Summary of the invention
The object of the present invention is to provide a kind of security reliability, speed of welding and the high laser welding work stations and work of qualityMake method, it solves above-mentioned subproblem of the existing technology.
To achieve the above object, one technical scheme adopted by the invention is that: a kind of automatic laser welding workstation, packetIt includes:
Examine material system, whether have on detecting tool platform workpiece, workpiece whether be in correct welding position andWhether identical detect the workpiece size installed every time；
Seam tracking system, for monitoring hot spot and workpiece place's position precision to be welded in welding process in real time, robot intoRow teaching, camera are taken pictures, the coordinate value of record calibration position, the calibration software in the camera read position to be welded withThe coordinate shift numerical value of the calibration position and the calibration for carrying out positional shift to be welded；
Monitoring system is wrapped for monitoring welding quality in real time and recording the welding data in entire laser beam weldingThe photoelectric sensor of three different sensitivities is included, three photoelectric sensors acquire the light of three kinds of different section wavelength to monitorWelding quality, the light of three kinds of different wave lengths reflect the power of the height of temperature, the size of plasma cloud density and reflected light respectively,The stability in molten bath during plasma cloud density size Reaction Welding, temperature allowable fluctuation range mainly reflect face of weldWhether quality is continuous, uniform, reflects the surface of weld seam and the stabilization in molten bath in the incident angle and welding process of light detection laserProperty.
Further, the laser welding work station further include for completely cut off the safety protective mechanisms of laser emission, be used for andWhen remind emergency sacurity alarm system, for issues instruct PLC control system and for weakening spatter objectSoot emissions system, the sacurity alarm system includes the safety control system for carrying out emergency call warning alertAnd for carrying out urgent self-braking emergency braking system.
To achieve the above object, another technical solution used in the present invention is: a kind of laser welding working method, stepIt is as follows:
S1, tooling platform is provided, workpiece to be welded is installed on the tooling platform position, system detection tooling is expected by inspectionWhether have on platform workpiece, workpiece whether be in correct welding position and the workpiece size installed every time of detection whether phaseTogether；
S2, seam tracking system carry out vision-based detection to the position of welded workpiece, and calculate position to be welded and in advanceThe coordinate shift numerical difference for demarcating position, it is poor using the calibration software reading numerical values carried in laser head, to control laser headThe laser of sending is in correct welding position, carries out weld joint tracking；
S3, robot are welded, and in welding process, monitor three different sensitivity photoelectric sensors acquisition three of systemWhether plant the light of different section wavelength continuous, uniform to detect the stability in molten bath and face of weld quality.
Further, in step S1, the inspection material system includes detection pen, and the detection pen is connected with PLC control system,In detection process, detection pen carries out initial zero position setting, and pre-enters target size numerical value, and detection pen is touched by elongationWorkpiece to be welded measures the size of workpiece to be welded, if institute's measurement ruler cun is consistent with target size, detects pen and delivers a signal to PLC controlSystem, PLC control system pass to robot and are welded.
Further, in step S3, the light of three kinds of different wave lengths be reflected as respectively the height of temperature, plasma cloud density it is bigSmall and reflected light power, the stability in molten bath, temperature allowable fluctuation range during plasma cloud density size Reaction WeldingWhether mainly reflection face of weld quality is continuous, uniformly, reflects weld seam in the incident angle and welding process of light detection laserSurface and molten bath stability.
Compared with prior art, a kind of laser welding work station of the present invention and working method the utility model has the advantages that improving laserThe intelligent level of welding improves the precision of Product jointing process, significantly reduces the fault of detection, ensure that productQuality；Realize remote on-line monitoring and detection.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawing, but it is emphasized that following embodiment isIllustratively, the range and application being not intended to be limiting of the invention.
Please refer to Fig. 1, a kind of automatic laser welding workstation of the invention, including robot 10, it is used for weld jobTooling platform 20, for guaranteeing position while welding accurately seam tracking system 30, the security protection for completely cutting off laser emissionMechanism 40, the monitoring system 60 for recording welding process in real time, is used in time the inspection material system 50 for ensuring welding qualityRemind the sacurity alarm system 70 of emergency, the PLC control system 80 for issuing instruction and for weakening spatterThe soot emissions system 90 of object.In addition, laser welding work station further includes the laser head welded for treating welder's part 100200 and laser head control cabinet 300, the laser welding work station further include OTC module and vibration mirror scanning microscope group.
The robot 10 is located at the center of work station, is used for automatic loading/unloading and precision welding, ensure thatThe operation and work flexibly and fast of work station whole region.
It is provided with sensor and tooling quick change plate on the tooling platform 20, changes plate by switching tooling block, installation corresponds toThe frock clamp of part realizes the welding of the workpiece 100 of a variety of different size and shapes.Frock clamp is controlled by electric cylinders, realNow treat the clamping of welder's part 100.Work station is equipped with multiple plateform systems, ensure that the operation simultaneously of work station multizone, eachTooling platform can realize the rotation of 360 ° omni-directional；And symmetrical sex work tooling is set, ensure that workpiece is carried out in work stationWorkpiece installation is carried out in laser beam welding, on the outside of corresponding platform to fix, and ensure that the efficiency of product and production line.
The seam tracking system 30 ensure that hot spot and workpiece place to be welded (weld seam) position precision in welding process.ToolBody, before welding, teaching is carried out by robot, camera is taken pictures, the coordinate value of record calibration position, in subsequent weldingIn the process, coordinate shift numerical value and the progress of position to be welded and the calibration position are read using the calibration software in cameraThe calibration of positional shift to be welded.Using high-precision seam tracking system real-time control, the position of hot spot when ensure that weldingAccuracy, the intelligence of welding process and postwelding can get the weld seam of high quality.Using OTC module and vibration mirror scanning microscope group collectionAt greatly improving speed of welding, have the characteristics that high flexibility, accurate weld joint tracking；OTC module, vibration mirror scanning microscope group with10 coupled motions of robot, speed is quick, the welding road warp of real-time detection workpiece, meanwhile, OTC module detects weld seam automatically and connectsHead determines specific location in real time and is welded, guarantees welding quality, ensure that precision and stability.
Wherein, OTC module and the integrated promotion seam tracking system 30 of vibration mirror scanning microscope group and the monitoring automation of system 60 swashMonitoring during photocoagulation is done light source using the infrared ray that superluminescent diode or titanium blue-light source generate, is concerned with using weakThe principle of the interference of light obtains the two of tissue by the rear orientation light of measurement structure tissue or the intensity of reflected light and time delayTie up faultage image or three-dimensional image information.
The safety protective mechanisms 40 use the protective coating and light-weight high-strength material of special elements, and surface is not anti-Light reduces heat dissipation, reflection and diffusing scattering.The injury of the external battery limit (BL) domain human body of laser emission is effectively completely cut off, while also having mentionedThe high service life of protective sliding door and reduce maintenance times.Using PLC control system, it is more traditional to control the speed that sliding door is openedSliding door is many fastly, and is equipped with auto-induction apparatus, during sliding door is closed, it is ensured that not any among sliding doorBarrier, by whether having barrier among Grating examinations sliding door, if grating monitoring has barrier, grating feeds back signalTo PLC, SEW motor is controlled by PLC, motor will stop, and mobile goalkeeper is automatically stopped, the intelligence of the entire mobile door of guarantee,Security reliability.
The inspection material system 50 has High Precision Automatic inspection material, loading and unloading and High Power Laser Welding quality on-line monitoringDeng having the function of greatly precision controlling, ensure that welding quality, improve the production efficiency of product.It is welded in automatic laserIn termination process, whether inspection material system 50 is for having whether workpiece, workpiece on correct welding position and are examined in detecting toolWhether identical survey the workpiece size installed every time, while high-precision automatic loading and unloading system guarantees the stabilization of entire welding processProperty, avoid the waste of material.
The monitoring system 60 includes three different high sensitivity photosensors, and three photoelectric sensors acquire three kinds notWelding quality is monitored with the light of section wavelength, the light of three kinds of different wave lengths reflects the height of temperature, plasma cloud density respectivelySize and reflected light power, the stability in molten bath, temperature allow to fluctuate during plasma cloud density size Reaction WeldingRange mainly reflects whether face of weld quality is continuous, uniformly, reflects in incident angle and the welding process of light detection laserThe surface of weld seam and the stability in molten bath.Monitoring system 60 is for laser beam welding in real-time display and recording station, justIn the information of investigation, extraction and analysis automated laser beam welding, improve welding quality well.Monitoring system 60Weldquality in observation welding process in real time highly shortened product quality report journey instead of postwelding quality testing linkThe process of sequence.
The sacurity alarm system 70 is in an emergency convenient for work station, is reminded in time, data store and urgentBraking etc. has greatly security reliability.High Power Laser Welding quality online monitoring system can observe welding process in real timeIn weldquality highly shortened the process of product quality report program instead of postwelding quality testing link.The flue dustExhaust system 90 guarantees the environmental quality in welding process.Sacurity alarm system 70 includes safety control system and emergency brakingSystem, security control system is used to carry out alarm warning prompting under conditions of going wrong, while programming system carries out data noteRecord.Emergency braking system is used to occur influencing in each operating system in the welding process carrying out when welding process promptly certainlyIt is dynamic to stop, and carry out alarm and data record.
In addition, the laser welding work station further includes storage system, storage system is controlled by PLC control system 80System, records the feedback data of the links in automatic laser welding process, and is uploaded automatically in work service station, facilitates tuneIt tries engineer and data analysis is carried out to the monitoring of whole process and subsequent technology personnel.
The present invention is also disclosed that a kind of laser welding working method, and steps are as follows:
S1, tooling platform is provided, workpiece to be welded is installed on the tooling platform position, system detection tooling is expected by inspectionWhether have on platform workpiece, workpiece whether be in correct welding position and the workpiece size installed every time of detection whether phaseTogether；
In this step S1, inspection material system 50 includes detection pen, and the detection pen is connected with PLC control system, detectedCheng Zhong, detection pen carries out initial zero position setting, and pre-enters target size numerical value, and detection pen is touched by elongation to welderPart measures the size of workpiece to be welded, if institute's measurement ruler cun is consistent with target size, detects pen and delivers a signal to PLC control system,PLC control system passes to robot and is welded.The workpiece of this patent welding is turbine and worm, and thickness and diameter are simultaneous to be surveyedAmount.Position is correctly detected and the guarantee of part size, to indirectly control welding quality.
S2, seam tracking system carry out vision-based detection to the position of welded workpiece, and calculate position to be welded and in advanceThe coordinate shift numerical difference for demarcating position, it is poor using the calibration software reading numerical values carried in laser head, to control laser headThe laser of sending is in correct welding position, carries out weld joint tracking；
S3, soot emissions system is opened, the feedback data of the automatic each system of quick-searching checks in entire work stationSacurity alarm system and on-line real time monitoring system it is whether in running order in each stage；
S4, robot are welded, and in welding process, monitor three different sensitivity photoelectric sensors acquisition three of systemWhether plant the light of different section wavelength continuous, uniform to detect the stability in molten bath and face of weld quality.
Specifically, on-line monitoring system has the function of coaxial online Welding quality test, due to reflected light in welding processWith different wavelength, quality is detected by the light of three different 3 kinds of high sensitivity photosensors acquisition different section wavelength,The light of three kinds of different wavelength is reflected as the power of the height of temperature, the size of plasma cloud density and reflected light respectively.Deng fromThe stability in molten bath during sub- cloud density size Reaction Welding；Temperature allowable fluctuation range mainly reflects face of weld qualityWhether continuous, uniform, reflected light equally detects the surface of weld seam and the stabilization in molten bath in the incident angle and welding process of laserProperty.
In the welding process, it uses and swings welding procedure, stomata in the weld seam of effective solution, crackle and surface are unevenEven the defects of collapsing.Workstation environment quality system is monitored in real time by soot emissions system, guarantees the excellent environment of work station,The security reliability of Laser Welding Quality and work station is improved, while to provide foundation convenient for current check and data analysis, being kept awayExempt to bring unnecessary injury to human body because of work station.When being made a forcible entry into laser beam welding if there is extraneous personnel,Sacurity alarm system carries out urgent call.Meanwhile voice reminder is carried out when personnel are closely close, guarantee protection safety.WhenAfter the completion of welding, safety protective mechanisms and laser welding apparatus form corollary system, are promptly and accurately identified by PLC control systemThe temperature and radiation intensity level of work station, guarantee personnel's entrance will not come to harm.
Certainly, those skilled in the art in the art are it should be appreciated that above-described embodiment is intended merely to illustrate this hairIt is bright, and be not used as limitation of the invention, if in spirit of the invention, to the variation of above-described embodiment,Modification will all be fallen within the scope of the claims.