CN114559153A - System for tracking weld joint deviation by two-dimensional coaxial compensation galvanometer and deviation rectifying method - Google Patents
System for tracking weld joint deviation by two-dimensional coaxial compensation galvanometer and deviation rectifying method Download PDFInfo
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- 238000003466 welding Methods 0.000 claims abstract description 106
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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
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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
- B23K26/02—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
- B23K26/046—Automatically focusing the laser beam
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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
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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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention provides a system for tracking a welding seam to compensate deviation by a two-dimensional galvanometer and a deviation rectifying method, wherein the deviation system comprises an information processing module, a deviation rectifying module and a deviation rectifying module, wherein the information processing module is used for setting a preset motion track, converting the collected actual image information of the deviation of the galvanometer and the welding seam into pixel image information and pixel image data information, and calculating welding seam width value information and welding seam searching effect graph information by referring to the preset motion track; and the human-computer interaction module is used for displaying the width of the welding seam and a welding seam searching effect picture. Has the advantages that: the CCD industrial camera and the welding head are coaxially arranged, so that the CCD industrial camera is prevented from occupying extra space; the invention also corrects the deviation of the galvanometer tracking welding line by changing the vertical deviation of the laser focus relative to the central line of the welding head, and solves the problem of unsatisfactory welding effect caused by frequent change of the distance between the scanning position and the welding position.
Description
Technical Field
The invention belongs to the technical field of laser welding, and particularly relates to a system for tracking weld joint deviation by a two-dimensional coaxial compensation galvanometer and a deviation rectifying method.
Background
In the technical field of laser welding, a spiral welding mode is generally adopted to implement weld joint welding, and spiral welding is realized by matching a laser focus spot formed by driving X, Y lenses to swing at a small angle and a high speed by a galvanometer motor with a movable welding workbench. The welding head adopting the welding mode has a complex structure and high research and development cost, and the problem of unsatisfactory welding effect caused by frequently changing the distance between a scanning position (laser focus) and a welding position (welding seam) is difficult to solve.
The system for tracking the weld offset by the compensation galvanometer in the prior art has the following problems: it is not possible to achieve a fixed relative position between the welding head and the weld, which is usually oscillated by a motor. Therefore, it is necessary to design a system and a method for tracking weld offset by a two-dimensional coaxial compensation galvanometer to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a system for tracking weld joint deviation by a two-dimensional coaxial compensation galvanometer and a deviation rectifying method, and aims to provide the system for tracking the weld joint deviation by the two-dimensional coaxial compensation galvanometer and the deviation rectifying method, which can avoid frequently moving the relative position of a welding head and a weld joint to realize deviation rectification.
The invention is realized in such a way, and provides a system for tracking the weld offset by a two-dimensional coaxial compensation galvanometer, which comprises an information processing module, a welding line width value information processing module and a welding line searching effect graph information processing module, wherein the information processing module is used for setting a preset motion track, converting an acquired actual image of the galvanometer and the weld offset into display image data information, and calculating the welding line width value information and the welding line searching effect graph information by referring to the preset motion track; the system also comprises a man-machine interaction module used for displaying the welding seam width value and the welding seam searching effect graph; and the master control scheduling module is used for controlling the deflection of the galvanometer according to the welding seam width value information so as to compensate the offset.
Preferably, the information processing module comprises a CCD industrial camera and an arithmetic operation element, and the CCD industrial camera is used for acquiring the actual image information of the deflection of the galvanometer and the welding line; converting the actual image information into pixel image information and pixel image data information through an arithmetic operation element; and calculating the pixel image information and the pixel image data information into weld width information and weld searching effect graph information.
Preferably, the actual image information comprises a limited number of weld joint point information, and the information processing module is used for operating the limited number of weld joint point information into weld joint characteristic information and weld joint characteristic data information; and calculating the weld characteristic data information and the weld characteristic data information into weld width value information and weld searching effect graph information.
Preferably, the information processing module calculates the welding seam width value information at least by establishing a two-dimensional coordinate axis.
Preferably, the information processing module runs out the weld seam searching effect graph information at least through edge detection.
Preferably, the arithmetic operation element transmits the weld width information and the weld searching effect graph information signal to the human-computer interaction module.
Preferably, the arithmetic operation element transmits the welding seam width information signal to the master control scheduling module.
Preferably, the master control scheduling module comprises a galvanometer fine-tuning element, and the master control scheduling module controls the galvanometer fine-tuning element to change the deviation value of the galvanometer relative to the preset motion track according to the weld width information.
The galvanometer is used for focusing laser beams to form a laser focus, and the galvanometer fine adjustment element adjusts and controls a deviation value of the laser focus relative to a preset motion track so as to compensate offset of a welding line and the galvanometer.
Preferably, the preset motion track is a motion track of the laser head in the process of welding the workpiece;
the galvanometer is used for focusing laser beams to form a laser focus, and the galvanometer fine-adjustment element is used for regulating and controlling a deviation value of the laser focus relative to a preset motion track so as to compensate offset of a welding seam and the galvanometer.
Preferably, the information processing module operates two-dimensional coordinate axis information which is convenient for calculating the offset of the welding line and the galvanometer.
The information processing module calculates the actual welding seam characteristic information into welding seam imaginary straight line information, calculates the preset motion track information into track imaginary straight line information parallel to an X axis or a Y axis, and uses the welding seam imaginary straight line information and the track imaginary straight line information to assist two-dimensional coordinate axis information to calculate the offset of the welding seam and the galvanometer.
In the working process of the welding head along the preset movement track, the information processing module continuously acquires actual images to calculate the actual images as pixel coordinate numerical value information, a laser focus is defined in a two-dimensional coordinate axis, a perpendicular line is drawn to an X axis or a Y axis along the laser focus to obtain a welding line point corresponding to the laser focus, and the welding line point is marked as A (X axis)0，Y0) And B (X)1，Y1)。
The information processing module converts the pixel Y-axis coordinate value Y of the welding point1Or X-axis coordinate value X1Pixel Y-axis coordinate value Y with laser focus0Or X-axis coordinate value X0And calculating delta Y or delta X by subtraction to obtain the offset of the welding seam and the galvanometer.
Has the advantages that: the CCD industrial camera and the welding head are coaxially arranged, so that the CCD industrial camera is prevented from occupying extra space, and the research and development cost is reduced to a certain extent; the invention also corrects the deviation of the galvanometer tracking weld joint by changing the vertical deviation of the laser focus relative to the central line of the welding head, thereby avoiding frequently moving the relative position between the welding head and the weld joint and further solving the problem of unsatisfactory welding effect caused by frequent change of the distance between the scanning position and the welding position.
Drawings
FIG. 1 is a schematic diagram of the relationship between modules of the present invention;
FIG. 2 is a schematic diagram of the positional relationship between the CCD industrial camera and the laser source and the workpiece to be welded according to the present invention;
FIG. 3 is a schematic diagram of the deviation rectifying step of the offset compensation system of the present invention;
FIG. 4 is a schematic view of an image display interface for displaying at least a weld finding effect map and a weld width value according to the present invention.
Reference numerals: 1-an information processing module; 11-CCD industrial camera; 12-an arithmetic operation element; 2-a human-computer interaction module; 3-a master control scheduling module; 31-galvanometer trimming elements; 4-the workpiece to be welded; 5-laser light source.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention. It should be noted that although the steps of the methods of the present invention are described herein in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results, but rather that the steps described herein can be performed in an order that varies. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
Examples
The invention aims to adjust the deviation amount of the galvanometer relative to a preset motion track through a deviation system to ensure that the laser focus is always positioned on a welding line, thereby realizing deviation correction of the welding line tracked by the galvanometer.
Referring to fig. 1, in this embodiment, the migration system includes an information processing module 1, a human-computer interaction module 2, and a master control scheduling module 3, where the information processing module 1 is configured to operate actual image information into actual image information and pixel image data information, and then calculate the pixel image data information into migration value information of the galvanometer and the weld joint through the information processing module 1. And then the information processing module 1 is used for proposing weld joint removing characteristic information, thereby calculating weld joint width information and weld joint searching effect graph information, and transmitting actual image data value information, weld joint width value information and weld joint searching effect graph information to the man-machine interaction module 2 through information signals, so as to display the actual image data value, the weld joint width value and the weld joint searching effect graph through the man-machine interaction module. The information processing module 1 is further configured to transmit offset value information of the galvanometer and the weld joint to the master control regulation and control module 3 through an information signal, and the master control regulation and control module 3 is configured to control the galvanometer to move the offset value of the galvanometer and the weld joint, so as to realize deviation correction by controlling the galvanometer to move on the premise that a motion track of the welding joint is not changed.
In this embodiment, the information processing module 1 includes a CCD industrial camera 11 and an arithmetic operation element 12, where the CCD industrial camera 11 is installed on the laser welding head PFO, and is intended to ensure that the CCD industrial camera 11 and the laser welding head PFO are coaxially arranged, so as to avoid that the CCD industrial camera 11 occupies other extra space.
Referring to fig. 1, in this embodiment, after the CCD industrial camera 11 is installed, parameter configuration of each part is implemented by the human-computer interaction module 2. The man-machine interaction module 2 is used for configuring parameters of the CCD industrial camera 11, laser parameters and galvanometer parameters on a welding head and algorithm parameters of the algorithm operation element 12 according to the shape, size and position of a welding seam on a welded workpiece so as to ensure that the welding seam falls into the visual field range of the CCD industrial camera 11 and make early-stage preparation for acquiring an actual image. The parameters of the CCD industrial camera 11 at least comprise a gain parameter and an exposure time parameter, and the purpose of adjusting the gain parameter and the exposure time parameter is to obtain a high-quality actual image. The laser parameters on the welding head comprise a laser focus position parameter, a shape parameter, a speed parameter and a width parameter, and the laser focus position parameter, the shape parameter, the speed parameter and the width parameter are adjusted to calibrate the laser focus, so that the deviation of the galvanometer relative to a preset track is conveniently corrected. The laser parameters include power parameters that are adjusted to meet process requirements for welding the workpiece.
In this embodiment, after the parameter configuration is completed, the CCD industrial camera 11 is used to collect the actual image of the weld joint and the galvanometer in real time, and transmit the actual image information to the arithmetic operation element 12 through the information signal. The number of the actual images is multiple, the CCD industrial camera 11 collects the actual images in the process of welding workpieces by driving a welding head through a mechanical arm, the position of the CCD industrial camera 11 is kept fixed, and the galvanometer is used for focusing laser beams to form a laser focus. In summary, each of the actual images includes a laser focus, and the positions of the laser focuses are different from each other.
Referring to fig. 2, in this embodiment, since the offset between the galvanometer and the weld is difficult to visualize in the actual image, for the convenience of observation, the information processing module 1 needs to calculate image information into actual image data information, and the actual image data information is displayed through the human-computer interaction module 2. Referring to fig. 3, the arithmetic operation element 12 runs out actual graphic data information, which is image information of a weld and a laser focus photographed by the CCD industrial camera 11 in reality, from actual image information, which includes image data information of the weld and the laser focus.
In this embodiment, the arithmetic operation element 12 is further configured to calculate offset value information of the weld and the galvanometer through the image data information, extract weld characteristic information through the offset value information of the weld and the galvanometer, and calculate weld width value information and weld search effect map information through the weld characteristic information, and the arithmetic operation element 12 is configured to transmit the actual graphic data information, the weld width value information and the weld search effect map information to the human-computer interaction module 2 through the information signal, so as to facilitate the human-computer interaction module 2 to display the actual graphic data value, the weld width value and the weld search effect map.
In this embodiment, in the process of calculating actual image information into actual graph data information, weld width value information and weld search effect map information by the arithmetic operation element 12, the actual image data information needs to be calculated into display image data information, where the display image data information includes pixel data information of a laser focus, and the pixel data information of the laser focus is used to assist in calculating the offset between the laser focus and the weld.
In this embodiment, in order to facilitate calculation of the offset between the laser focus and the weld joint, a two-dimensional coordinate axis is assumed, and a preset motion track for representing the motion of the welding head along the extending direction of the weld joint is set on the two-dimensional coordinate axis. And it can be seen that the two-dimensional coordinate axis has a weld point corresponding to the plurality of laser focuses one by one, the weld point is a midpoint of a line segment where a perpendicular line of the laser focuses on the X axis or the Y axis intersects with the weld, and then the offset of the laser focuses and the weld can be replaced by the distance between the laser focuses and the weld point. Because the laser focus can have the vertical deviation, namely the distance between the projection point of the laser focus and the welding head about the preset motion trail, the distance between the laser focus and the welding point can be reduced by changing the deviation value of the laser focus, so that the offset of the vibrating mirror and the welding line is compensated, and further the deviation correction is implemented on the premise of not moving the relative position of the welding head and the welding line.
In this embodiment, in the process of calculating the distance between the laser focus and the weld point, the laser focus O is marked in the two-dimensional coordinate axis and is marked as O (X)O，YO) And judging whether the movement direction of the welding head is parallel or perpendicular to the X coordinate axis, and when the movement direction of the welding head is parallel to the X coordinate axis, drawing a perpendicular line perpendicular to the X coordinate axis from the point O to find out a welding seam point A, which is marked as A (X)A，YA) A dot wherein said XOAnd XASame through YAAnd YOCarrying out subtraction to obtain delta Y, wherein the delta Y is the distance between the laser focus and the welding seam point, namely the offset of the vibrating mirror and the welding seam; when the motion direction of the welding head is parallel to the Y coordinate axis, making a perpendicular line perpendicular to the Y coordinate axis from the point O to find out a welding seam point A, which is marked as A (X)A，YA) A dot wherein said YOAnd YASame by XAAnd XOAnd (4) carrying out subtraction to obtain delta X, wherein the delta X is the distance between the laser focus and the welding seam point, namely the offset of the vibrating mirror and the welding seam. The arithmetic operation module 12 will shakeThe offset information of the mirror and the welding seam is transmitted to the master control scheduling module 3 through an information signal, and the purpose is to implement deviation correction through an offset auxiliary offset system of the vibrating mirror and the welding seam.
Referring to fig. 3 and 4, in this embodiment, the arithmetic operation module 12 is further configured to extract weld characteristic information from offset information of the galvanometer and the weld, the arithmetic operation module 12 is further configured to calculate weld width information and weld search effect map information through the weld characteristic information, and the arithmetic operation module 12 is further configured to transmit actual image data information, the weld width information, and the weld search effect map information to the human-computer interaction module 2 through information signals.
In this embodiment, referring to fig. 4, the human-computer interaction module 2 includes an image display interface, and the image display interface is configured to display an actual image data value, a weld width value, and a weld search effect map. In the weld searching effect graph, the weld characteristic is a spline curve, the spline curve is formed by fitting a plurality of weld points and is approximate to a straight line. The weld joint features are used for extracting the contour information of the weld joint through edge detection, the edge detection can brighten the parts except two edges of the weld joint feature contour, the weld joint features are presented as a black straight line on an image display interface, and then the weld joint features are selected out through a green rectangular frame, namely the weld joint searching effect graph is shown.
In this embodiment, the deviation correction is implemented by the master control scheduling module 3 through the deviation amount information of the polarizer and the weld, the master control scheduling module 3 includes a polarizer fine adjustment element 31, and the master control scheduling module 3 compensates the deviation of the laser focus relative to the weld by controlling the polarizer fine adjustment element 31 to change the upper and lower deviation values of the laser focus relative to the center line of the welding head, so as to ensure that the laser focus is always on the weld, that is, the deviation between the polarizer and the weld is corrected. This variation of the laser focus relative to the weld head is the amount of deviation learned from the amount of deviation information of the galvanometer from the weld. The method can be used for correcting the deviation, so that the condition that the laser focus and the welding line are always collinear by frequently moving the laser welding head in the process of welding the workpiece can be avoided, and the workpiece welding efficiency is improved to a certain extent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a system that welding seam skew was tracked to coaxial compensation galvanometer of two-dimentional which characterized in that: the system for compensating offset includes:
the information processing module is used for setting a preset motion track, converting the collected actual image of the deviation of the galvanometer and the welding seam into pixel image information and pixel image data information, and calculating welding seam width value information and welding seam searching effect image information by referring to the preset motion track;
the man-machine interaction module is used for displaying the weld width value and the weld searching effect graph; and
and the master control scheduling module is used for controlling the deflection of the galvanometer according to the welding seam width value information so as to compensate the offset.
2. The system for tracking the weld offset by the galvanometer according to claim 1, wherein the information processing module comprises a CCD industrial camera and an arithmetic operation element, and the CCD industrial camera is used for acquiring actual image information of the galvanometer and the weld offset; converting the actual image information into display image data information through an arithmetic operation element; and calculating the displayed image information into welding seam width information and welding seam searching effect graph information.
3. The system for two-dimensional coaxial compensation galvanometer tracking weld seam offset of claim 2, wherein the actual image information comprises a limited number of weld seam point information, the information processing module for operating the limited number of weld seam point information as weld seam characteristic information and weld seam characteristic data information; and calculating the weld characteristic data information and the weld characteristic data information into weld width value information and weld searching effect graph information.
4. The system for tracking the weld seam offset by the two-dimensional coaxial compensation galvanometer of claim 3, wherein the information processing module is configured to calculate the weld seam width value information at least by establishing two-dimensional coordinate axes.
5. The system for tracking the weld seam offset by the two-dimensional coaxial compensation galvanometer of claim 3, wherein the information processing module runs out weld seam searching effect map information at least through edge detection.
6. The system for tracking the weld deviation by the two-dimensional coaxial compensation galvanometer of claim 2, wherein the arithmetic operation element transmits the weld width information and the weld search effect map information signal to the human-computer interaction module.
7. The system for tracking the weld deviation by the two-dimensional coaxial compensation galvanometer of claim 2, wherein the arithmetic operation element transmits a weld width information signal to a master control scheduling module.
8. The system for tracking the weld offset by the galvanometer according to claim 7, wherein the master control scheduling module comprises a galvanometer fine-tuning element, and the master control scheduling module controls the galvanometer fine-tuning element to change the deviation value of the galvanometer relative to a preset motion track according to the weld width information;
the galvanometer is used for focusing laser beams to form a laser focus, and the galvanometer fine adjustment element adjusts and controls a deviation value of the laser focus relative to a preset motion track so as to compensate offset of a welding line and the galvanometer.
9. The system for tracking the weld offset by the galvanometer mirror with two-dimensional coaxial compensation as set forth in claim 2, wherein the preset motion track is a motion track of the laser head during the welding of the workpiece;
the man-machine interchange module comprises an image display interface, and the image display interface is used for displaying a weld searching effect graph and a weld width value.
10. A deviation rectifying method for compensating deviation between a galvanometer and a welding seam is characterized by comprising the following steps:
the information processing module operates two-dimensional coordinate axis information which is convenient for calculating the offset of the welding line and the galvanometer;
the information processing module calculates actual welding seam characteristic information into welding seam imaginary straight line information, calculates preset motion track information into track imaginary straight line information parallel to an X axis or a Y axis, and uses the welding seam imaginary straight line information and the track imaginary straight line information to assist two-dimensional coordinate axis information to calculate the offset of a welding seam and a galvanometer;
in the working process of the welding head along the preset movement track, the information processing module continuously acquires actual images to calculate the actual images as pixel coordinate numerical value information, a laser focus is defined in a two-dimensional coordinate axis, a perpendicular line is drawn to an X axis or a Y axis along the laser focus to obtain a welding line point corresponding to the laser focus, and the welding line point is marked as A (X axis)0，Y0) And B (X)1，Y1)；
The information processing module converts the pixel Y-axis coordinate value Y of the welding point1Or X-axis coordinate value X1Pixel Y-axis coordinate value Y with laser focus0Or X-axis coordinate value X0And calculating delta Y or delta X by subtraction to obtain the offset of the welding seam and the galvanometer.
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| CN116423046A (en) * | 2023-05-05 | 2023-07-14 | 深圳市高素科技有限公司 | Laser vision welding control system and laser welding method |
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