiece and can complete laser welding automatically, and precision is high, operate and easy to control.
In order to achieve the above object, the present invention provides a kind of laser soldering devices based on machine vision positioning, comprising:
Marble vibrationproof platform, the marble vibrationproof platform include a marble pedestal, the marble pedestal top
The left and right sides be fixedly installed a marble column respectively, be provided between two marble columns a marble cross
Beam, the both ends of the marble crossbeam are fixedly connected with the top of two marble columns by fastening screw respectively；
X-axis motion module, the X-axis motion module are arranged on the marble crossbeam, and the X-axis motion module includes
One X-axis automatic displacement slide unit, the X-axis automatic displacement slide unit are fixedly connected with the marble crossbeam by fastening screw；
Z axis motion module, the Z axis motion module are arranged in the X-axis motion module, the Z axis motion module packet
A Z axis automatic displacement slide unit is included, the Z axis automatic displacement slide unit is slidably arranged on the X-axis automatic displacement slide unit, the Z
Axis motion module further includes one around the manual rotatable platform of Y-axis, described to be slidably arranged in the Z axis certainly around the manual rotatable platform of Y-axis
On dynamic displacement slide unit；
Vision positioning module, the vision positioning module is arranged described on the manual rotatable platform of Y-axis, by fastening spiral shell
Nail is fixedly connected with described around the manual rotatable platform of Y-axis；
The middle part on the marble pedestal top is arranged in Y-axis motion module, the Y-axis motion module, and the vision is fixed
The bottom end of position module, the Y-axis motion module automatic rotatable platform, Y-axis including a Y-axis automatic displacement slide unit and about the z axis
Automatic displacement slide unit is fixedly connected by fastening screw with the marble pedestal, and the rotatable platform sliding automatic about the z axis is set
It sets on the Y-axis automatic displacement slide unit；
Drive module is controlled, the control drive module includes the industrial personal computer and a servo-drive of a built in motion control card
Device, the industrial personal computer are electrically connected with the servo-driver, and the industrial personal computer is also electrically connected with the vision positioning module, described
Servo-driver respectively with the X-axis automatic displacement slide unit, the Z axis automatic displacement slide unit, the Y-axis automatic displacement slide unit and
The automatic rotatable platform electrical connection of Z axis；
Refrigerating module is welded, the welding refrigerating module includes an optical fiber laser and an industrial water cooling unit, the optical fiber
Laser is connect with the vision positioning module by optical fiber, it is described industry water cooling unit respectively with the vision positioning module and institute
Optical fiber laser is stated to connect by water pipe.
Further, the Z axis automatic displacement slide unit includes a servo motor and a screw rod, and the servo motor fixation is set
The first end in the Z axis automatic displacement slide unit is set, is electrically connected with the servo-driver, the screw rod is arranged in the Z axis
The first end at the middle part of automatic displacement slide unit, the screw rod is connect by a shaft coupling with the servo motor, and the Z axis is automatic
The two sides of displacement slide unit are also respectively provided with a guide rail, are respectively provided on each guide rail there are two sliding block, cover on the screw rod
Equipped with a feed screw nut, the feed screw nut connect with the wire rod thread, and a nut support, institute are also arranged on the screw rod
It states nut support and each sliding block passes through the one sliding entirety of bottom surface composition that fastening screw is fixedly connected on a loading plate,
The sliding is fixedly connected entirely through the fastening screw being arranged on the nut support with the feed screw nut, the carrying
The top surface of plate is provided with a pinboard, and the underrun fastening screw of the pinboard is fixedly connected with the loading plate, described
The top surface of pinboard is fixedly connected with described around the manual rotatable platform of Y-axis by fastening screw.
Further, the structure of the X-axis automatic displacement slide unit and the Y-axis automatic displacement slide unit with the Z axis from
The structure of dynamic displacement slide unit is identical, be slidably connected side of the Z axis automatic displacement slide unit on the X-axis automatic displacement slide unit
The slip connection mode of formula, the rotatable platform automatic about the z axis on the Y-axis automatic displacement slide unit is with described around Y-axis hand
Slip connection mode of the turn moving platform on the Z axis automatic displacement slide unit is identical.
Further, described around the manual rotatable platform of Y-axis includes Y-axis rotating base, and the Y-axis rotating base passes through fastening
Screw is fixedly connected with the pinboard, and the wherein side of the Y-axis rotating base is provided with a manual servo motor, the Y
It is provided with a Y-axis turntable, the Y-axis turntable and the manual servo motor on axis rotating base, base is rotated in Y-axis by setting
Worm and wormwheel structure connection inside seat.
Further, the vision positioning module includes a package casing, and fixation is set on the outside of the middle part of the package casing
It is equipped with a fixing seat, the fixing seat is fixedly connected by fastening screw with the Y-axis turntable, the first top of the package casing
An industrial lens are provided on end, the top of the industrial lens is provided with an industrial camera, the industrial camera and the work
Industry camera lens is connected by a hook knob, is provided with an optical fiber interface on the second top of the package casing, the optical fiber connects
Mouth is connected to a laser welding head of the inside middle portion that the package casing is arranged in by optical fiber, the bottom of the package casing
It is additionally provided with an annular light source.
Further, a fixture is provided on the workbench of the rotatable platform automatic about the z axis, the fixture is in including one
The clamp mount of I-shaped, the top of the clamp mount are provided with a ventilation bottom plate, pass through fastening screw and the fixture
Support is fixedly connected, and a ventilation slot is offered in the middle part of the ventilation bottom plate, and the ventilation slot is connected to the of the clamp mount
One end and second end, the first end and second end of the ventilation slot are respectively arranged with a suction nozzle and an outlet nozzle, the ventilation
The top of bottom plate is provided with two block welding workpiece, and the top of every piece of welding workpiece is provided with a fixed cover board, two pieces of institutes
It states fixed cover board and passes through fastening screw and be fixedly connected with the ventilation bottom plate, the third end and the 4th end of the ventilation bottom plate are also
It is respectively set there are two back-shaped fixinig plate, the back-shaped fixinig plate connects with the fastening screw sliding being arranged on the clamp mount
It connects.
The present invention also provides the vision positioning methods of laser soldering device, comprising:
Step 1 opens the optical fiber laser and first processes a laser straight line, the industrial personal computer on a test board
The image for the laser straight line that the industrial camera acquires is subjected to edge detection and is fitted to laser portable cord；
Step 2, after the welding workpiece is installed on the fixture, the industrial personal computer adopts the industrial camera
The image of the welding workpiece of collection carries out edge detection and is fitted to line to be processed；
Parameter is arranged and by embedding motion control card sending movement instruction thereon and passing in step 3 on the industrial personal computer
The servo-driver is passed, the servo-driver drives the servo motor to rotate after receiving movement instruction, to adjust
The position of the Y-axis automatic displacement slide unit and the rotatable platform automatic about the z axis changes the position and angle of the line to be processed
Degree is overlapped the line to be processed and the laser portable cord, completes the vision positioning of the welding workpiece；
Step 4 is required according to related process, also settable after the line to be processed and laser portable cord coincidence
The position of Y-axis automatic displacement slide unit described in parameter regulation, make the line to be processed deviate again one section of the laser portable cord away from
From completing the offset vision positioning of the welding workpiece.
Above scheme of the invention the utility model has the advantages that it is of the invention based on machine vision positioning laser soldering device, packet
Complete welding control system, vision positioning system and welding execution system are included, X-axis, Y-axis and Z can be performed in welding execution system
The displacement of axis direction, while can also carry out angular displacement and angular displacement about the z axis around Y-axis, and the displacement of each freedom degree is independent
It executes, simplifies the motion control of machine, improve the flexibility of welding workpiece and laser welding head, complicated welding can be performed
Technique；Vision positioning system is automatically positioned using machine vision, and the image information of intake is clear and accurate, and the process for positioning alignment is logical
Cross the industrial personal computer operation of welding control system, algorithm process is reliable and executes that speed is fast, and the precision of vision positioning is high, it is only necessary to
In control software interface, relevant parameter is set, it is easy to operate, artificial labor intensity is reduced, laser welding is effectively improved
Production efficiency.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is Z axis automatic displacement slide unit structural schematic diagram of the invention；
Fig. 3 is of the invention around the manual rotatable platform structural schematic diagram of Y-axis；
Fig. 4 is rotatable platform structural schematic diagram automatic about the z axis of the invention；
Fig. 5 is vision positioning modular structure schematic diagram of the invention；
Fig. 6 is clamp structure schematic diagram of the invention；
Fig. 7 is the A direction view of Fig. 6 fixture；
Fig. 8 is control software interface figure of the invention；
Fig. 9 is vision positioning schematic diagram of the invention；
Figure 10 is the flow chart of vision positioning and process of the invention.
[description of symbols]
1- marble vibrationproof platform；101- marble pedestal；102- marble column；103- marble crossbeam；2-X axis fortune
Dynamic model block；201-X axis automatic displacement slide unit；3-Z axis motion module；301-Z axis automatic displacement slide unit；302- turns manually around Y-axis
Moving platform；303- servo motor；304- screw rod；305- shaft coupling；306- guide rail；307- sliding block；308- feed screw nut；309- spiral shell
Female support；310- loading plate；311- pinboard；312-Y axis rotating base；The manual servo motor of 313-；314-Y axis turntable；4-
Vision positioning module；401- package casing；402- fixing seat；403- industrial lens；404- industrial camera；405- optical fiber interface；
406- laser welding head；407- annular light source；5-Y axis motion module；501-Y axis automatic displacement slide unit；502- is about the z axis from turn
Moving platform；503-Z axis rotating base；504- workbench；505- fixture；506- clamp mount；507- ventilation bottom plate；508- ventilation
Slot；509- suction nozzle；510- outlet nozzle；511- welding workpiece；512- fixes cover board；The back-shaped fixinig plate of 513-；6- control driving
Module；601- industrial personal computer；602- servo-driver；7- welds refrigerating module；701- optical fiber laser；702- industry water cooling unit.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
As shown in Figure 1, the embodiment provides a kind of laser welding systems based on machine vision positioning, including
Marble vibrationproof platform 1, the marble vibrationproof platform 1 include a marble pedestal 101,101 top of marble pedestal
The left and right sides be fixedly installed a marble column 102 respectively, be provided with a Dali between two marble columns 102
Stone crossbeam 103, the both ends of the marble crossbeam 103 pass through fastening spiral shell with the top of two marble columns 102 respectively
Nail is fixedly connected；X-axis motion module 2, the X-axis motion module 2 are arranged on the marble crossbeam 103, the X-axis movement
Module 2 includes an X-axis automatic displacement slide unit 201, and the X-axis automatic displacement slide unit 201 passes through tight with the marble crossbeam 103
Gu screw is fixedly connected；Z axis motion module 3, the Z axis motion module 3 are arranged in the X-axis motion module 2, the Z axis
Motion module 3 includes a Z axis automatic displacement slide unit 301, and it is automatic that the Z axis automatic displacement slide unit 301 is slidably arranged in the X-axis
It is displaced on slide unit 201, the Z axis motion module 3 further includes one around the manual rotatable platform 302 of Y-axis, described to rotate manually around Y-axis
Platform 302 is slidably arranged on the Z axis automatic displacement slide unit 301；Vision positioning module 4, the vision positioning module 4 are arranged
Described on the manual rotatable platform 302 of Y-axis, it is fixedly connected with described around the manual rotatable platform 302 of Y-axis by fastening screw；Y
The middle part on 101 top of marble pedestal, the vision positioning mould is arranged in axis motion module 5, the Y-axis motion module 5
The bottom end of block 4, the Y-axis motion module 5 automatic rotatable platform 502 including a Y-axis automatic displacement slide unit 501 and about the z axis are described
Y-axis automatic displacement slide unit 501 is fixedly connected by fastening screw with the marble pedestal 101, and the rotation automatic about the z axis is flat
Platform 502 is slidably arranged in 501 on the Y-axis automatic displacement slide unit；Drive module 6 is controlled, the control drive module 6 includes one
The industrial personal computer 601 of built in motion control card and a servo-driver 602, the industrial personal computer 601 and 602 electricity of servo-driver
Connection, the industrial personal computer 601 is also electrically connected with the vision positioning module 4, the servo-driver 602 respectively with the X-axis
Automatic displacement slide unit 201, the Z axis automatic displacement slide unit 301, the Y-axis automatic displacement slide unit 501 and the Z axis are from turn
Moving platform 502 is electrically connected；Refrigerating module 7 is welded, the welding refrigerating module 7 includes an optical fiber laser 701 and an industry water
Cold 702, the optical fiber laser 701 are connect with the vision positioning module 4 by optical fiber, and the industry water cooling unit 702 divides
It is not connect with the vision positioning module 4 and the optical fiber laser 701 by water pipe.
Laser soldering device of the present invention based on machine vision positioning, X-axis motion module 2 include the automatic position of X-axis
Slide unit 201 is moved, is fixed on marble crossbeam 103 by fastening screw, it can be to setting in X-axis automatic displacement slide unit 201
On include that Z axis motion module 3, the whole of vision positioning module 4 provide the displacement of X-direction.Z axis motion module 3 passes through tight
Gu screw is fixed in X-axis motion module 2, including Z axis automatic displacement slide unit 301 and around the manual rotatable platform 302 of Y-axis,
It is fixed on Z axis automatic displacement slide unit 301 around the manual rotatable platform 302 of Y-axis by fastening screw, vision positioning module 4
It is fixed on the manual rotatable platform 302 of Y-axis by fastening screw, Z axis automatic displacement slide unit 301 can be to including around Y-axis
Manual rotatable platform 302 and the whole of vision positioning module 4 provide the displacement of Z-direction, and around the manual rotatable platform 302 of Y-axis
The incident angle of vision positioning module 4 can be adjusted by way of manual operation.Y-axis motion module 5 is sliding including Y-axis automatic displacement
Platform 501 and about the z axis automatic rotatable platform 502, Y-axis automatic displacement slide unit 501 are fixed at Dali ground mass by fastening screw
On seat 101, the position of Y direction can be provided to the rotatable platform 502 automatic about the z axis being arranged on Y-axis automatic displacement slide unit 501
It moves, automatic rotating platform 502 can provide an angular displacement about the z axis about the z axis.The industrial personal computer 601 for controlling drive module 6, can connect
Rating is felt the intake image information of locating module 4 and is handled, and instruction is then issued, and servo-driver 602 is controlled, to adjust X-axis
Automatic displacement slide unit 201, Z axis automatic displacement slide unit 301, Y-axis automatic displacement slide unit 501 and automatic rotatable platform 502 about the z axis
Corresponding displacement.Weld refrigerating module 7, including optical fiber laser 701 and industrial water cooling unit 702, optical fiber laser 701 can be to
Transmission laser source in vision positioning module 4, and industrial water cooling unit 702 can be in weld job, respectively to optical fiber laser 701
Cooling water is conveyed in vision positioning module 4, is cooled down to optical fiber laser 701 and vision positioning module 4.
As shown in Fig. 2, the Z axis automatic displacement slide unit 301 includes a servo motor 303 and a screw rod 304, the servo
Motor 302 is fixed at the first end of the Z axis automatic displacement slide unit 301, is electrically connected with the servo-driver 602, institute
The middle part that the Z axis automatic displacement slide unit 301 is arranged in screw rod 304 is stated, the first end of the screw rod 304 passes through a shaft coupling
305 connect with the servo motor 303, and the two sides of the Z axis automatic displacement slide unit 301 are also respectively provided with a guide rail 306, often
It is respectively provided on a guide rail 306 there are two sliding block 307, is arranged with a feed screw nut 308, the screw rod on the screw rod 304
Nut 308 is threadedly coupled with the screw rod 304, and a nut support 309, the nut support are also arranged on the screw rod 304
309 and a loading plate 310 is fixedly connected on by fastening screw one sliding of bottom surface composition of each sliding block 307 it is whole,
The sliding is fixedly connected entirely through the fastening screw being arranged on the nut support 309 with the feed screw nut 308, institute
The top surface for stating loading plate 310 is provided with a pinboard 311, the underrun fastening screw of the pinboard 311 and the carrying
Plate 310 is fixedly connected, and the top surface of the pinboard 311 is connected by fastening screw and described fix around the manual rotatable platform 302 of Y-axis
It connects.Meanwhile the structure of the X-axis automatic displacement slide unit 201 and the Y-axis automatic displacement slide unit 501 with the automatic position of the Z axis
The structure for moving slide unit 301 is identical, and sliding of the Z axis automatic displacement slide unit 301 on the X-axis automatic displacement slide unit 201 connects
Connect the slip connection mode of mode, the rotatable platform 502 automatic about the z axis on the Y-axis automatic displacement slide unit 501 and institute
It states identical around slip connection mode of the manual rotatable platform 302 of Y-axis on the Z axis automatic displacement slide unit 301.
Laser soldering device of the present invention based on machine vision positioning, the servo motor 303 are the automatic position of Z axis
The power source of slide unit 301 is moved, the first end of screw rod 304 is connected the output end of servo motor 303 by shaft coupling 305, can passed through
The driving of servo motor 303 and rotate, and feed screw nut 308 is set on screw rod 304 and is threadedly coupled, when screw rod 304 rotates
When feed screw nut 308 can be driven to move up and down, nut support 309 and each sliding block 307 are fixedly connected on by fastening screw
On loading plate 310, an entirety is constituted, and nut support 309 is fixedly connected with feed screw nut 308 by fastening screw,
Therefore when screw rod 304 rotates, this entirety can be driven to move up and down, complete the displacement of Z-direction.The top surface of loading plate 310
It is further fixedly arranged on a pinboard 311, loading plate 310 is fixed at by fastening screw around Y-axis manual rotatable platform 302
On, therefore can be moved with entirety along Z-direction around the manual rotatable platform 302 of Y-axis.Meanwhile X-axis automatic displacement slide unit 201 and Y
The structure of axis automatic displacement slide unit 501 is identical as the structure of above-mentioned Z axis automatic displacement slide unit 301, Z axis automatic displacement slide unit 301
Slip connection mode on X-axis automatic displacement slide unit 201, about the z axis automatic rotatable platform 502 are in Y-axis automatic displacement slide unit 501
On slip connection mode also with above-mentioned around the manual rotatable platform 302 of Y-axis being slidably connected on Z axis automatic displacement slide unit 301
Mode is identical, thus the specific structural features and connection relationship of X-axis automatic displacement slide unit 201 and Y-axis automatic displacement slide unit 501 this
In repeat no more.
As shown in Figure 3, Figure 4, described to include Y-axis rotating base 312, the Y-axis rotation around the manual rotatable platform 302 of Y-axis
Pedestal 312 is fixedly connected by fastening screw with the pinboard 311, and the wherein side of the Y-axis rotating base 312 is provided with
One manual servo motor 313, is provided with a Y-axis turntable 314 on the Y-axis rotating base 312, the Y-axis turntable 314 with it is described
Manual servo motor 313 passes through the worm and wormwheel structure connection being arranged in inside Y-axis rotating base 312.Meanwhile it is described about the z axis
Automatic rotatable platform 502 includes Z axis rotating base 503, and the Z axis rotating base 503 passes through fastening screw and the pinboard
311 are fixedly connected, and the wherein side of the Z axis rotating base 503 is provided with a servo motor 303, the servo motor 303 with
The servo-driver 602 is electrically connected, and is provided with a workbench 504 on the Z axis rotating base 503, the workbench 504 with
The servo motor 303 passes through the worm and wormwheel structure connection being arranged in inside Z axis rotating base 503.
Laser soldering device of the present invention based on machine vision positioning includes Y around the manual rotatable platform 302 of Y-axis
Axis rotating base 312 and the manual servo motor 313 that one side is arranged in, it is complete can to reverse the operation knob being disposed over manually
At the output of manual servo motor 313, the Y-axis turntable 314 being arranged on Y-axis rotating base 312 is fixedly connected on Y-axis rotation base
On worm gear in seat 312, a worm screw is additionally provided in Y-axis rotating base 312, one end connects the defeated of manual servo motor 313
Outlet, the other end are threadedly coupled with the worm gear, therefore the output of manual servo motor 313 can be driven by worm and wormwheel structure
Y-axis turntable 314 rotates, and completes angular displacement.About the z axis the structure of automatic rotatable platform 502 with around the manual rotatable platform 302 of Y-axis
Structure is similar, and the manual servo motor 313 around the manual rotatable platform 302 of Y-axis has only been changed into automatic rotatable platform about the z axis
Servo motor 303 on 502, also repeats no more here.
As shown in figure 5, the vision positioning module 4 includes a package casing 401, outside the middle part of the package casing 401
Side is fixedly installed a fixing seat 402, and the fixing seat 402 is fixedly connected by fastening screw with the Y-axis turntable 314, institute
It states and is provided with an industrial lens 403 on the first top of package casing 401, the top of the industrial lens 403 is provided with a work
Industry camera 404, the industrial camera 404 are connect with the industrial lens 403 by a hook knob, the package casing 401
The second top on be provided with an optical fiber interface 405, the optical fiber interface 405 and the middle part that the package casing 401 is set
One laser welding head 406 of inside is connected to by optical fiber, and the bottom of the package casing 401 is additionally provided with an annular light source 407.
Laser soldering device of the present invention based on machine vision positioning, vision positioning is by being arranged in package casing
The fixing seat 402 at 401 middle parts outside is fixedly connected with Y-axis turntable 314, can be adjusted inclination angle with the rotation of Y-axis turntable 314, be sealed
Casing 401 includes the first top and the second top, and the industrial camera 404 being arranged on the first top is electrically connected with industrial personal computer 601
It connects, the image information of intake can be delivered to industrial personal computer 601 by industrial lens 403 and handled, the optical fiber of the second top setting connects
Mouth 405 connects optical fiber laser 701, can receive the laser source exported from optical fiber laser 701 and simultaneously imports in package casing 401,
It is final to import in the laser welding head 406 that 401 middle part of package casing is set by the optical fiber cable in package casing 401, encapsulation
The annular light source 407 of 401 bottom of shell setting can provide industrial camera 404 and absorb necessary illumination when image.
As shown in Figure 6 and Figure 7, it is provided with a fixture 505 on the workbench 504 of the rotatable platform 502 automatic about the z axis,
The fixture 505 includes a clamp mount 506 in the shape of an " I ", and the top of the clamp mount 506 is provided with a ventilation bottom
Plate 507 is fixedly connected by fastening screw with the clamp mount 506, and the middle part of the ventilation bottom plate 507 offers a ventilation
Slot 508, the ventilation slot 508 are connected to the first end and second end of the clamp mount 506, and the first of the clamp mount 506
End and second end are respectively arranged with a suction nozzle 509 and an outlet nozzle 510, and the top of the ventilation bottom plate 507 is provided with two pieces
Welding workpiece 511, the top of every piece of welding workpiece 511 are provided with a fixed cover board 512, two pieces of fixed cover boards
512 are fixedly connected by fastening screw with the ventilation bottom plate 507, and the third end and the 4th end of the ventilation bottom plate 507 are also
Back-shaped fixinig plate 513 there are two being respectively set, back-shaped fastening fixinig plate 513 and be arranged on the clamp mount 506
Screw is slidably connected.
Laser soldering device of the present invention based on machine vision positioning, in the bottom of I-shaped clamp mount 506
Plate is fixedly connected on the workbench 504 of automatic rotatable platform 502 about the z axis by fastening screw so that fixture 505 can with around
The rotation of the automatic rotatable platform 502 of Z axis and realize angular displacement about the z axis, the ventilation bottom plate 507 on the top plate of clamp mount 506,
Middle part is provided with ventilation slot 508, and both ends are respectively arranged with suction nozzle 509 and outlet nozzle 510, can import from suction nozzle 509
Protective gas circulation and is discharged in ventilation slot 508 from outlet nozzle 510, and 511 back of welding workpiece is molten when preventing laser welding
Change the oxidation of metal, one piece of fixed cover board is arranged on ventilation bottom plate 507 in the setting of welding workpiece 511 again in welding workpiece 511
512, fixed cover board 512 is connect and is locked with ventilation bottom plate 507 by fastening screw, in this way can be by fixed cover board 512 and ventilation
Welding workpiece 511 between bottom plate 507 is fixedly clamped, and prevents welding workpiece 511 when welding from shifting, welds two pieces when practical operation
The position while welding for connecing workpiece 511 is arranged on the ventilation slot 508 of ventilation bottom plate 507, convenient for melting to 511 back side of welding workpiece
Change the protection of metal, be additionally provided with back-shaped fixinig plate 513 on bottom plate 507 of divulging information, the auxiliary clamp as welding workpiece 511 fills
It sets, also welding workpiece 511 can be stepped up to fix.
As shown in Fig. 8, Fig. 9, Figure 10, the present invention also provides the vision positioning methods of laser soldering device, comprising: step
One, it opens the optical fiber laser 701 and first processes a laser straight line on a test board, the industrial personal computer 601 will be described
The image for the laser straight line that industrial camera 404 acquires carries out edge detection and is fitted to laser portable cord；Step 2, by institute
It states after welding workpiece 511 installs on the fixture 505, described in the industrial personal computer 601 acquires the industrial camera 404
The image of welding workpiece 511 carries out edge detection and is fitted to line to be processed；Ginseng is arranged in step 3 on the industrial personal computer 601
It counts and by embedding motion control card sending movement instruction thereon and passing to the servo-driver 602, the servo-drive
Device 602 drives the servo motor 303 to rotate after receiving movement instruction, to adjust the Y-axis automatic displacement slide unit 501 and institute
The position of automatic rotatable platform 502 about the z axis is stated, changes position and the angle of the line to be processed, finally makes described to be processed
Line and the laser portable cord are overlapped, and complete the vision positioning of the welding workpiece 511；Step 4 is required according to related process,
After the line to be processed and the laser portable cord are overlapped, Y-axis automatic displacement slide unit 501 described in also settable parameter regulation
Position makes the line to be processed deviate described laser portable cord a distance again, that is, completes the offset of the welding workpiece 511
Vision positioning.
The vision positioning method of laser soldering device described in the embodiment of the present invention, concrete operation step are as follows:
Laser rays fitting and detection, a test board are fixedly mounted on fixture 505, so that the center of rotation of test board exists
On center of rotation reference line, wherein center of rotation reference line is parallel with Y-axis and turns by automatic rotatable platform 502 about the z axis
Then the line at dynamic center opens optical fiber laser 701 and processes a laser straight line on test board；Industrial camera is opened again
404, the Real-time image display of laser straight line industrial personal computer 601 shown in Fig. 8 controls in the display window (1) of software at this time, together
When, industrial camera 404 can the edge image to laser straight line acquired in real time and be shown in display window shown in Fig. 8 (2)；
Binary conversion treatment is carried out to the image of acquisition in " vision positioning detection module " click " binaryzation " button of control software to obtain
Binary image is simultaneously shown in display window (2) again, and it is suitable to one that dragging binaryzation scroll bar adjusts binary image
State carries out straight-line detection to binary image using accumulated probability Hough transform and obtains corresponding line segment aggregate A；It is controlling
" vision positioning detection module " click " Canny detection " button of software, using Canny arithmetic operators to binary image
Edge detection is carried out, then AND operation is carried out with point set A and obtains feature point set B；At " the laser rays detection " of control software
The upper and lower laser rays and laser rays middle line to be fitted successively are selected, and clicks its button, with being iteratively repeated weighted least-squares
Method carries out high-precision straight line fitting to above-mentioned B point set and obtains laser rays centerline fit line, and the result being fitted is automatically displayed in
The module, angle [alpha] 0, Y-coordinate value Y0 including laser rays centerline fit line.Edge of work fitting and detection, use fixture 505
Welding workpiece 511 is installed and fixed, so that then the center of rotation of welding workpiece 511 weighs on center of rotation reference line
Operation in multiple above-mentioned laser rays fitting and detecting step to straight line fitting, what industrial camera 404 acquired at this time is welding workpiece
511 edge realtime graphic, and binaryzation, accumulated probability Hough transform, Canny detect and are iteratively repeated weighted least-squares
The object of method processing is the edge image of welding workpiece 511, and the upper and lower edge line of available welding workpiece 511 is quasi- after fitting
Zygonema and center line fitting a straight line, and the fitting result of corresponding fit line is automatically displayed in " edge of work line detection module ", wraps
Include angle [alpha] 1, the Y-coordinate value Y1 of fit line.Positioning alignment, by above-mentioned fitting and detection, has obtained laser rays centerline fit
Line and edge of work fit line, i.e. laser portable cord and line two lines to be processed, further according to " the edge of work line inspection of control software
Survey module " angular difference 1- α 0 and distance Y1-Y0, " the kinematic parameter setup module " of control software Y-axis and about the z axis locate
Parameter is set, adjusting automatic rotatable platform 502 about the z axis makes angular difference 1- α 0=0, i.e., line to be processed is parallel to laser portable cord,
Adjusting Y-axis automatic displacement slide unit 501 makes Y1-Y0=0, i.e., line to be processed is overlapped with laser portable cord, completes positioning alignment, later
It can adjustment parameter progress welding processing.Offset adjustment, it is mobile in line to be processed and laser according to the requirement of special welding procedure
After line is overlapped, also offset parameter can be set at the Y-axis of " the kinematic parameter setup module " of control software, it is automatic to adjust Y-axis
It is displaced slide unit 501 to move, makes line to be processed offset laser portable cord a distance again, the offset for completing welding workpiece 511 is fixed
Position, carries out laser welding processing again later.
The vision positioning method of the above-mentioned laser soldering device of the present invention, is automatically positioned, the figure of intake using machine vision
As information is clear and accurate, positioning the process of alignment and operated by industrial personal computer 601, algorithm process is reliable and to execute speed fast, depending on
Feel that the precision of positioning is high, it is only necessary in control software interface, relevant parameter is set, it is easy to operate, particularly with no drawing, or
There are in the case where large error, this method is improved directly to the reliable of the laser welding operation of workpiece for person's drawing and material object
Property.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of laser soldering device based on machine vision positioning characterized by comprising
Marble vibrationproof platform, the marble vibrationproof platform include a marble pedestal, the left side on the marble pedestal top
Right two sides are fixedly installed a marble column respectively, are provided with a marble crossbeam, institute between two marble columns
The both ends for stating marble crossbeam are fixedly connected with the top of two marble columns by fastening screw respectively；
X-axis motion module, the X-axis motion module are arranged on the marble crossbeam, and the X-axis motion module includes an X
Axis automatic displacement slide unit, the X-axis automatic displacement slide unit are fixedly connected with the marble crossbeam by fastening screw；
Z axis motion module, the Z axis motion module are arranged in the X-axis motion module, and the Z axis motion module includes a Z
Axis automatic displacement slide unit, the Z axis automatic displacement slide unit are slidably arranged on the X-axis automatic displacement slide unit, the Z axis movement
Module further includes one around the manual rotatable platform of Y-axis, described to be slidably arranged in the Z axis automatic displacement around the manual rotatable platform of Y-axis
On slide unit；
Vision positioning module, the vision positioning module are arranged described on the manual rotatable platform of Y-axis, by fastening screw with
It is described to be fixedly connected around the manual rotatable platform of Y-axis；
The middle part on the marble pedestal top, the vision positioning mould is arranged in Y-axis motion module, the Y-axis motion module
The bottom end of block, the Y-axis motion module includes a Y-axis automatic displacement slide unit and automatic rotatable platform, the Y-axis are automatic about the z axis
Displacement slide unit is fixedly connected by fastening screw with the marble pedestal, and the rotatable platform automatic about the z axis is slidably arranged in
On the Y-axis automatic displacement slide unit；
Drive module is controlled, the control drive module includes the industrial personal computer and a servo-driver of a built in motion control card,
The industrial personal computer is electrically connected with the servo-driver, and the industrial personal computer is also electrically connected with the vision positioning module, described to watch
Take driver respectively with the X-axis automatic displacement slide unit, the Z axis automatic displacement slide unit, the Y-axis automatic displacement slide unit and institute
State the automatic rotatable platform electrical connection of Z axis；
Refrigerating module is welded, the welding refrigerating module includes an optical fiber laser and an industrial water cooling unit, the optical-fiber laser
Device is connect with the vision positioning module by optical fiber, it is described industry water cooling unit respectively with the vision positioning module and the light
Fibre laser is connected by water pipe.
2. the laser soldering device according to claim 1 based on machine vision positioning, which is characterized in that the Z axis is certainly
Dynamic displacement slide unit includes a servo motor and a screw rod, and the servo motor is fixed at the Z axis automatic displacement slide unit
First end is electrically connected with the servo-driver, and the middle part of the Z axis automatic displacement slide unit, the silk is arranged in the screw rod
The first end of bar is connect by a shaft coupling with the servo motor, and the two sides of the Z axis automatic displacement slide unit are also respectively set
There is a guide rail, be respectively provided on each guide rail there are two sliding block, is arranged with a feed screw nut, the screw rod spiral shell on the screw rod
It is female to be connect with the wire rod thread, a nut support, the nut support and each sliding block are also arranged on the screw rod
One sliding of bottom surface composition for being fixedly connected on a loading plate by fastening screw is whole, and the sliding is entirely through setting in institute
The fastening screw stated on nut support is fixedly connected with the feed screw nut, and the top surface of the loading plate is provided with a pinboard,
The underrun fastening screw of the pinboard is fixedly connected with the loading plate, and the top surface of the pinboard passes through fastening screw
It is fixedly connected with described around the manual rotatable platform of Y-axis.
3. the laser soldering device according to claim 2 based on machine vision positioning, which is characterized in that the X-axis is certainly
The structure of dynamic displacement slide unit and the Y-axis automatic displacement slide unit is identical as the structure of the Z axis automatic displacement slide unit, the Z
Slip connection mode of the axis automatic displacement slide unit on the X-axis automatic displacement slide unit, the rotatable platform automatic about the z axis are in institute
The slip connection mode on Y-axis automatic displacement slide unit is stated to slide around the manual rotatable platform of Y-axis in the Z axis automatic displacement with described
Slip connection mode on platform is identical.
4. the laser soldering device according to claim 3 based on machine vision positioning, which is characterized in that described around Y-axis
Manual rotatable platform includes Y-axis rotating base, and the Y-axis rotating base is fixedly connected by fastening screw with the pinboard,
The wherein side of the Y-axis rotating base is provided with a manual servo motor, and a Y-axis is provided on the Y-axis rotating base and is turned
Disk, the Y-axis turntable pass through the worm and wormwheel structure being arranged in inside Y-axis rotating base with the manual servo motor and connect.
5. the laser soldering device according to claim 4 based on machine vision positioning, which is characterized in that the vision is fixed
Position module includes a package casing, is fixedly installed a fixing seat on the outside of the middle part of the package casing, the fixing seat passes through
Fastening screw is fixedly connected with the Y-axis turntable, and an industrial lens, the work are provided on the first top of the package casing
The top of industry camera lens is provided with an industrial camera, and the industrial camera is connect with the industrial lens by a hook knob, institute
It states and is provided with an optical fiber interface on the second top of package casing, the optical fiber interface and the middle part that the package casing is set
One laser welding head of inside is connected to by optical fiber, and the bottom of the package casing is additionally provided with an annular light source.
6. it is according to claim 5 based on machine vision positioning laser soldering device, which is characterized in that it is described about the z axis
Automatic rotatable platform includes Z axis rotating base, and the Z axis rotating base is fixedly connected by fastening screw with the pinboard,
The wherein side of the Z axis rotating base is provided with a servo motor, and the servo motor is electrically connected with the servo-driver,
A workbench, the workbench and the servo motor are provided on the Z axis rotating base by being arranged in Z axis rotating base
Internal worm and wormwheel structure connection.
7. it is according to claim 6 based on machine vision positioning laser soldering device, which is characterized in that it is described about the z axis
Fixture on automatic rotatable platform includes a clamp mount in the shape of an " I ", and the top of the clamp mount is provided with a ventilation
Bottom plate is fixedly connected by fastening screw with the clamp mount, offers a ventilation slot in the middle part of the ventilation bottom plate, described
Ventilation slot is connected to the first end and second end of the clamp mount, and the first end and second end of the ventilation slot is respectively arranged with one
The top of suction nozzle and an outlet nozzle, the ventilation bottom plate is provided with two block welding workpiece, the top of every piece of welding workpiece
It is provided with a fixed cover board, two pieces of fixed cover boards pass through fastening screw and are fixedly connected with the ventilation bottom plate, described
The third end and the 4th end of ventilation bottom plate are also respectively provided with two back-shaped fixinig plates, and the back-shaped fixinig plate is with setting described
Fastening screw on clamp mount is slidably connected.
8. a kind of vision positioning method of laser soldering device is applied to as claimed in any one of claims 1 to 7 based on machine
The laser soldering device of device vision positioning characterized by comprising
Step 1 opens the optical fiber laser and first processes a laser straight line on a test board, and the industrial personal computer is by institute
The image for stating the laser straight line of industrial camera acquisition carries out edge detection and is fitted to laser portable cord；
Step 2, after the welding workpiece is installed on the fixture, the industrial personal computer acquires the industrial camera
The image of the welding workpiece carries out edge detection and is fitted to line to be processed；
Parameter is arranged and by embedding motion control card sending movement instruction thereon and passing in step 3 on the industrial personal computer
The servo-driver, the servo-driver drives the servo motor to rotate after receiving movement instruction, to adjust the Y
The position of axis automatic displacement slide unit and the rotatable platform automatic about the z axis changes position and the angle of the line to be processed, finally
So that the line to be processed and the laser portable cord are overlapped, the vision positioning of the welding workpiece is completed；
Step 4 is required according to related process, after the line to be processed and laser portable cord coincidence, also settable parameter
The position for adjusting the Y-axis automatic displacement slide unit makes the line to be processed deviate described laser portable cord a distance again, i.e.,
Complete the offset vision positioning of the welding workpiece.
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