CN107570897A - A kind of wire filling laser welding wire feed rate control method, apparatus and system - Google Patents
A kind of wire filling laser welding wire feed rate control method, apparatus and system Download PDFInfo
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- CN107570897A CN107570897A CN201710769110.8A CN201710769110A CN107570897A CN 107570897 A CN107570897 A CN 107570897A CN 201710769110 A CN201710769110 A CN 201710769110A CN 107570897 A CN107570897 A CN 107570897A
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- 238000003466 welding Methods 0.000 title claims abstract description 159
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000003384 imaging method Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 8
- 239000000945 filler Substances 0.000 claims description 5
- 230000009897 systematic effect Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 238000010169 landfilling Methods 0.000 claims 1
- 238000012797 qualification Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000005275 alloying Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The invention discloses a kind of wire filling laser welding wire feed rate control method, comprise the following steps：Obtaining step：Obtain the weld gap size of welding workpiece；Switch process：The relation that speed is inserted according to the weld gap size of welding workpiece and welding wire is calculated welding wire and inserts speed, and speed generation analog quantity voltage signal is inserted according to welding wire and sends it to wire-feed motor control system, so that wire-feed motor control system controls the working condition of wire feed rifle according to analog quantity voltage signal.Present invention also offers a kind of electronic equipment, computer-readable recording medium, wire filling laser welding wire feed rate control device and system.The present invention adjusts welding wire according to the weld gap size of welding workpiece and inserts speed in real time, so that the welding wire amount of inserting of weld seam will not be excessive or too small, ensure that the stability of appearance of weld, improves product qualification rate.
Description
Technical field
The present invention relates to a kind of Technology of Laser Filler Wire Welding field, more particularly in a kind of wire filling laser welding wire feed rate control
Method, apparatus and system processed.
Background technology
At present, Technology of Laser Filler Wire Welding grows up in laser from the basis of melting welding, i.e., to being formed from melting welding
Welding wire is inserted in welding pool, to reduce welding point alloying element scaling loss, suppresses the formation of weld porosity and crackle, improves weldering
The defects of seam surface depression, undercut.But the volume for inserting wire bond has very big influence to appearance of weld, for example, loading compared with
Greatly, weld seam molten drop is accumulated；Loading is too small, welding depression.And existing wire filling laser welding equipment is sent in welding process at present
Silk speed is fixed, and after certainty causes welding wire loading excessive when weld gap is inconsistent in the range of the whole piece fusion length or mistake
It is small, so as to influence appearance of weld.
The content of the invention
For overcome the deficiencies in the prior art, an object of the present invention is to provide a kind of wire filling laser welding wire feed rate
Control method, it can solve the problem that causes the welding wire amount of inserting excessive because the weld gap of welding workpiece is inconsistent in the prior art
Or too small, the problem of influenceing appearance of weld.
The second object of the present invention is to provide a kind of electronic equipment, and it can solve the problem that in the prior art due to welding workpiece
Weld gap it is inconsistent and cause the welding wire amount of inserting excessive or too small, the problem of influenceing appearance of weld.
The third object of the present invention is to provide a kind of computer-readable recording medium, its can solve the problem that in the prior art by
It is inconsistent in the weld gap of welding workpiece and cause the welding wire amount of inserting excessive or too small, the problem of influenceing appearance of weld.
The fourth object of the present invention is to provide a kind of wire filling laser welding wire feed rate control device, and it can solve the problem that existing
Cause the welding wire amount of inserting excessive or too small because the weld gap of welding workpiece is inconsistent in technology, influence asking for appearance of weld
Topic.
The fifth object of the present invention is to provide a kind of wire filling laser welding wire feed rate control system, and it can solve the problem that existing
Cause the welding wire amount of inserting excessive or too small because the weld gap of welding workpiece is inconsistent in technology, influence asking for appearance of weld
Topic.
An object of the present invention adopts the following technical scheme that realization：
A kind of wire filling laser welding wire feed rate control method, comprises the following steps：
Obtaining step：Obtain the weld gap size of welding workpiece；
Switch process：The relation that speed is inserted according to the weld gap size of welding workpiece and welding wire is calculated welding wire and filled out
Enter speed, and speed generation analog quantity voltage signal is inserted according to welding wire and sends it to wire-feed motor control system, so as to
So that wire-feed motor control system controls the working condition of wire feed rifle according to analog quantity voltage signal.
Further, the acquisition process of the weld gap size of the welding workpiece is：Spelled by camera captured in real-time
The weld gap of welder's part simultaneously forms weld seam imaging data and sends it to VPU, so that VPU
The weld gap size that processing draws welding workpiece is carried out to the weld seam imaging data.
Further, it is W to set weld gap size and insert speed as S, welding wire, then the weld gap of the welding workpiece
The relation that size inserts speed with welding wire is：W=A*S+B, wherein A, B are the systematic parameter of the welding workpiece.
The second object of the present invention adopts the following technical scheme that realization：
A kind of electronic equipment, including memory, processor and storage can be run on a memory and on a processor
Computer program, foregoing wire filling laser welding wire feed rate control method is realized during the computing device described program
Step.
The third object of the present invention adopts the following technical scheme that realization：
A kind of computer-readable recording medium, is stored thereon with computer program, and the computer program is held by processor
The step of foregoing wire filling laser welding wire feed rate control method is realized during row.
The fourth object of the present invention adopts the following technical scheme that realization：
A kind of wire filling laser welding wire feed rate control device, including：
Acquisition module, for obtaining the weld gap size of welding workpiece；
Weldering is calculated in modular converter, the relation that speed is inserted for the weld gap size according to welding workpiece and welding wire
Silk inserts speed, and inserts speed generation analog quantity voltage signal according to welding wire and send it to wire-feed motor control system,
So that wire-feed motor control system controls the working condition of wire feed rifle according to analog quantity voltage signal.
Further, the acquisition process of the weld gap size of the welding workpiece：Pass through taking the photograph on plumb joint
As head captured in real-time welding workpiece weld gap and form weld seam imaging data and send it to VPU so that
Obtain VPU and the weld gap size that processing draws welding workpiece is carried out to the weld seam imaging data.
Further, it is W to set weld gap size and insert speed as S, welding wire, then the weld gap of the welding workpiece
The relation that size inserts speed with welding wire is：W=A*S+B, wherein A, B are the systematic parameter of the welding workpiece.
The fifth object of the present invention adopts the following technical scheme that realization：
A kind of wire filling laser welding wire feed rate control system, including robot, wire-feed motor control system, plumb joint and wire feed
Rifle, the plumb joint are installed in robot, and the robot is used to control shift position of the plumb joint on welding workpiece, institute
State wire feed rifle to be installed on plumb joint, for the filler wire into the weld gap of welding workpiece；The wire-feed motor control system
For controlling the working condition of wire feed rifle, in addition to：Camera, VPU and PLC control system, wherein camera are pacified
Loaded on plumb joint, the camera is connected by VPU with PLC control system, and the PLC control system is with sending
Silk machine control system is electrically connected with；
The camera is used for the weld gap of captured in real-time welding workpiece and forms weld seam imaging data and send it to
VPU, so that VPU carries out the weld seam that processing draws welding workpiece to the weld seam imaging data
Gap length；
The PLC control system is used for the weld gap size for receiving the welding workpiece of VPU transmission, and root
The relation inserted according to the weld gap size and welding wire of welding workpiece between speed is calculated welding wire and inserts speed, and according to
Welding wire insert speed generation corresponding to analog quantity voltage signal be sent to wire-feed motor control system so that wire-feed motor control system
System controls the working condition of wire feed rifle according to analog quantity voltage signal.Compared with prior art, the beneficial effects of the present invention are：
The present invention is filled out by detecting the weld gap size of welding workpiece in operating process is welded and adjusting welding wire in real time
Enter speed, the problem of to avoid causing the welding wire amount of inserting excessive or too small, so as to ensure that the stability of appearance of weld, improve production
Product qualification rate.
Brief description of the drawings
Fig. 1 is the structure schematic diagram of wire filling laser welding wire feed rate control system provided by the invention；
Fig. 2 is the method flow diagram of wire filling laser welding wire feed rate control method provided by the invention；
Fig. 3 is the apparatus module figure of wire filling laser welding wire feed rate control device provided by the invention.
In figure：1st, robot；2nd, plumb joint；3rd, wire feed rifle；4th, wire-feed motor control system；5th, welding workpiece；51st, between weld seam
Gap；6th, camera；7th, VPU；8th, PLC control system.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of afoul, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment
The present invention is in order to solve the wire feed rate that welding wire is filled in wire filling laser welding, in original wire filling laser welding system
On the basis of add weld joint tracking equipment, it is achieved thereby that controlling the wire feed rate of wire filling laser welding according to weld seam size, make
Obtain welding wire loading and be unlikely to excessive or too small, ensure the form stable of weld seam, improve product qualification rate.
It that is to say, camera is installed in plumb joint front end, captured in real-time is carried out simultaneously to weld seam to be filled by camera
Captured weld seam imaging data (such as the data such as image or video) is sent into VPU to carry out at image it
The operation such as reason, so as to calculate weld gap size, so when being filled welding wire to weld seam, it becomes possible to according between the weld seam
Gap size adjusts wire feed rate, ensures the loading of welding wire in weld seam.
In addition, the present invention is given when inserting the calculated relationship between speed and weld gap size for welding wire, this
Sample system can is according to the weld gap of welding workpiece come adjusting welding wire inserts speed in real time.
Assuming that welding wire insert speed be W, weld gap size be S, then the relational expression of the two is W=A*S+B, wherein A, B
It is different for corresponding systematic parameter, different welding materials, its A, B value, it is known.
As shown in figure 1, a kind of control system of wire filling laser welding wire feed rate, it is except the welding including wire filling laser welding
Equipment, such as robot 1, wire-feed motor control system 4, plumb joint 2, outside the equipment of wire feed rifle 3, in addition to camera 6, visual processes
Unit 7 and PLC control system 8.
Plumb joint 2 is installed in robot 1, and such robot 1 is used to control plumb joint 2, the position on welding workpiece 5
Put, for example weld gap 51 of the control plumb joint 2 along welding workpiece 5 moves.Wire feed rifle 3 is installed on plumb joint 2, is used for
To the filler wire of weld gap 51 of welding workpiece 5.
And camera 6 is also installed on plumb joint 2, it is with plumb joint 2, wire feed rifle 3 each along between the weld seam of welding workpiece 5
Gap 51 moves.For example the control plumb joint 2 of robot 1, when being moved on welding workpiece 5 along weld gap 51, camera 6 is in
The surface of the weld gap 51 of welding workpiece 5, the appearance of weld data available for the weld gap 51 of shooting welding workpiece 5
(such as the data such as the image of weld gap or video)；Meanwhile welding wire is inserted weld gap by wire feed rifle 3 along weld gap 51
In 51.
Camera 6 is additionally operable to weld seam imaging data being sent to VPU 7, and VPU 7 is used for butt welding
Seam imaging data carries out respective handling and obtains the weld gap size of welding workpiece 5, and weld gap size is sent into PLC controls
System 8 processed.
PLC control system 8 according to weld gap size insert speed with welding wire between relation corresponding weldering is calculated
Silk inserts speed, and is converted into analog quantity voltage signal output to wire-feed motor control system 4.Wire-feed motor control system 4 is used
In controlling the working condition to wire feed rifle 3 according to analog quantity voltage signal, so as to realize that control wire feed rifle 3 inserts welding work
The wire bond loading of the weld gap 51 of part 5.In addition, VPU 7 carries out image procossing according to welding imaging data
The technology that process is well known to those skilled in the art.For example image procossing is carried out to image, to video extraction two field picture decile
Analysis obtains the weld gap size of welding workpiece 5.
The present invention is by by the weld gap 51 of captured in real-time welding workpiece 5, being then calculated weld gap size simultaneously
Control wire feed rifle 3 to insert the wire bond loading of weld gap 51 according to weld gap size, so ensure that and insert between weld seam
The wire bond loading of gap 51 is unlikely to excessive or too small, and cause weld gap molten drop accumulate or weld gap be recessed situations such as
Generation, ensure that the form stable of weld seam, improve product qualification rate.
As shown in Fig. 2 a kind of wire filling laser welding wire feed rate control method, runs on PLC control system, it includes following
Step：
S1, the weld gap size for obtaining welding workpiece；
S2, the relation for inserting according to the weld gap size of welding workpiece and welding wire speed are calculated welding wire and insert speed
Degree, and analog quantity voltage signal and wire-feed motor control system is sent it to according to corresponding to welding wire inserts speed generation, from
And wire-feed motor control system is caused to control the working condition of wire feed rifle according to analog quantity voltage signal.
In addition, above-mentioned control method is not only applicable to PLC control system, being readily applicable to other has calculating, turns
The processor device of function such as change.
Present invention also offers a kind of electronic equipment, and it includes memory, processor and storage on a memory and can
The computer program run in processing, foregoing wire filling laser welding wire feed is realized during the computing device described program
The step of control method of speed.
Present invention also offers a kind of computer-readable recording medium, is stored thereon with computer program, computer program
The step of control method of foregoing wire filling laser welding wire feed rate is realized when being executed by processor.
As shown in figure 3, a kind of wire filling laser welding wire feed rate control device, including：
Acquisition module, for obtaining the weld gap size of welding workpiece；
Weldering is calculated in modular converter, the relation that speed is inserted for the weld gap size according to welding workpiece and welding wire
Silk inserts speed, and inserts speed generation analog quantity voltage signal according to welding wire and send it to wire-feed motor control system,
So that wire-feed motor control system controls the working condition of wire feed rifle according to analog quantity voltage signal.
Above-mentioned embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The change and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (9)
1. a kind of wire filling laser welding wire feed rate control method, it is characterised in that comprise the following steps：
Obtaining step：Obtain the weld gap size of welding workpiece；
Switch process：The relation that speed is inserted according to the weld gap size of welding workpiece and welding wire is calculated welding wire and inserts speed
Degree, and speed generation analog quantity voltage signal is inserted according to welding wire and sends it to wire-feed motor control system, so that
Wire-feed motor control system controls the working condition of wire feed rifle according to analog quantity voltage signal.
2. control method as claimed in claim 1, it is characterised in that：The acquisition of the weld gap size of the welding workpiece
Cheng Wei：By the weld gap of camera captured in real-time welding workpiece and form weld seam imaging data and send it to visual processes
Unit, so that VPU, which carries out processing to the weld seam imaging data, show that the weld gap of welding workpiece is big
It is small.
3. such as the control method any one of claim 1-2, it is characterised in that：Weld gap size is set as S, welding wire
It is W to insert speed, then the relation that the weld gap size of the welding workpiece inserts speed with welding wire is：W=A*S+B, wherein
A, B is the systematic parameter of the welding workpiece.
4. a kind of electronic equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, it is characterised in that：Swashing as any one of claim 1-3 is realized during the computing device described program
The step of light landfilling area wire feed rate control method.
5. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that：The computer program quilt
The step of wire filling laser welding wire feed rate control method as any one of claim 1-3 is realized during computing device.
A kind of 6. wire filling laser welding wire feed rate control device, it is characterised in that including：
Acquisition module, for obtaining the weld gap size of welding workpiece；
Modular converter, the relation that speed is inserted for the weld gap size according to welding workpiece and welding wire are calculated welding wire and filled out
Enter speed, and speed generation analog quantity voltage signal is inserted according to welding wire and sends it to wire-feed motor control system, so as to
So that wire-feed motor control system controls the working condition of wire feed rifle according to analog quantity voltage signal.
7. control device as claimed in claim 6, it is characterised in that：The acquisition of the weld gap size of the welding workpiece
Journey：By the weld gap of camera captured in real-time welding workpiece and form weld seam imaging data and send it to visual processes list
Member, so that VPU carries out the weld gap size that processing draws welding workpiece to the weld seam imaging data.
8. such as the control device any one of claim 6-7, it is characterised in that：Weld gap size is set as S, welding wire
It is W to insert speed, then the relation that the weld gap size of the welding workpiece inserts speed with welding wire is：W=A*S+B, wherein
A, B is the systematic parameter of the welding workpiece.
9. a kind of wire filling laser welding wire feed rate control system, including robot, wire-feed motor control system, plumb joint and wire feed
Rifle, the plumb joint are installed in robot, and the robot is used to control shift position of the plumb joint on welding workpiece, institute
State wire feed rifle to be installed on plumb joint, for the filler wire into the weld gap of welding workpiece；The wire-feed motor control system
For controlling the working condition of wire feed rifle, it is characterised in that also include：Camera, VPU and PLC control system, its
Middle camera is installed on plumb joint, and the camera is connected by VPU with PLC control system, the PLC controls
System processed is electrically connected with wire-feed motor control system；
The camera is used for the weld gap of captured in real-time welding workpiece and forms weld seam imaging data and send it to vision
Processing unit, so that VPU carries out the weld gap that processing draws welding workpiece to the weld seam imaging data
Size；
The PLC control system is used for the weld gap size for receiving the welding workpiece of VPU transmission, and according to spelling
The relation that the weld gap size and welding wire of welder's part are inserted between speed is calculated welding wire and inserts speed, and according to welding wire
Analog quantity voltage signal corresponding to inserting speed generation is sent to wire-feed motor control system, so that wire-feed motor control system root
According to the working condition of analog quantity voltage signal control wire feed rifle.
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| CN201710769110.8A CN107570897A (en) | 2017-08-30 | 2017-08-30 | A kind of wire filling laser welding wire feed rate control method, apparatus and system |
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| CN201710769110.8A CN107570897A (en) | 2017-08-30 | 2017-08-30 | A kind of wire filling laser welding wire feed rate control method, apparatus and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500453A (en) * | 2018-05-28 | 2018-09-07 | 苏州迅镭激光科技有限公司 | A kind of wire filling laser welding connector device |
| CN110576242A (en) * | 2019-08-29 | 2019-12-17 | 成都长客新筑轨道交通装备有限公司 | Numerical control welding method for gap automatic compensation filling |
| CN110773862A (en) * | 2019-09-29 | 2020-02-11 | 大族激光科技产业集团股份有限公司 | Laser wire filling welding method, control device, equipment and storage medium |
| CN111633292A (en) * | 2020-06-05 | 2020-09-08 | 新代科技(苏州)有限公司 | Laser wire feeding welding processing method and system for servo-controlled variable-speed wire feeding |
| CN113231738A (en) * | 2021-06-03 | 2021-08-10 | 苏州大学 | Wire feeding method for laser welding |
| CN113714633A (en) * | 2020-05-21 | 2021-11-30 | 宝山钢铁股份有限公司 | Laser welding wire filling calibration adjusting system and method thereof |
| CN114535799A (en) * | 2022-01-30 | 2022-05-27 | 扬州市亚普仪表厂 | Laser alignment and welding system of heating pipe |
| CN116944678A (en) * | 2023-09-05 | 2023-10-27 | 江苏国中芯半导体科技有限公司 | Welding equipment for IC chip processing |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500453A (en) * | 2018-05-28 | 2018-09-07 | 苏州迅镭激光科技有限公司 | A kind of wire filling laser welding connector device |
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| CN110773862A (en) * | 2019-09-29 | 2020-02-11 | 大族激光科技产业集团股份有限公司 | Laser wire filling welding method, control device, equipment and storage medium |
| CN113714633A (en) * | 2020-05-21 | 2021-11-30 | 宝山钢铁股份有限公司 | Laser welding wire filling calibration adjusting system and method thereof |
| CN111633292A (en) * | 2020-06-05 | 2020-09-08 | 新代科技(苏州)有限公司 | Laser wire feeding welding processing method and system for servo-controlled variable-speed wire feeding |
| CN113231738A (en) * | 2021-06-03 | 2021-08-10 | 苏州大学 | Wire feeding method for laser welding |
| CN114535799A (en) * | 2022-01-30 | 2022-05-27 | 扬州市亚普仪表厂 | Laser alignment and welding system of heating pipe |
| CN116944678A (en) * | 2023-09-05 | 2023-10-27 | 江苏国中芯半导体科技有限公司 | Welding equipment for IC chip processing |
| CN116944678B (en) * | 2023-09-05 | 2024-05-17 | 江苏国中芯半导体科技有限公司 | Welding equipment for IC chip processing |
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