Joining device for joining components and method for teaching position-related process parameters of a joining process.

Abstract

The invention relates to a joining device for joining components (2) along a joining seam (1) and an associated method for teaching position-related process parameters (4) of the joining process. The joining device comprises a path-guided joining tool, a guide machine, a camera unit, and a computing unit with a user interface. During the joining process, image data of the emerging joining seam (1) is captured by the camera unit and processed into a panoramic image (3). Position-related process parameters (4), which are synchronized with the image data, are displayed as graphic elements in this panoramic image (3). Via the user interface, the displayed position-related process parameters (4) can be graphically adjusted at selected support points (4.1) along the seam path to perform position-accurate corrections.The invention enables precise, visually supported parameterization of process variables, especially in welding or brazing of components (2).

Description

[0001] The invention relates to a joining device and an associated method for teaching position-related process parameters during the joining of components with a joint. The invention is particularly directed towards the visual parameterization and correction of process and / or monitoring-relevant process data.

[0002] Joining components using path-guided tools is an established process in industrial manufacturing. Typical methods include welding with laser or arc sources and brazing. These processes require precise control of the joining tool along a defined path, taking into account various process- and quality-relevant parameters.

[0003] DE 10 2018 111 473 A1 discloses a method for determining the contour accuracy of a kinematic assembly. In this method, an end effector with a tool center point is moved along a predetermined target contour, while a sequence of individual images is recorded using an image acquisition device that moves with the kinematic assembly. In at least some of these individual images, the position of the tool center point is marked. The individual images are then combined to form a complete image, so that an actual contour can be determined based on the markings and compared with the target contour to identify deviations in the path movement.

[0004] DE 10 2011 103 282 A1 describes a method for monitoring the machining of a workpiece with a high-energy machining beam. During machining, an electronically evaluable image of an area of ​​the workpiece is recorded, in particular the interaction area between the machining beam and the workpiece. The recorded image data is evaluated to obtain information about the machining process and to enable monitoring of the machining, for example, with regard to the position or quality of the machining area.

[0005] DE 10 2012 216 928 A1 also discloses a method for monitoring a joining process in which image data of an area of ​​the joining point are captured and evaluated by means of a camera during the machining of a workpiece. The recorded image data are used to analyze the joining process, in particular to determine process characteristics and to assess the quality of the resulting joint.

[0006] DE 10 2017 102 762 A1 describes a method for detecting the joining positions of workpieces, in which images of a joining point are captured using a camera and measurement data for the joining positions are determined from this image data, which are assigned to the course of the joining point. From a portion of the determined measurement data, a model of the joining point course is then determined, which provides a measurement curve that can be used to control a joining process and / or to determine quality characteristics.

[0007] In known joining devices, the joining tool is moved along a predetermined path, which consists of a sequence of defined target positions. These positions specify at which points along the joining point certain process parameters must be maintained. Planning assumes that the joining point—that is, the current point where the joining process is actually taking place—is located precisely at the corresponding target position. In reality, however, this is not always the case.

[0008] In fact, various causes can lead to deviations between the target position and the actual position of the joining point. Such differences arise, among other things, from manufacturing tolerances of the components, thermally or mechanically induced displacements, deviations in the clamping concept, inaccuracies in the guide machine or tool kinematics, as well as from inaccurate sensor or system calibration. These deviations are often small, but can already lead to the originally intended process- or monitoring-relevant parameters no longer functioning or being recorded correctly.

[0009] Typically, position-related process parameters such as energy input, process speed, or the position of a monitoring window along the target path are programmed – that is, relative to the idealized target position of the joining point. If the actual position of the joining point differs from this, the planned values ​​do not correspond to the actual process conditions. This can lead to quality losses or monitoring errors. In practice, such deviations are addressed through repeated tests, tabular adjustments, and / or manual corrections, which is time-consuming and prone to errors. The existing parameterization tools are often not sufficiently intuitive or require additional steps to ensure process reliability.

[0010] The task is therefore to improve the handling and traceability of the parameterization and to design the definition of process-relevant parameters in such a way that it is simpler, safer and better controllable - regardless of the complexity of the joining process or the respective component variance.

[0011] This problem is solved by a joining device for joining components with the features of claim 1 and a method for teaching position-related process parameters according to claim 10. Advantageous embodiments of the invention are listed in claims 2 to 9.

[0012] According to the invention, the proposed joining device serves to join components that are connected by means of a joining seam formed after a locally limited joining point during the joining process. The joining seam is generated by means of a path-guided joining tool of the joining device.

[0013] The joining device comprises the joining tool and a guide machine for moving the joining tool along a target path defined by a sequence of target positions relative to the joining point. Each target position is assigned one or more position-related process variables for controlling and / or monitoring the joining process. Each of the position-related process variables contains process values ​​that are linked to its assigned target positions.

[0014] Within the scope of the invention, the term target position refers to a defined position along the target path, which is formed by a sequence of such target positions. The target path describes the planned movement of the joining tool relative to the component. It can result from the superposition of the movements of the guide machine, for example, a robot or a gantry, the movements of the joining tool, for example, the pivoting of a focused laser beam by means of a laser optic, or the movements of the component, for example, on a conveyor belt or on a linear or rotary axis.

[0015] The target positions are directly related to the joining point, which is defined as the current, geographically limited point where the joining process is taking place at any given moment – ​​for example, by applying heat, filler material, or force. The joining tool moves along the target path, so that the weld seam is gradually formed.

[0016] The position-related process variables within the meaning of the invention are each process- or monitoring-relevant variables that are defined location-dependently along the target path - for example, the movement speed of the guide device, a parameter of the relative movement between the joining tool and the components, the power of an energy-introducing unit of the joining tool, the Tool Center Point (TCP) of the joining tool, an operating point or the position of a monitoring window used for sensory monitoring of the joining seam.

[0017] Each of these position-related process variables is in turn linked to one or more process values. These process values ​​are, for example, numerical values ​​of process control parameters or position coordinate values ​​that describe the value of the process variable at the respective target position. For instance, the joining power at position X might be 1200 W, while at a later position Y it is increased to 1500 W. Alternatively, a monitoring window might be defined at specific coordinates at position X, which are then shifted accordingly at position Y.

[0018] The joining device further includes a camera unit for recording image data of the joining point, the follow-up phase of the joining point, and / or the lead-up phase of the joining point. The image data is in the form of a temporal sequence of individual images captured with time resolution during the joining process.

[0019] If the process values ​​of individual position-related process variables contain location information, this information can relate to both the path coordinate system and the image space of the camera unit. This applies in particular to process values ​​of process monitoring parameters, such as the position of a monitoring window.

[0020] A computing unit, which is also part of the joining device according to the invention, is coupled to the joining tool, the guide machine, and the camera unit via signal transmission. The computing unit is equipped with a user interface for interaction with a user.

[0021] The processing unit is configured to record and / or store position-related process variables along the target path with time resolution. This means that each target position and its associated process value is assigned a specific time value. The resulting time-parameterized representation of the target path is also referred to as the trajectory. The trajectory thus describes the time-dependent movement of the joining tool along the geometrically defined target path. While the target path represents a spatial path defined by a sequence of target positions along which the joining tool is to be guided, the trajectory additionally describes the temporal progression of this movement.From the time-resolved acquisition and / or storage of the position-related process variables, i.e., the time-resolved acquisition and / or storage of the target position and the associated process values, it follows that one of the process values ​​that is always recorded is the speed of the movement that the joining tool performs relative to the component at a specific target position.

[0022] Furthermore, the processing unit is configured to determine a defined number of support points from the position-related process variables. These support points characterize the temporal and spatial progression of a specific position-related process variable with respect to the assigned target positions and process values.

[0023] The determination of support points from the position-related process variables is performed by the dedicated processing unit based on the process values ​​recorded or stored along the target path. These position-related process variables are typically recorded continuously or at high resolution along the path. To make this data manageable and graphically editable for the user, discrete support points are selectively determined from the complete data set. These represent selected positions where a process value is particularly relevant, variable, or characteristic – for example, at curves, transitions, the beginnings, or the ends of process segments. The selection of support points can be performed automatically by the processing unit, based on criteria such as value changes, the geometric shape of the target path, or highly relevant process segments.Alternatively or additionally, an initial support point structure can also be taken from an existing programming specification or specified by the user.

[0024] The recorded image data is processed by the dedicated computing unit to create a panoramic image of the joining seam. For the purposes of the present invention, the term "panoramic image" refers to a composite visual representation formed from the image data of individual images continuously captured by the camera unit during the joining process, i.e., sequentially in time and in relation to the movement of the joining tool along the target path. Computer-aided processing of the image data from the individual images to create the panoramic image results in a continuous, high-resolution overall image that depicts the joining point and / or the resulting (actual) joining seam along its entire length.

[0025] The panoramic image doesn't just show the joining point at a single point, but spatially depicts it completely over a longer distance. This distinguishes it from classic snapshots or single images, which only show a section at a specific moment. In contrast, the panoramic image contains a continuous representation of the area where the joining has taken place or is to take place, allowing the user to visually oversee the entire processing line.

[0026] The panoramic image is synchronized with the position-related process variables using the dedicated processing unit and visualized via the user interface. The processing unit overlays location-specific graphic elements of the position-related process variables onto the panoramic image. The position of these elements is defined by the assignment of target positions to the position-related process variables; that is, each graphic element is displayed at a position directly related to its assigned target position. The support points, which represent selected points in the temporal and spatial progression of a specific position-related process variable, are displayed in the panoramic image via the user interface using highlighted graphic elements, also via the dedicated processing unit.The graphic elements of the displayed position-related process variables, including their support points, are preferably individually distinguishable for different position-related process variables, i.e., for example, different graphic elements that symbolize the position of monitoring windows, or graphic elements that illustrate performance parameters. According to the invention, the support points displayed as graphic elements can be graphically shifted in the panoramic image by means of the processing unit provided for this purpose, through user-assisted interaction via the user interface. Such a graphical shift of the support points displayed in the panoramic image is recorded by the processing unit provided for this purpose as a support point correction value.The position-related process variables are finally adjusted, i.e., taught, by means of the computing unit set up for this purpose through support point-based correction of the target positions assigned to the process variables on the basis of the support point correction values.

[0027] The inventive method for teaching position-related process parameters of a joining process for joining components using the path-guided joining tool is preferably carried out during and after an initial component joining process using the described joining device. The term "teaching," commonly used in robotics, refers here to the targeted learning or setting of process parameters. In the context of the invention, the term "initial component joining" means the first execution of the joining process on a component or component type, or a preliminary step in series production—that is, a test or trial operation. The joining process encompasses all process steps for creating the join seam. The inventive method is superimposed on this joining process.

[0028] The process data acquired during the joining process – in particular the position-related process parameters with their associated process values ​​– are initially recorded with time resolution, typically together with the control of the joining tool along the target path. In parallel, the camera unit captures – also with time resolution – a sequence of individual images, from which the panoramic image of the joining seam is generated through processing.

[0029] The synchronization of image data with position-related process parameters—based on their respective assigned time values—consists of assigning to each recorded individual image—or to each section of the resulting panoramic image—those process values ​​that were valid at the corresponding time at the respective target position along the path. This takes into account that the temporal sequence of image acquisition corresponds to the temporal recording of the position-related process data. This linkage results in a positionally accurate, spatially referenced representation of the process progression in the panoramic image.

[0030] Furthermore, the support points are highlighted. These represent discrete, selected points of the displayed position-related process variables. The support points are indicated by graphic elements as visual markers – for example, as points, lines, or vectors – in the panoramic image. They enable the user to specifically identify at which positions along the weld seam which process values ​​are planned or have been applied.

[0031] In the proposed method for teaching position-related process variables, the teaching of the position-related process variables is carried out with graphical support via the user interface according to the invention; it is therefore also referred to as graphical or graphically supported teaching.

[0032] In summary, the process proceeds as follows: First, the position-related process parameters are acquired and / or stored along a target path defined by target positions. A defined number of support points are determined from these position-related process parameters. During the movement of the joining tool, image data of the joining point, its trailing edge, and / or its leading edge are recorded as a temporal sequence of individual images. The panoramic image of the joining seam is created from this image data. This panoramic image is synchronized with the position-related process parameters. The panoramic image is visualized via the user interface; in addition, the position-specific graphic elements of the position-related process parameters are displayed in this panoramic image representation, with the support points of the position-related process parameters highlighted.The support points, which are displayed in the panoramic image as position-specifying graphic elements, are moved—if necessary—via user-assisted graphical interaction, i.e., by the user, to suitable positions relative to the weld seam visible in the panoramic image, specifically directly onto the weld seam visible in the panoramic image. This graphical movement of the displayed support points is recorded in the form of support point correction values. Finally, the position-related process parameters are adjusted by support point-based correction of the target positions based on the support point correction values.

[0033] These corrected position-related process parameters serve as a starting point for subsequent joining operations. If necessary, the procedure can be repeated on some of the subsequent joining operations for fine-tuning until the weld seam follows the desired path, for example, the joint between two components.

[0034] The overlay of support points in the panoramic image forms the basis for the graphically supported teaching of position-related process parameters. The user can visually verify whether the overlay of position-related process parameters, especially the support points—and thus the process values ​​assigned to them—is correctly aligned with the weld seam visible in the panoramic image. Deviations can be immediately identified and corrected by moving the overlaid support points within the panoramic image via the user interface. The corrections obtained in this way are recorded as support point correction values ​​and serve to adapt the position-related process parameters to the actual geometry of the joint.

[0035] This adjustment of the position-related process variables is based on the graphically shifted support points, each of which is assigned a correction value. For this purpose, the target position of the support point for the position-related process variable is modified by the support point correction value. The new or corrected position-related process variables thus contain the corrected target positions. The process value of the support point for the position-related process variable typically remains unchanged after this correction.

[0036] The correction of position-related process variables that lie between the support points can be carried out – if necessary – by interpolation, or is carried out by interpolation. In this process, the curve between two corrected support points is continuously adjusted based on the corrected target positions of the support points.

[0037] The particular advantage of the proposed technology lies in the ability to teach position-related process parameters along the target path with visual support and positional accuracy. The combination of image data acquisition and process data synchronization allows for the generation of a panoramic image of the joining seam, which shows the actual joining seam and visually represents the target spatial position of the joining point or a position linked to it. The panoramic image enables a uniform representation of the joining process over a longer distance. It thus forms the basis for evaluating and correcting the joining process. The user receives an intuitive, visual tool for assessing deviations between the actual and target positions of the joining seam path. The support point correction values ​​can be exported and imported into other systems, such as controllers, if required.

[0038] Furthermore, deviations between the actual and target positions of the weld seam can be corrected graphically by moving the displayed support points. Time-consuming correction methods, such as manual, table-based correction, are no longer necessary. The proposed interactive correction method is not only user-friendly but also reduces the potential for errors and the effort required for process adjustments.

[0039] By synchronizing the recorded image data with the position-related process parameters, continuous visual feedback is provided – both for each individual path point along the target path and for the entire trajectory of the joining tool. The trajectory, originally defined in the time domain, is transformed into spatial space by image processing and accurately mapped in the panoramic image. This makes it possible to visualize time-varying states of the path and the joining process together in a single, continuous image.

[0040] According to one embodiment of the invention, it is provided that not only individual support points, but also entire curve sequences, which represent the progression of position-related process variables defined by support points, can be graphically shifted. These are, in particular, contiguous graphic elements in the panoramic image that represent a continuous manifestation of a specific position-related process variable, such as the progression of the position of a monitoring window over the length of the weld seam.

[0041] Furthermore, the processing unit may be configured to adjust the coordinate origins of the panoramic image and the target path. Since image data acquisition and movement along the target path occur independently, a systematic shift between the image coordinate origin and the path coordinate origin can occur, particularly during initial parameterization or when process conditions change. To ensure precise synchronization of the content displayed in the panoramic image with the position-related process parameters defined along the target path, the processing unit is configured to allow for a shift or adjustment of the panoramic image's coordinate origin relative to the path. This can be performed manually by the user or automatically based on detected image features.A corrected coordinate reference serves as the basis for the projection-accurate display of target positions and associated graphic elements in the panoramic image.

[0042] In addition to the ability to move the image, the user interface can also provide further functions for the interactive editing of the graphic elements of the position-related process variables displayed in the panoramic image, especially with regard to the graphical selection and visualization of the support points.

[0043] The processing unit is designed to respond to user interface input in real time. The user can select individual support points directly in the panoramic image and move their position within the image space using a graphic pointer, a touch input device, or other interaction tools. For intuitive operation, it is preferable that the corresponding target position of each support point is visually highlighted or indicated with a position indicator during interaction.

[0044] Furthermore, it can be provided that when a support point is selected, the corresponding curve of the relevant position-related process variable is also displayed or visually highlighted, so that the relationship between the individual value and the curve's shape is immediately apparent to the user. This particularly supports the assessment of whether a correction should be made only locally or along a larger section.

[0045] The user interface can also provide additional information about the type of process variable, for example through different graphic symbols, colors or line types.

[0046] The process values ​​of position-related process variables can, for example, be process control parameters. These are process values ​​that are directly used to control the joining process, in particular to influence the movement, energy, or material supply parameters of the joining tool during the joining process. The position-related process variables comprise one or more control-relevant variables, each of which is assigned a corresponding process value at a target position along the target path. These process values ​​are therefore functional components of the control logic and serve to ensure the precise execution of the joining process depending on the respective position along the target path.

[0047] The process control parameters can include one or more of the following examples: These include the positions and / or orientations of the tool center point (TCP) of the joining tool, which control the precise guidance and spatial alignment of the joining tool along the target path. Process control parameters also include the movement speeds of the joining tool, the guide machine, and / or the components, enabling position-dependent adjustment of the movement speed along the joining point. Furthermore, the process control parameters can include power parameters of an energy-inputting unit of the joining tool, such as laser power or current, which are controlled depending on the respective target position, for example, to adapt the energy input to the component geometry.Furthermore, process control parameters can also include positions and / or feed speeds of filler materials supplied via a feed unit of the joining device.

[0048] The process values ​​of position-related process variables can be both process control parameters and process monitoring parameters. Process monitoring parameters are those process values ​​used for sensory acquisition, evaluation, or documentation of the joining process. A process monitoring parameter can simultaneously be a process control parameter if, for example, it is measured during the joining process. Process control parameters that are also monitored include, among others, the performance parameters of energy-inputting units.

[0049] According to a further embodiment of the invention, the joining device comprises a sensor module designed for the local acquisition of process-relevant information within a defined monitoring window in the vicinity of the joining point and / or in the period following the joining process. This defined monitoring window is also referred to as the monitoring area or "region of interest" (ROI). In this embodiment, the sensor module serves to acquire information during or after the joining process that is relevant for evaluating, controlling, or monitoring the joining process. This acquisition is specifically targeted within the monitoring window, which is defined as a spatially limited area in the vicinity of the joining point or in the period following the joining process.

[0050] The sensor module can, for example, include optical, thermal, or image-processing sensors, such as a camera unit, infrared sensors, a pyrometer, a line-based detection system, and / or an optical coherence tomography device. Depending on the specific design of the sensor module, various process-relevant information can be detected within the monitoring window. This includes, for example, geometric features of the weld seam, thermal properties such as temperature profiles, optical emissions from the joint, or structural deviations that indicate unstable seam formation.

[0051] The information resulting from the data acquisition is evaluated in relation to position. The process values ​​of the position-related process variables are designed to include positional data for this monitoring window. This positional data indicates the position of the monitoring window within the joining device relative to the joining point, along the target path. This positional data can be defined, for example, as a coordinate offset from the tool position or at a fixed distance from the target position of the joining point.

[0052] By capturing and storing the positional data of the monitoring window within the process values, the sensor module can be precisely deployed at those points in the joining process where monitoring is necessary. The acquisition of process-relevant information is location- and position-accurate, thus ensuring a precise link between process observation and path tracking.

[0053] Preferably, the joining device further comprises a lighting unit. This is designed for optimized illumination of the image acquisition area during image data recording by the camera unit. In this context, the image acquisition area refers to the area in which the camera unit acquires image data during the joining process – in particular, the joining point, the follow-up phase of the joining point, and / or the lead-up phase of the joining point.

[0054] The lighting unit is designed to ensure uniform, high-contrast, or precisely directed illumination in this area, thereby improving the image quality of the individual images captured by the camera unit. Optimized lighting serves, in particular, to improve the visibility of geometric features of the weld seam, the joint, the seam path, or the components in general. Depending on the design, the lighting unit can be arranged coaxially or laterally relative to the optical axis of the camera unit. It can also be switched on continuously or synchronously with image acquisition.

[0055] Integrating the lighting unit into the joining device ensures reliable image data recording even under challenging lighting conditions or on highly reflective surfaces. This improves the usability of individual images and enhances the quality of the resulting panoramic image of the weld seam. The lighting unit thus contributes to improved visualization and, consequently, to a more reliable execution of the process for teaching position-related process parameters.

[0056] When the joining device is equipped with a lighting unit, the processing unit can be configured to create the panoramic image of the joining seam based on image data with or without activated lighting. This means that the processing unit can process both image data acquired using the lighting unit integrated into the joining device and image data generated without additional lighting.

[0057] The joining device can be designed, among other things, as a welding or brazing device for welding or brazing components; that is, the joining device is functionally and structurally designed for the material-bonded joining of components through welding or brazing processes. The design as a welding or brazing device includes, in particular, the selection and integration of appropriate joining tools, energy input units, control and regulation technology, and, where applicable, feeding systems for filler materials.

[0058] As a welding device, the joining device is specifically designed to create a material-bonded connection between the components by means of thermal energy input, for example, using a laser beam, electric arc, or other suitable energy input methods. As a soldering device, it is accordingly designed to melt a solder material at the joint of the components by means of controlled heat input, in order to create a solid connection after solidification.

[0059] In addition to welding and soldering processes, this joining method can also be used for adhesive bonding, additive manufacturing processes or other processes in which a tool is guided by a guide machine and one or more process parameters need to be taught, optimized or adapted.

[0060] The methods of energy input – for example, through laser radiation or other electromagnetic radiation, through electric arcs or plasma, through electrical energy in general, or through other heat sources – can be applied to the various joining processes as required.

[0061] According to one embodiment of the invention, the joining tool is a laser processing optic for focusing and guiding a laser beam. The laser processing optic is an integral part of the joining tool and serves to introduce energy precisely into the joining area. This embodiment as a laser processing optic includes, in particular, optical components such as collimation and focusing optics as well as beam guidance elements, with the aid of which the laser beam is shaped, positioned, and directed according to the requirements of the joining process. The laser beam is focused such that the energy is concentrated at the joining point in order to initiate the joining process there—for example, by melting the component surfaces or a solder material.

[0062] Furthermore, the joining tool may be designed to supply an additional material in the form of an additional wire. Designing the joining tool to supply an additional wire allows for the targeted introduction of additional material into the joint area during the joining process. The additional wire is fed into the process either selectively or continuously to support the formation of the joint, fill gaps, or selectively influence the mechanical properties of the connection.

[0063] The filler wire is fed through appropriate mechanical or control integration within the joining tool. The wire feed can be controlled based on position-related process parameters such as movement speeds, performance data, or geometric position along the target path. The wire feed position and speed themselves constitute position-related process parameters. The movement of the joining tool along the target path defined by target positions enables precise positioning of the filler material at the joining point.

[0064] The feeding of filler wire can be used, for example, in both welding and brazing. In welding, the filler wire is typically melted to complete or strengthen the bond between the components. In brazing, the filler wire can be a solder material that is melted at the joint by applying appropriate heat. In both cases, the filler wire contributes to the shape of the joint and is positioned precisely using the joining tool.

[0065] In addition to additional wires as an additive material, the additive material can also be in powder, paste, or rod form, for example to create a bead of adhesive.

[0066] The invention is explained in more detail below with reference to exemplary embodiments and the drawings, wherein identical or similar features are provided with the same reference numerals; to this end, the drawings show: Fig. 1: A panoramic image of a weld seam with graphic overlay of position-related process parameters, Fig. 2: the creation of a panoramic image of a joint when joining components at a visually visible joint, Fig. 3: the creation of a panoramic image of a joint when joining components at an optically invisible joint, Fig. 4: the illustration of the graphical teaching of position-related process variables in the panoramic image, and Fig. 5: A panoramic image after the graphical teaching of position-related process variables.

[0067] In Fig. Figure 1 shows an example of a panoramic image 3 of a weld seam 1 between two components 2. The panoramic image 3 displays the course of one of the position-related process variables 4, i.e., the variable to be taught, in the form of position-specifying graphic elements. These graphic elements illustrate the spatial position at which the position-related process variable 4 acted during the production of the weld seam 1, according to the programming. The support points 4.1, or rather the graphic elements of the support points 4.1 within the graphical representation of the position-related process variable 4, can be moved graphically by the user via the user interface. This means, for example, that they are selected using a pointer tool in the screen display and moved to a position on the weld seam 1. The arrows symbolize this movement—and thus simultaneously the respective support point correction value 5.Through graphical interaction, such as dragging with a pointer device (mouse), the dashed line symbolizing the position-related process parameter 4 is to be aligned with the visually recognizable joining seam 1. The resulting support point correction values ​​5 can then be processed further by machine as output.

[0068] Fig. 2 and Fig. Figure 3 schematically illustrates how the panoramic image 3 is created. During the production of the joining seam 1, numerous individual images 3.1 are taken, from which image sections 3.2 are extracted and stitched together to form the panoramic image 3. These individual images 3.1, each showing the area of ​​the joining point 1.1 or the period following the joining point 1.1, are shown as examples. They are taken at five sequential, and in some cases not immediately adjacent, time points t0, t1, t2, t3, t4. The image section 3.2 (following the joining point 1.1) used from the respective individual images 3.1 to create the panoramic image 3 is indicated by the dashed lines and outlines.

[0069] Fig. 2 and Fig. Figure 3 shows a weld seam as a joining seam 1 between the two components 2. Also shown are typical effects that can occur during welding, namely a weld seam irregularity 7 in the form of a pore and two weld spatters 8. Fig. Figure 2 illustrates the joining of the two components 2 at a visible joint 6, while in Fig. Figure 3 illustrates the joining of the two components 2 at a non-visible joint 6 (for example, an overlap joint).

[0070] Fig. Figure 4 illustrates the graphical teaching of a position-related process variable 4 using the example of a welded joint produced by laser welding.

[0071] To produce the joining seam 1, i.e., a laser weld seam, between the two components 2 - see partial view. Fig. 4 (c) - a laser beam is guided along the joint 6. The weld seam 1 is formed during the process along the joint 6 in the wake of the joining point 1.1, i.e. the weld pool.

[0072] For quality assurance, the weld seam 1 is optically inspected during production in the trailing section of the joining point 1.1, i.e., behind the front of the emerging weld seam 1; a process known as optical inline process control. This is achieved using a sensor unit, for example, a camera, which is directed at an area of ​​the weld seam 1 that is in a defined spatial relationship to the joining point 1.1 (trailing behind it). This area of ​​the weld seam 1 forms the monitoring window for the optical inline process control. Within the monitoring window, position-related process variables 4 are recorded by the sensor unit. The positional data of the monitoring window itself also constitutes a position-related process variable 4, the process value of which is defined, for example, by the spatial offset to the joining point 1.1. (See partial view.) Fig. Figure 4(c), which shows a single image 3.1 created during the joining process, depicts the position of the monitoring window, which here symbolizes the position-related process parameter 4, positioned a defined distance behind the joining point 1.1. However, the monitoring window is not located on the joining seam 1 as intended, but rather offset to the side of the joining seam 1 due to discrepancies between the programming and the actual joining seam path. This discrepancy would lead to inaccuracies in the optical inline process control during serial production.

[0073] The correction of such positional inaccuracy by graphically supported teaching of a position-related process variable 4, namely here the position of the monitoring window, is illustrated in the partial view. Fig. 4 (b), which shows a section of the partial view Fig. 4 (a) shows panoramic image 3.

[0074] The partial view Fig. Figure 4(a) of panoramic image 3 illustrates the fact that, in reality, a weld seam 1 is usually never perfectly straight. This is due, among other things, to deviations between actual component geometries and the idealized assumptions made during initial programming. Such target / actual deviations, in turn, can lead to a pre-programmed monitoring window not always following the actual weld seam path. Therefore, in order to produce a flawlessly optically inspected weld seam 1 between the (to be welded) components 2, a first component joining (with test components) with the intended weld seam 1 is created. The formation of the weld seam 1 is recorded during this joining process, and a panoramic image 3 of the weld seam 1 is generated, showing a partial view. Fig. 4 (a) created.

[0075] Partial view Fig. 4 (b), i.e. the enlarged section from partial view Fig. Figure 4(a) illustrates the position of the monitoring window as a position-related process variable 4, as well as the dashed line and the dashed frame representing the window. One of the marked support points 4.1 in this diagram is located next to the weld seam 1; that is, the programmed path deviates from the actual path here. This deviation can be corrected by graphical teaching. The user can move the graphic element of support point 4.1 to the weld seam 1, which is visually recognizable in the panoramic image 3, via the user interface. The support point correction value 5 for support point 4.1 is determined from this movement of the graphic element. Furthermore, the path between the taught support points 4.1 is corrected by interpolation via the graphical movement of the graphic element of support point 4.1.

[0076] In a subsequent joining process, i.e., after correction of the course of the position-related process variable 4 based on the support point correction values ​​5, the monitoring window for optical inspection is then located in the correct position in the after-run of the joining point 1.1 and thus monitors the intended area (and not an area next to the joining seam 1).

[0077] Fig. Figure 5 shows a panoramic image 3 of a joining seam 1 between two components 2 after teaching the position-related process parameters 4. The process parameters 4 represented by the dashed circles symbolize, for example, the spot diameter of a laser spot or the laser power of a laser beam.

[0078] Regarding further details and embodiments of the proposed technology, reference is made to the German patent application with application number 10 2025 106 801.1, the contents of which are hereby incorporated into this patent application. Reference symbol list 1 Joining seam 1.1 Joint 2 components 3 panoramic image 3.1 Individual images 3.2 Image section 4 position-related process variables (graphical overlay in the panoramic image) 4.1 Support point (graphic overlay in the panorama image) 5 support point correction value (illustration in the panoramic image) 6. Joining joint 7 Weld irregularity 8 weld spatters

Claims

Joining device for joining components (2) by means of a path-guided joining tool through a joining seam (1) formed during the joining process in the trail of a locally limited joining point (1.1), wherein the joining device comprises: - the joining tool, - a guide machine for moving the joining tool along a target path defined by a sequence of target positions relative to the joining point (1.1), wherein each target position is assigned one or more position-related process variables (4) for controlling and / or monitoring the joining process, wherein each of the position-related process variables (4) includes process values ​​that are linked to its assigned target positions, - a camera unit for recording image data of the joining point (1.1), the trail of the joining point (1.1) and / or the lead-up of the joining point (1.1) in the form of a temporal sequence of time-resolved individual images (3) captured during the joining process.1) - a computing unit with a user interface for interaction with a user, linked to the joining tool, the guide machine and the camera unit via signal technology, wherein the computing unit is configured to: - acquire and / or store the position-related process variables (4) along the target path with time resolution, - determine a defined number of support points (4.1) from the position-related process variables (4), - process the recorded image data into a panoramic image (3) of the joining seam (1), - synchronize the panoramic image (3) with the position-related process variables (4), - visualize the panoramic image (3) via the user interface, - display position-specifying graphic elements of the position-related process variables (4) based on their assignment to the target positions of the target path, with a highlighted display of the support points (4.1) to display in the panoramic image (3), - to graphically perform a user-assisted displacement of the position-specifying graphic elements of the displayed support points (4.1) via the user interface in the panoramic image (3), - to record a user-assisted graphical displacement of the position-specifying graphic elements of the displayed support points (4.1) in the form of support point correction values ​​(5), and - to adjust the position-related process variables (4) by support point-based correction of the target positions assigned to the position-related process variables (4) on the basis of the support point correction values ​​(5). Joining device according to claim 1, characterized in that the process values ​​of the position-related process variables (4) are process control parameters and / or process monitoring parameters. Joining device according to claim 2, characterized in that the process control parameters optionally comprise one or more of the following quantities: - positions and / or orientations of a tool center point of the joining tool, - movement speeds of the joining tool, the guide machine and / or the components, - power parameters of an energy-supplying unit of the joining tool, - positions and / or feed speeds of filler materials supplied via a feed unit of the joining device. Joining device according to one of claims 1 to 3, characterized in that the joining device comprises a sensor module which is set up for the local acquisition of process-relevant information within a defined monitoring window in the area of ​​the joining point (1.1) and / or in the after-run of the joining point (1.1), wherein the process values ​​of the position-related process variables (4) comprise position data of this monitoring window. Joining device according to one of claims 1 to 4, characterized in that the joining device further comprises a lighting unit for optimized illumination of the image capture area during image data recording by means of the camera unit. Joining device according to claim 5, characterized in that the computing unit is configured to create the panoramic image (3) of the joining seam (1) based on the image data with or without activated lighting. Joining device according to one of claims 1 to 6, characterized in that the joining device is designed as a welding device or soldering device for welding or soldering the components (2). Joining device according to one of claims 1 to 7, characterized in that the joining tool is a laser processing optic for focusing and guiding a laser beam onto the joining point (1.1). Joining device according to one of claims 1 to 8, characterized in that the joining tool is designed for the supply of an additional material in the form of an additional wire, a rod, a powder or a paste. Method for teaching position-related process variables (4) of a joining process for joining components (2) using a path-guided joining tool, characterized in that the method is carried out during and after an initial component joining using a joining device according to one of claims 1 to 9, wherein the method comprises the following steps: - Acquiring and / or storing the position-related process variables (4) along a target path defined by target positions relative to the joining point (1.1), - Determining a defined number of support points (4.1) from the position-related process variables (4), - Recording image data of the joining point (1.1), the follow-up of the joining point (1.1) and / or the lead-up of the joining point (1.1) in the form of a temporal sequence of individual images (3.1) during the movement of the joining tool,- processing the image data into a panoramic image (3) of the joining seam (1),- synchronizing the panoramic image (3) with the position-related process variables (4),- visualizing the panoramic image (3),- displaying position-specifying graphic elements of the position-related process variables (4) into the panoramic image (3), whereby the position-specifying graphic elements of the support points (4.1) are highlighted,- user-assisted graphical movement of the support points (4.1) displayed in the panoramic image (3) in the form of graphic elements to a position in relation to the recognizable joining seam (1) via the user interface of the joining device,- capturing the graphical movement as support point correction values ​​(5),- adjusting the position-related process variables (4) by support point-based correction of the target positions based on the support point correction values ​​(5).

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