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CN107900562B - A Ring Laser Sensor for Seam Tracking - Google Patents

A Ring Laser Sensor for Seam Tracking Download PDF

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Publication number
CN107900562B
CN107900562B CN201711030017.1A CN201711030017A CN107900562B CN 107900562 B CN107900562 B CN 107900562B CN 201711030017 A CN201711030017 A CN 201711030017A CN 107900562 B CN107900562 B CN 107900562B
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CN
China
Prior art keywords
laser
weld
mirror
sensor
drive motor
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Expired - Fee Related
Application number
CN201711030017.1A
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Chinese (zh)
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CN107900562A (en
Inventor
李毅
邓耀文
洪波
周煜
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Xiangtan University
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Xiangtan University
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Priority to CN201711030017.1A priority Critical patent/CN107900562B/en
Publication of CN107900562A publication Critical patent/CN107900562A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Laser Beam Processing (AREA)

Abstract

The invention discloses a kind of ring laser sensors for weld joint tracking, are applied to Automation of Welding, weld joint tracking field.The invention has technical point that it is made of laser distance sensor, reflective mirror, driving motor, bracket, cylinder reflective mirror, concentric shaft sleeve, cabinet, cover board.It is characterized in that the transmitting terminal of laser distance sensor launches dot laser, after reflective mirror and cylinder mirror reflection, the exit direction of reflective mirror rotation change laser is driven by driving motor, it is projected on weld seam after cylinder mirror reflection and forms loop laser, weld groove is scanned, the weld groove information that loop laser scans is stored by the area array CCD of laser distance sensor receiving end, groove is obtained apart from measured value through external data processor resume module, weld joint tracking is carried out using this groove information, the present invention solves the problems, such as that Conventional visual sensor groove distance can not determine, realize the tracking of weld seam three-dimensional.

Description

A kind of ring laser sensor for weld joint tracking
Technical field
The present invention relates to welding technology fields, specifically, a kind of ring laser sensor for weld joint tracking.
Background technique
Currently, the automation of weld seam has become the Developing mainstream of welding technique, together in welding autocontrol technical field When weld seam intellectually and automatically be all a difficult point all the time, influencing automatic welding postwelding quality has several factors, Not only include the internal factor of the welding such as thickness, surface treatment, the welding material of welding, while further including welding method, welding The important informations such as speed, location of workpiece detection.The especially three-dimensional position detection of welded piece characteristic point, is Automation of Welding skill Eager problem to be solved in art, with the development of welding technology, visual sensing is also developed accordingly at present, but also It is quasi- to can not achieve positioning, efficient and willing sensor, therefore the target that reach Automation of Welding is difficult to realize
In order to reach Automation of Welding, realizes the automatic location information for obtaining weld seam in real time, developed many biographies Sense technology, such as visual sensor because its is non-contact, interference resistance waits by force the extensive concern by everybody, active vision sensing technology The laser trace of certain shapes is generated as the detection means of weld seam using the method for structure light the latter's optical scanner.At present in base In the automatic welding technique and method of laser sensor, laser vision system and laser vision algorithm are mostly used, greatly with image The method of processing identifies weld seam from laser vision image；" loop laser vision is based on such as patent " 200510030453.X " The automatic weld seam position of sensing " is the three-dimensional coordinate that spot welds are calculated with algorithm through image procossing, such as patent No. " a kind of fillet weld automatic welding control method and device based on laser distance sensor " of " 201611078254.0 " utilizes Automation welding control system device carries out data sampling to laser distance sensor output signal；Sampled data is calculated using the decoupling of three harmonic waves Method detects fillet weld lateral deviation, fillet weld longitudinal bias is detected using shape filtering threshold method, using biharmonic decoupling algorithm Identify fillet weld bevel angle；Cross balladeur train is driven to adjust welding torch position according to weld seam deviation, according to bevel angle adjust automatically The running parameter of digital welding power source.
Present document relates to a kind of ring laser sensor for weld joint tracking, carried out by loop laser to weld groove It is scanned, the area array CCD of laser distance sensor receiving end stores the weld groove information that loop laser scans, i.e., For the two-dimensional signal of weld groove, while groove is exported apart from measured value, according to institute after external data processor resume module The groove obtained adjusts welding gun at a distance from weld groove apart from measured value, to realize weld joint tracking.
Summary of the invention
The present invention pushes the development of Automation of Welding, provides one kind to overcome deficiency existing for existing method or technology For the ring laser sensor of weld joint tracking, solve what Conventional visual sensor weld groove range information can not determine Problem, to realize weld joint tracking.
The present invention solves technical solution used by above-mentioned technical problem: it is by cover board, laser distance sensor, reflective Mirror, driving motor, bracket, cylinder reflective mirror, concentric shaft sleeve, cabinet, cover board composition.
Wherein, the cabinet is divided into cabinet epicoele, cabinet lower-left chamber, cabinet bottom right chamber, laser distance sensor installation It in cabinet epicoele, is compressed by cover board, cover board is connected by screw to cabinet, is provided with cable aperture, concentric shaft sleeve in the middle part of cover board It is installed on cabinet lower-left chamber.Driving motor is fixed by the bracket in concentric shaft sleeve center, and reflective mirror is mounted on drive motor shaft On, drive reflective mirror to rotate by driving motor, the angle of reflective mirror and drive motor shaft is adjustable, and reflective mirror center is away from driving Motor distance is cylinder reflective mirror radius R.
Wherein, the cylinder reflective mirror, laser distance sensor Laser emission end, reflective mirror, driving motor are protected always It holds with one heart, it is anti-to change cylinder to change angle of emergence β of the laser through reflective mirror by adjusting the angle [alpha] of reflective mirror and motor shaft Light microscopic incidence angle.To change the radius R1 of loop laser,(α and θ are mutually remaining).After n times reflect It is projected from cylinder reflective mirror, the value following expression that weld seam is scanned wherein N is set in projection:
Wherein M:
R is the radius of cylinder reflective mirror, and L is the center of reflective mirror away from the bottom end distance of cylinder reflective mirror.WhenWhen, laser is not contacted just with motor after reflecting mirror reflects and is projected after reflection.When When, laser can just enter cylinder mirror reflection after reflecting mirror reflects and project.
Working principle is as follows in the present embodiment: the transmitting terminal of laser distance sensor launches dot laser, is projected to reflective Mirror center, driving motor drive reflective mirror rotation to change the exit direction of laser, and laser is through mirror reflection to cylinder reflective mirror In reflected, then projected after cylinder mirror reflection, be projected on weld seam and form loop laser, the laser being reflected back passes through The area array CCD of laser distance sensor receiving end detect to circular laser trace, and optical signal is converted to telecommunications by CCD Number, when timing sequencer applies specific pulse to it, the electric signal of each pixel successively removes CCD and discharges into voltage amplitude The analog signal that degree does not wait after the processing such as A/D conversion, image filtering, image segmentation, then carries out the identification to groove, as The two-dimensional signal of weld groove, while output groove is apart from measured value after the processing of external digital processing module, to realize weldering Seam positioning and weld joint tracking.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of ring laser sensor for weld joint tracking.
Fig. 2 is loop laser production principle figure.
Fig. 3 is motor supporting structure schematic diagram.
Fig. 4 is embodiment schematic diagram.
In figure: 1, cover board, 2 laser distance sensors, 3, laser distance sensor transmitting terminal, 4, reflective mirror, 5, cylinder it is anti- Light microscopic, 6, concentric shaft sleeve, 7, driving motor, 8, bracket, 9, laser distance sensor receiving end, 10, cabinet epicoele, 11, case Body, 12, cabinet lower-left chamber, 13, cabinet bottom right chamber.
Specific embodiment:
The present invention is described in further detail with embodiment with reference to the accompanying drawing.
Laser distance sensor range measurement principle is introduced first:
It mainly using laser diode projects light, and perpendicular projection is to measured surface after concentrated lens focus On, object is mobile or surface variation causes incident luminous point to move along incident light axis, and receiving lens, which receive, to be come to incident luminous point Scattering light simultaneously be projected on the high ccd detector of resolution ratio, on ccd detector formed an image, by picture point away from The distance of receiving lens optical axis can calculate at a distance from sensor and testee surface with related angle.
One of the present embodiment is used for the ring laser sensor of weld joint tracking, and as described in Figure 1, it mainly includes 1, lid Plate, 2 laser distance sensors, 3, laser distance sensor transmitting terminal, 4, reflective mirror, 5, cylinder reflective mirror, 6, concentric shaft sleeve, 7, driving motor, 8, bracket, 9, laser distance sensor receiving end, 10, cabinet epicoele, 11, cabinet, 12, cavity lower-left chamber, 13, cabinet bottom right chamber.Wherein cabinet 11 divides for cabinet epicoele 10, cabinet lower-left chamber 12 and cabinet bottom right chamber 13, and cabinet epicoele is opened There is anti-concave hole, laser distance sensor 2 is installed on cabinet epicoele 10, compresses by cover board 1, and cover board 1 and cabinet 11 pass through spiral shell Nail is coupled, and cable aperture is provided in the middle part of cover board 1, and driving motor 7 is fixed on concentric 6 center of shaft sleeve, cylinder reflective mirror by bracket 8 5 are placed in concentric shaft sleeve 6, and reflective mirror 4 is mounted in drive motor shaft, and concentric shaft sleeve 6 is installed in cabinet lower-left chamber 12.
Now the working principle of the embodiment of the present invention is described below:
A kind of ring laser sensor for weld joint tracking, structure feature are: it mainly include cover board, laser away from From sensor, reflective mirror, driving motor, bracket, concentric shaft sleeve, cylinder reflective mirror, cabinet.Its feature laser distance sensor Transmitting terminal launches dot laser, and the center for being projected to reflective mirror is reflected, and drives reflective mirror rotation to change by driving motor The exit direction of laser, then be projected to weld seam after cylinder mirror reflection and form loop laser, loop laser carries out weld seam Scanning, the laser being reflected back detect circular laser trace by the area array CCD of laser distance sensor receiving end, pass through Optical signal is converted to electric signal by CCD, and when timing sequencer applies specific pulse to it, the electric signal of each pixel is successively It removes CCD and discharges the analog signal not equal at voltage amplitude, after A/D conversion, image filtering, image segmentation etc. are handled, then The identification to weld groove, as weld groove position are carried out, exports weld seam slope after the processing of external digital processing module Mouth is apart from measured value, to realize weld and HAZ and weld joint tracking.
Disclosed above is only specific embodiments of the present invention, but the present invention is not limited to this, the skill in any field The variation that art personnel can think should all be included in protection scope of the present invention.

Claims (3)

1.一种用于焊缝跟踪的环形激光传感器，其特征在于：它主要包括激光距离传感器、反光镜、驱动电机、支架、圆筒反光镜、同心轴套筒、箱体、盖板；其中所述的激光距离传感器由发射端与接收端组成，激光距离传感器发射端发射出点激光，投射至反光镜的中心进行反射，通过驱动电机带动反光镜旋转改变激光的出射方向，再经圆筒反光镜反射后投射至焊缝形成环形激光，对焊缝坡口进行扫描，通过激光距离传感器接收端的面阵CCD对环形激光扫描的焊缝坡口信息进行存储，同时经外部数据处理器模块处理后输出坡口距离被测值，从而实现焊缝三维跟踪；其中所述的圆筒反光镜、激光距离传感器发射端、反光镜、驱动电机始终保持同心，通过调节反光镜与驱动电机轴的夹角α,来改变激光经反光镜的出射角β来改变圆筒反光镜入射角，从而改变环形激光的半径R 1,其中r为驱动电机半径，l为反光镜中心到驱动电机距离，α与θ互余。1. a ring-shaped laser sensor for welding seam tracking, it is characterized in that: it mainly comprises laser distance sensor, reflector, drive motor, bracket, cylindrical reflector, concentric shaft sleeve, box, cover; wherein The laser distance sensor is composed of a transmitting end and a receiving end. The transmitting end of the laser distance sensor emits a point laser, which is projected to the center of the mirror for reflection, and the mirror is driven by a driving motor to rotate to change the output direction of the laser, and then pass through the cylinder. After reflection by the mirror, it is projected to the weld to form a ring laser, which scans the weld groove, and stores the weld groove information scanned by the ring laser through the area array CCD at the receiving end of the laser distance sensor, and is processed by the external data processor module. The measured value of the groove distance is output after the rear, so as to realize the three-dimensional tracking of the welding seam; the cylindrical reflector, the transmitter of the laser distance sensor, the reflector, and the drive motor are always kept concentric. By adjusting the clamp between the reflector and the drive motor shaft Angle α, to change the exit angle β of the laser through the mirror to change the incident angle of the cylindrical mirror, thereby changing the radius R 1 of the ring laser, where r is the radius of the drive motor, l is the distance from the center of the mirror to the drive motor, and α and θ are complementary to each other. 2.根据权利要求1所述的一种用于焊缝跟踪的环形激光传感器，其特征在于：所述的箱体开有箱体上腔、箱体左下腔与箱体右下腔，激光距离传感器安装于箱体上腔，通过盖板压紧，盖板与箱体上腔通过螺钉联接，同心轴套筒安装于箱体左下腔。2 . The ring laser sensor for welding seam tracking according to claim 1 , wherein the box is provided with an upper cavity of the box, a lower left cavity of the box and a lower right cavity of the box, and the laser distance The sensor is installed in the upper cavity of the box body, and is pressed by the cover plate, the cover plate and the upper cavity of the box body are connected by screws, and the concentric shaft sleeve is installed in the lower left cavity of the box body. 3.根据权利要求1所述的一种用于焊缝跟踪的环形激光传感器，其特征在于：所述的圆筒反光镜套于同心轴套筒内，驱动电机通过支架固定在同心轴套筒中央，反光镜安装于驱动电机轴上，通过驱动电机轴带动反光镜旋转。3 . The ring laser sensor for welding seam tracking according to claim 1 , wherein the cylindrical reflector is sleeved in a concentric shaft sleeve, and the drive motor is fixed on the concentric shaft sleeve through a bracket. 4 . In the center, the reflector is mounted on the drive motor shaft, and the reflector is driven to rotate by the drive motor shaft.
CN201711030017.1A 2017-10-27 2017-10-27 A Ring Laser Sensor for Seam Tracking Expired - Fee Related CN107900562B (en)

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Publication number Priority date Publication date Assignee Title
CN108788394B (en) * 2018-05-22 2020-11-20 江苏理工学院 A laser scanning seam tracking device and tracking method thereof
CN114888436B (en) * 2022-04-28 2023-03-24 泰州市新龙翔金属制品有限公司 Laser welding equipment is used in processing of stainless steel goods
CN119016965A (en) * 2024-10-28 2024-11-26 苏州欧菲尔智能科技有限公司 Omnidirectional weld tracking laser vision sensor, sensing method and welding device

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