CN114633021B - Real-time vision acquisition laser welding method and device thereof - Google Patents
Real-time vision acquisition laser welding method and device thereof Download PDFInfo
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- CN114633021B CN114633021B CN202210199535.0A CN202210199535A CN114633021B CN 114633021 B CN114633021 B CN 114633021B CN 202210199535 A CN202210199535 A CN 202210199535A CN 114633021 B CN114633021 B CN 114633021B
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- 238000003466 welding Methods 0.000 title claims abstract description 436
- 238000000034 method Methods 0.000 title claims abstract description 146
- 230000008569 process Effects 0.000 claims abstract description 92
- 230000035515 penetration Effects 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000003860 storage Methods 0.000 claims abstract description 6
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 6
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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
- B23K26/044—Seam tracking
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The present disclosure provides a laser welding method and apparatus for real-time visual acquisition, by collecting images in real time during welding, and then processing, analyzing and calculating the collected image information to obtain an offset between an actual welding track and a desired welding track, and then the welding track is adjusted in real time according to the offset, so that the problem of time delay caused by the adoption of a visual positioning technology in the prior art is solved. And balances the running time of the welding track with the calculated offset, the penetration variation and the calculated time of the welding track and the output power, the problems of low welding precision and unattractive welding seams caused in the process of correcting the offset are further solved. Meanwhile, the device, the electronic equipment and the storage medium comprising the method are also provided.
Description
Technical Field
The disclosure relates to the technical field of lasers, in particular to a laser welding method and device for real-time vision acquisition.
Background
Currently, with the development and progress of scientific technology, the combination of laser technology and automation technology is also becoming more and more compact. In the past, when a laser technique is used for material processing, manual intervention is often required or manual operation is required and then the next operation is performed. The production beat in the operation process is affected by the mode, and the processing precision of the product is affected by observation and operation by adopting human eyes. It is therefore becoming increasingly important to develop a laser technique that automatically identifies the work area or point and automatically processes the material.
The publication number is: the patent application of CN214721448U discloses a flat wire motor stator flat copper wire laser welding tool, wherein two pairs of flat copper wires are clamped simultaneously by using springs, each radial flat copper wire can be respectively clamped by spring force without mutual influence, and the phenomenon that part of flat copper wires cannot be clamped completely due to poor consistency of the flat copper wires can be avoided; the welding tool is used in cooperation with laser welding, and when in welding, the flat copper wire and the welding tool are motionless, and the welding of a plurality of points is completed once by changing the track of laser through swinging of the vibrating mirror, so that the welding quality and the qualification rate are improved.
The publication number is: the patent application of CN211465184U discloses a coaxial marking welding system in LV340 vibrating mirror, forms a coaxial laser welding system jointly through LED annular light source, field lens, vibrating mirror system, CCD focusing mirror, CCD camera, light path keysets etc. and makes the angle and the position of product target can be initiatively fixed a position to laser system through coaxial mode, realizes accurate marking and welding.
In the above-mentioned published patent documents, as in patent CN214721448U, the angle and position of laser emission are adjusted by using a laser galvanometer technique, but the adjustment process is not controlled, and the precision and accuracy in the laser processing process cannot be ensured; in the CN211465184U, a mode of capturing a beam and coaxially locating the laser is adopted, so that the laser system can be located autonomously, and the location in the processing process is more accurate mainly through a mode of coaxially locating the vision system and the laser system, but no further research is performed on the internal control logic, and a certain time delay exists in the locating process and the locating precision, so that the processing precision is affected.
Therefore, in the existing visual positioning laser technology, although the accuracy in the processing process can be improved by the coaxial technology, in the actual production process, the real-time performance in the laser processing process can be affected due to the delay of correction time and the deviation between the laser system and the capturing system in the laser system processing process because the scanning field amplitude of the laser welding head internal vibrating mirror is large, so that the accuracy of laser processing is affected.
Disclosure of Invention
Aiming at the technical problem that the welding precision is not high due to the deviation between an image capturing system and a laser welding system and the delay of action time in the laser welding technology adopting visual positioning, the laser welding method and the device thereof for real-time visual acquisition are provided, and the welding precision in the laser welding process is improved, so that the reliability of products with higher requirements on welding precision is improved.
One of the concepts of the present disclosure is to couple an optical path of an image capturing system with an optical path of a laser welding system, so as to realize at least a part of the optical paths between the laser welding system and the image capturing system to be coaxial, thereby improving the machining precision in the laser welding process.
Specifically, in the conventional visual positioning laser technology, a paraxial visual positioning mode is mostly adopted to position a welding point in the welding process. In the paraxial vision positioning technology, a certain deviation exists between the laser welding system and the image capturing system in the operation process. Although the image capturing system can synchronously act along with the movement of the laser welding system, in the actual movement process, due to the deflection of light rays or the displacement of the image capturing system and the small range generated by the vibration of components of the laser welding system in the operation process, the position between the laser welding system and the image capturing system is deviated, and the position deviation leads the image capturing system to deviate in the positioning result in the process of calculating and correcting the coordinates of the image of the welding point, thereby influencing the processing precision in the welding process. In addition, the traditional paraxial vision acquisition often needs two or more vision acquisition devices to acquire images of the breadth formed by scanning the galvanometer so as to meet the requirement of processing precision; meanwhile, in the visual acquisition process, the image acquisition is often required after the welding is finished. The paraxial visual acquisition has larger defects in equipment cost and timeliness, and is difficult to meet the requirements of quick positioning and real-time welding.
The coupling of the optical path of the image capturing system and the laser optical path of the laser welding system can avoid the problem of vision acquisition deviation caused by equipment, welding procedures, environment and the like in the paraxial vision acquisition process, and improve the welding precision in the laser welding process.
Further, another concept of the present disclosure is to capture laser welding images in real time by an image capturing system, calculate an offset and/or a penetration variation of the laser welding based on the captured real-time images. And calculating and updating the welding track of the laser in real time according to the welding offset, and ensuring the welding precision of the laser welding technology of real-time vision acquisition.
Specifically, corresponding welding tracks are preset in the laser welding process, when welding is performed according to the preset welding tracks, whether the laser head performs welding according to the preset tracks in the welding process is needed to be known, so that an image capturing system is needed to be introduced to monitor the welding tracks, the offset of the tracks is determined according to captured image information, and then the welding tracks are corrected. And after each offset correction, welding according to the established welding track. From the prior art welding systems it can be seen that at least the following drawbacks are involved: on the one hand, the above-mentioned correction method causes time delay in the laser welding process, and on the other hand, the correction time will cause improper output of the welding area power. And further affects the welding accuracy and the weld pool quality in the laser welding process of visual positioning.
In the scheme of the disclosure, as the image capturing system is coaxial with at least part of the light path of the laser welding system, in the image capturing process, the welded track image can be captured in real time, information such as offset, penetration, welding track and the like can be calculated in real time, and the preset welding track is corrected according to the offset detected in real time to form a new welding track, so that the welding precision in the laser welding process is ensured.
Further, another concept of the present disclosure is to analyze and calculate parameters such as an offset, a penetration variable, a welding track, etc. in a laser welding system based on image information acquired by an image capturing system, and to control a welding procedure of the laser system to ensure consistency in a laser welding process.
Specifically, as the traditional visual positioning method is to carry out the offset correction and then carry out the laser welding according to the preset welding track, the phenomenon of incoherence in the laser welding process can be caused, and the welding quality and the appearance of the welding seam are affected. The image capturing system disclosed by the invention can capture welding tracks and penetration in real time, calculate offset at the same time, and feed the information back to the laser welding system, so that power and welding tracks in the laser welding process are properly regulated and corrected. Therefore, the offset can be collected in real time in the process of running the laser according to the welding track, and then the next laser welding process is corrected according to the new welding track and the calculation of power completed in the running time, so that the last running track of the laser and the next running track are combined coherently, and the welding precision in the laser welding process is ensured.
Further, another concept of the disclosure is that the image capturing system analyzes the calculated offset and penetration variable in the laser welding process according to the image information captured in real time, determines the time variable corresponding to the offset and/or penetration variable, and adjusts and corrects the laser welding system according to the welding track offset, penetration variable and the time variable corresponding to the welding track offset and penetration variable, so that the real-time performance and precision in the laser welding process are further ensured.
Specifically, in the laser welding process, because the image capturing system needs a certain time for capturing, processing and calculating the image, after the image capturing system acquires the final calculation result, the calculation result is fed back to the laser welding system, so that a time difference exists, and the image capturing system and the laser welding system cannot immediately perform analysis feedback in the welding process and can not use the feedback result for controlling the welding process. The time that the laser is following the set trajectory should therefore be delayed from the calculation time described above in this disclosure. The method and the device ensure that the welding track and the power are corrected in real time in the running process of the laser according to the track, and the time variable is used as one of corrected parameters, so that the accuracy of laser welding is improved.
Further, another concept of the disclosure is that the laser welding system determines the first time of running the next section of laser track according to the offset, the penetration variable and the time variable corresponding to the offset and/or the penetration variable, so as to further improve the accuracy of laser welding.
Specifically, in the actual welding process, the offset of the laser is different in different time periods due to the influences of the running environment and equipment, and if the laser is welded according to the same track running time, the welding precision is influenced due to the inconsistency of the offset. Therefore, the laser welding system in the disclosure determines the running time of the next section of laser track according to the offset, the penetration variable and the time variable corresponding to the offset and/or the penetration variable, so as to further improve the precision of laser welding.
Further, another concept of the present disclosure is that the time for collecting the offset in real time varies according to the running time of the laser welding track, so as to ensure that the time for collecting the offset in real time can meet the requirement in the laser welding process.
Specifically, in the actual welding process of the laser, as the time of each section of running track changes along with the change of the offset, the time for acquiring the offset in real time and determining the next section of running track of the laser also changes correspondingly, so that the calculation of the running track time of the next section of laser is ensured to be completed in the running time of the laser, and the welding precision of the real-time vision acquisition laser welding is improved.
In one aspect, the disclosure provides a laser welding method and device for real-time vision acquisition, wherein the method comprises the following steps:
the image capturing is that the laser welding system captures welding information in real time in a mode of image information in real time when the laser welding system runs according to a welding track;
determining a welding variable quantity, wherein the welding variable quantity is obtained by extracting and analyzing image information acquired by the image capturing system, calculating the actual welding condition in the welding process and calculating the change of the actual welding process and the preset welding process;
and determining the welding program again, wherein the welding program is a welding program for correcting the actual welding condition of the laser welding system according to the determined welding variation so as to lead the welding system to correct the welding condition to a preset program. The method comprises the steps of carrying out a first treatment on the surface of the
And (3) laser welding, namely welding the welding material by a laser welding system according to the redetermined welding program.
Based on the technical scheme, the offset is collected in real time in the laser welding process, and meanwhile, the welding track of the next section is updated in real time according to the offset, so that the operation of the welding track of the previous section is coherent with the operation of the welding track of the next section, and the reduction of welding precision caused by hysteresis and time delay in the laser welding process is eliminated.
Further, the welding procedure comprises a welding track and/or welding penetration;
in some embodiments, the laser welding method of real-time vision acquisition further comprises: coupling a laser welding system and an image capturing system;
the coupling of the laser welding system and the image capturing system means that before laser welding, a laser light path and a vision acquisition light path are coupled, so that the coaxiality of the two light paths is realized.
The coaxial light path refers to at least partial coaxial light path between the laser welding system and the image capturing system.
Based on the technical scheme, the coupling between the laser system and the capturing system is realized, so that the light beam of the laser and the light beam between the capturing system are coaxial. The laser system and the capturing system are synchronized in a beam coaxial mode, so that unnecessary deviation in the process of capturing images in real time can be effectively eliminated; on the other hand, the time delay of the laser system in the correction process can be reduced.
In another embodiment, in the laser welding method of real-time visual acquisition, the determining the offset welding variation includes determining a track offset and/or a penetration variation;
the penetration change is obtained by extracting and analyzing the image information acquired by capturing the image, and the penetration change among different welding spots in the welding process is calculated;
the offset refers to the offset variation of the actual welding track and the preset welding track in the welding process by extracting and analyzing the image information acquired by the image capturing system.
In some embodiments, in the laser welding method with real-time visual acquisition, the output power of the laser system is adjusted according to the real-time penetration variation, and the penetration depth of the welding seam is controlled according to the adjustment of the output power, so that the welding appearance and quality are improved. Specifically, when the penetration depth becomes deep, the output power of the laser is reduced immediately, otherwise, the output power of the laser is increased, the penetration depth is ensured to be in a required range through the change of the output power, the welding strength of the welding structure is improved, and the welding seam is more attractive.
In some embodiments, in the method for real-time vision acquisition, the laser welding track is determined again according to the real-time welding track offset, and the determined track is made to trend toward the preset welding track according to the adjustment of the actual laser welding track.
In some embodiments, the laser welding method with real-time vision acquisition is characterized in that:
the welding track also comprises a preset welding track and an initial welding track;
the preset welding track is a welding track determined according to welding requirements;
the initial welding track is a first section of welding track running according to the preset welding track.
The welding track offset is obtained according to the comparison of the first section welding track and a preset welding track.
And determining the welding track again according to the track offset and the preset welding track.
And (5) timely performing laser welding according to the re-determined welding track.
Based on the technical scheme, the welding track is provided with a preset welding track and an initial welding track, and the preset welding track is the basis of real-time updating of the welding track according to the offset. On the basis of the preset welding track, a new correction track is formed to solve the technical problem of welding precision reduction caused by offset in the laser welding process. Meanwhile, on the basis of a preset welding track, the welding track is provided with an initial welding track and is used for collecting the first offset so as to form a closed loop, so that the purposes of updating the welding track in real time and improving the laser welding precision are achieved.
In yet another embodiment, the method for laser welding with real-time visual acquisition, wherein the re-determining the welding track includes determining a welding time;
the welding time refers to the time for the laser to move according to the welding track;
the welding time of the laser welding system is longer than the time for the image capturing system to determine the welding track offset and the penetration variation.
Based on the technical scheme, the time for determining the next welding track time is determined according to the time for running the welding track in the laser welding process and the real-time calculation of the welding track offset and/or the penetration variation according to the acquired images of the image capturing system. Only when the running time of the welding track is longer than the determined time of the welding track offset and/or the penetration change, the next updated welding track can be run after the running according to the welding track, so that the continuity between the upper section welding track and the lower section welding track is ensured, and the purpose of further improving the laser welding precision is achieved.
In some embodiments, the method for real-time vision-collected laser welding is characterized in that the welding time at least comprises a first welding time and a second welding time;
the first welding time refers to the time when a laser of the laser welding system moves according to the welding track when the welding track offset and/or the penetration variation are within an allowable range;
and the second welding time refers to the welding time when the welding track offset and/or the penetration variation exceeds the allowable range, and the laser welding system corrects the preset welding program track according to the welding track offset and/or the penetration variation and determines the corrected welding track again.
Based on the technical scheme, when the offset meets the actual production, the first welding time is used for operating the corresponding laser welding track. When the offset exceeds a certain limit value, in order to ensure the welding precision, the second welding time is adopted to control the welding running time of the next section of welding track, so that the great influence on the welding precision caused by the overlong running time of the next section of welding track is avoided.
In some embodiments, the method for laser welding with real-time visual acquisition comprises: the method also comprises at least a first operation time and a second operation time;
wherein the first operation time refers to the time for determining the offset and/or the penetration variation;
the second operation time refers to the time for determining the welding track and/or the output power;
wherein the first operation time and the second operation time are changed according to the second welding time.
Based on the technical scheme, the welding time can be corrected according to the offset. Therefore, in the welding process, the calculation of the offset and/or the penetration variation and the determination of the time of the next welding track also need to be adapted to the real-time correction of the welding time, so that after the preset welding track is operated in the period of time, the next welding track can be operated next, the consistency in the welding process is ensured, and the precision of laser welding is improved.
In another embodiment, the method further comprises a device for applying the laser welding method for real-time vision acquisition, and the device comprises:
the image capturing component is used for capturing real-time information in the laser welding process;
the laser welding assembly is used for welding the welding material;
the computing component is used for processing the information in the real-time capturing component and generating information for guiding the welding process of the next step;
and the control component is used for controlling the operation of the real-time capturing component, the laser welding component and the calculating component and the information interaction between the real-time capturing component, the laser welding component and the calculating component.
Based on the technical scheme, the laser welding method for realizing real-time vision acquisition is realized jointly through the combination of the four basic components. Wherein the computing component and the control component may be integrated together.
In another embodiment, the electronic device further comprises an electronic device adopting the scheme, and the electronic device is characterized in that:
including a processor and a memory;
the memory stores machine executable instructions executable by the processor;
the processor may execute the machine-executable instructions to implement the method.
Based on the technical scheme, a set of computer control system is formed and is used for realizing the method.
In another embodiment, a computer readable storage medium employing the above scheme is further included, having a computer program stored thereon;
wherein the computer program is adapted to implement the method when executed by a processor.
Based on the technical scheme, the laser welding method for real-time vision acquisition has good portability, and can be transplanted to different laser devices as components.
According to the technical scheme, the problem that a visual positioning system is adopted in the laser welding process, and the visual positioning system cannot be substantially coaxial with the laser system and the problem of processing time delay exists is solved, so that the welding precision in the laser welding process is improved, and the reliability of products with strict requirements on welding precision is further improved.
Drawings
The present disclosure will be described in further detail below in conjunction with the drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn for the purpose of illustrating the preferred embodiments only and thus should not be taken as limiting the scope of the present disclosure. Moreover, unless specifically indicated otherwise, the drawings are merely schematic representations, not necessarily to scale, of the compositions or constructions of the described objects and may include exaggerated representations.
FIG. 1 illustrates one embodiment of the present invention.
Fig. 2 shows another embodiment of the present invention.
Detailed Description
The present disclosure is described in detail below with reference to fig. 1 and 2.
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present disclosure.
The present disclosure provides a laser welding method with real-time vision acquisition, which can eliminate the problems of large offset and time delay existing in the laser welding process by adopting a vision positioning system, improve the welding precision in the automatic laser welding process, and improve the welding precision of products in the laser welding process.
Fig. 1 is one embodiment 1 of the present disclosure.
Specifically, in the process of visually positioned laser welding, in the prior art, after a laser is operated for a period of time according to a welding track, an image between a laser spot and a spot actually required to be welded is collected through an image capturing system. And then processing the captured graph through an image processing system to obtain the offset of laser welding. And transmitting the offset to a control system, and finally, adjusting the angle of the vibrating mirror in the welding joint by the control system to enable the laser beam to be positioned at a place where welding is actually required. In the process, a certain time is required for image collection and processing, and a certain time is also required for offset adjustment, so that the laser has unnecessary time waste in the running process and influences the welding process. The method and the device collect and calculate the offset of the laser in real time in the process of running the laser according to the welding track, obtain the value which can be representative of the real-time offset in the laser welding process such as the average value or the number of digits in the running process, update the welding track of the next section based on the value, and correct the offset. Because the running track of the section and the running track of the lower section are carried out continuously, the time delay problem in the laser welding process adopting visual positioning in the prior art can be eliminated, and the information collection and the correction of the welding track can be carried out in real time in the laser welding process, thereby achieving the purpose of improving the welding precision and improving the reliability of products with strict requirements on the precision
Further, on the basis of embodiment 1, coaxiality between the laser system and the capturing system is achieved in a coaxiality manner, so as to form embodiment 2.
In particular, the visual positioning system has a paraxial and a coaxial division. In order to further improve the welding accuracy in the laser welding process. Before laser incidence, the laser beam and the capturing beam are coupled through a refractive lens and coaxially emitted, so that the synchronism between the capturing system and the laser system is ensured. When the paraxial capturing system is adopted, as the laser beam and the capturing beam are emitted respectively, a certain offset exists between the capturing system and the laser system due to environmental or equipment and the like in the synchronous process, so that the welding precision in the welding process is reduced. When the coaxial system is used, the deviation caused by the paraxial system can be effectively eliminated, the synchronous instantaneity between the laser system and the capturing system can be ensured, the measuring accuracy and instantaneity are further improved, and the welding precision in the laser welding process is further improved.
Further, on the basis of example 1, the welding output power was determined, resulting in example 3, as shown in fig. 2.
Specifically, the method further comprises the step of calculating the change amount of the penetration in the process of analyzing and calculating the captured image. And adjusting the power of the positive and negative butt welding machines through the penetration variation. For example, when the change amount of the penetration is a negative value, it proves that the effective penetration of welding is insufficient, and the output power of the laser needs to be increased, whereas the output power of the laser needs to be decreased.
Further, on the basis of the above embodiment, the welding track is further defined, and specific embodiment 4 is formed.
Specifically, during the laser welding process, different welding tracks are generally selected according to the characteristics of materials. The welding track is preset. A master mask is provided for determining the next welding track in the laser welding method acquired in real time through the preset welding track, and the next welding track is updated in real time through the welding track of the master mask and the real-time offset. The welding operation track of the next section can be determined by correcting the offset and then according to the original welding track; the welding running track of the next section can be determined by a mode of fitting the track and correcting the offset in the running process of the welding track, or the welding running track of the next section can be generated by other modes, so long as the continuity of the tracks of the upper section and the lower section is met and the offset is corrected. On the basis of the preset welding track, an initial welding track is further provided, and the initial welding track is used for driving a laser to adjust the track to run when no offset exists, and meanwhile offset data collected in real time are provided for the running of the next welding track. Through the design of preset welding track and initial welding track, the orderly proceeding of the laser welding process is ensured.
Further, on the basis of example 4, determination of the welding time was added to form example 5.
Specifically, it takes a certain time to capture, process, and calculate the offset. In order to meet the continuity of the upper and lower running tracks, the running time of the welding track after the determination is longer than the unit time for calculating at least one offset and the unit time for determining the next running track. In general, in order to ensure the real-time performance and accuracy of the offset calculation, at least more than 2 times of real-time capturing, processing and calculating processes of the offset should be adopted, and an average value or a number of bits is selected to determine a most representative offset, so that the running track of the next section is confirmed on the basis of the offset. And the welding time of the laser running according to a certain track is not suitable to be too long, so that the influence of the excessive offset on the welding precision in the welding process is avoided. Through the embodiment, each section of welding running track can correspond to reasonable welding time, so that instantaneity and continuity in the laser automatic welding process are realized, and the welding precision is ensured.
Further, the welding time was further defined on the basis of example 5, to form example 6.
Specifically, the laser is different in the offset of welding under different welding tracks according to the welding time. Therefore, the welding time needs to be determined according to the offset, so that when the offset is too large, the welding time is still longer to run, and the welding precision is reduced. For example, when the calculated offset is within 0.1mm, the next welding track can be operated according to the standard welding time, but when the offset is greater than 0.1mm, the first welding time is corrected, the corrected second welding time is used for operating the next welding track, and when the offset is greater, the first welding time is still operated, so that the welding precision of the laser welding is reduced.
Further, on the basis of example 6, determination of the operation time was added to form example 7.
Specifically, since the standard welding time is corrected, the calculation times of the offset should be changed correspondingly, if the corrected welding time is longer than the standard welding time, the calculation times of the offset should be increased correspondingly, and the total calculation time does not exceed the corrected welding time. Similarly, when the corrected welding time is smaller than the standard welding time, the offset should be correspondingly reduced, based on the total operation time not exceeding the corrected welding time. Through the embodiment, the calculation of the offset in the welding process can be performed in real time without disturbing the running rhythm of the welding track, and the welding precision in the laser welding process is improved.
Further, on the basis of the above embodiment, the above method is applied to an actual apparatus to form embodiment 8.
Specifically, real-time images during welding are collected by a capture assembly, such as a camera or a CCD camera. The angle and the position of laser are adjusted through the laser welding assembly, specifically, X-axis vibrating mirrors and Y-axis vibrating mirrors in the laser head are adjusted, so that the laser can run according to the track. And processing and operating the image information through a processing component to obtain real-time offset information. And the information exchange and operation among the components are controlled by the control component. The laser welding method for realizing real-time vision acquisition through at least the capturing component, the laser welding component, the operation component and the control component is realized jointly by the four components, wherein the operation component and the control component can be integrated into a processing component.
On the basis of the above embodiment, the above method is applied to the computer field to form embodiment 9.
Specifically, the system comprises a processor and a memory. The memory is used to store instructions that can be executed by the processor, and the processor is used to process the executable instructions to implement the above embodiments.
On the basis of the above embodiment, the above method is applied to a portable storage medium to form embodiment 10.
In particular, the storage medium contains a computer program. The above-described embodiments may be implemented when a computer program is executed by a processor. The method can be conveniently transplanted to different lasers through a portable storage medium.
The foregoing disclosure has been presented in a detail description, with specific examples being used herein to illustrate the principles and embodiments of the disclosure, the above examples being provided solely to assist in the understanding of the disclosure and core ideas. It should be noted that it would be apparent to those skilled in the art that various improvements and modifications could be made to the present disclosure without departing from the principles of the present disclosure, and such improvements and modifications would be within the scope of the claims of the present disclosure.
Claims (6)
1. A laser welding method for real-time vision acquisition is characterized in that,
the method comprises the following steps:
the image capturing is that the laser welding system captures welding information in real time in a mode of image information in real time when the laser welding system runs according to a welding track;
determining welding variation, wherein the welding variation is obtained by extracting and analyzing image information acquired by the image capturing system, calculating the actual welding condition in the welding process, and comparing the actual welding with the variation of a preset welding process;
determining a welding program again, wherein the welding program is a welding program for correcting the actual welding condition of the laser welding system according to the determined welding variation so as to lead the welding system to correct the welding condition to a preset program;
laser welding, namely welding a welding material by a laser welding system according to the redetermined welding program;
the determined welding variation comprises a welding track offset and/or a penetration variation;
the penetration change amount refers to the penetration change amount among different welding spots in the welding process by extracting and analyzing the image information acquired by capturing the image;
the welding track offset refers to the offset variation of the actual welding track and the preset welding track in the welding process by extracting and analyzing the image information acquired by the image capturing system;
the welding procedure comprises a welding track and/or welding penetration;
the welding track comprises a preset welding track and an initial welding track;
the preset welding track is a welding track determined according to welding requirements;
the initial welding track is a first section of welding track running according to the preset welding track;
the welding track offset is obtained according to the comparison between the first section of welding track and a preset welding track;
determining a welding track again according to the track offset and a preset welding track;
the laser welding system timely performs laser welding according to the re-determined welding track;
the re-determining a welding procedure further includes determining a welding time;
the welding time refers to the time for the laser to move according to the welding track;
the welding time is longer than the time for the image capturing system to determine the welding track offset, the penetration variation, the welding track and the output power;
the welding time at least comprises a first welding time and a second welding time;
the first welding time refers to the time when a laser in a laser welding system moves according to the welding track when the offset and the penetration variation are within the allowable range;
and the second welding time refers to the welding time when the welding track offset and/or the penetration variation exceeds the allowable range, and the laser welding system corrects the preset welding program track according to the welding track offset and/or the penetration variation and determines the corrected welding track again.
2. A laser welding method with real-time vision acquisition as defined in claim 1, wherein,
the image capturing further comprises coupling the laser welding system and the image capturing system;
the coupling of the laser welding system and the image capturing system means that before laser welding, the optical path of the laser welding system is coupled with the optical path of the image capturing system, so that the coaxiality of the two optical paths of the laser welding system and the image capturing system is realized;
the coaxiality of the optical paths of the laser welding system and the image capturing system refers to coaxiality of at least part of the optical paths between the laser welding system and the image capturing system.
3. A laser welding method with real-time vision acquisition as defined in claim 1, wherein,
the method also comprises at least a first operation time and a second operation time;
wherein the first operation time refers to the time for determining the offset and/or the penetration variation;
the second operation time refers to the time for determining the welding track and/or the output power;
wherein the first operation time and the second operation time are changed according to the second welding time.
4. An apparatus for applying the laser welding method of real-time vision acquisition of any one of claims 1-3, the apparatus comprising:
the real-time capturing component is used for capturing real-time information in the laser welding process;
the laser welding assembly is used for welding the welding material;
the operation component is used for processing the information in the real-time capturing component and generating information for guiding the welding process of the next step;
and the control component is used for controlling the operation of the real-time capturing component, the laser welding component and the calculating component and the information interaction between the real-time capturing component, the laser welding component and the calculating component.
5. An electronic device, characterized in that,
including a processor and a memory;
the memory stores machine executable instructions executable by the processor;
the processor may execute the machine executable instructions to implement the method of any of claims 1-3.
6. A computer-readable storage medium having a computer program stored thereon;
it is characterized in that the method comprises the steps of,
the computer program implementing the method of any of claims 1-3 when executed by a processor.
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| CN116329838B (en) * | 2023-03-28 | 2024-01-23 | 武汉理工大学 | Weld joint automatic tracking method based on laser vision and machine learning |
| CN116423046B (en) * | 2023-05-05 | 2024-01-30 | 深圳市高素科技有限公司 | Laser vision welding control system and laser welding method |
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| CN117399859B (en) * | 2023-12-15 | 2024-05-10 | 南昌佛吉亚排气控制技术有限公司 | Automobile part welding control method and device |
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