Vision-guided laser flight welding apparatus

Abstract

The application relates to the technical field of vacuum cup production, in particular to a visual guidance laser flight welding equipment, which comprises the following: a visual system, which is used for acquiring image information of a welding seam area in real time and identifying welding seam features; a laser control system, which comprises a laser and a laser head and is used for generating and controlling the output of a welding laser beam and the movement of a focal point; a manipulator system, which is used for carrying and driving the laser head to move in a three-dimensional space; a conveying system, which is used for conveying workpieces to be welded; and a central control unit, which is respectively connected with the visual system, the laser control system and the manipulator system in signal connection. The application has the advantages that the visual system is used for identifying welding seam features in real time and guiding welding, a precise special fixture does not need to be designed for each cup type, the system can be quickly switched through a program to adapt to cup bodies with different diameters and heights, the types of molds, the inventory cost and the mold changing time are significantly reduced, and the flexible production demand of multiple varieties and small batches can be efficiently met.

Description

Technical Field

[0001] This application relates to the field of thermos cup manufacturing technology, and in particular to a vision-guided laser flight welding equipment. Background Technology

[0002] The welding of the mouth of existing metal insulated cups relies on tooling and fixture positioning equipment, which tends to be specialized. In actual production, problems such as the difficulty in adjusting slight deviations in the fit between the outer shell and the inner liner, the specialization and variety of molds, high mold wear, long mold changeover time, complex equipment structure, and large equipment footprint lead to low welding cycle time and unstable weld quality, affecting the product qualification rate. In a highly competitive market, there is a need for welding methods with higher flexibility, better stability, and higher efficiency to enhance competitiveness.

[0003] This application proposes a vision-guided laser flight welding device to address this issue. Summary of the Invention

[0004] The purpose of this application is to address at least one of the aforementioned technical deficiencies.

[0005] Therefore, one objective of this application is to provide a vision-guided laser flying welding device to solve the problems mentioned in the background art and overcome the shortcomings of the prior art.

[0006] To achieve the above objectives, one embodiment of this application provides a vision-guided laser flight welding equipment, comprising: a vision system for acquiring image information of the weld area in real time and identifying weld features; a laser control system including a laser and a laser head for generating and controlling the output and focal movement of a welding laser beam; a robotic arm system for carrying and driving the laser head to move in three-dimensional space; a conveying system for conveying the workpiece to be welded; and a central control unit, which is signal-connected to the vision system, the laser control system, and the robotic arm system, for receiving weld feature information identified by the vision system and synchronously controlling the motion trajectory of the robotic arm system, the focal movement trajectory of the laser control system, and the laser output parameters, so as to dynamically weld the workpiece during the coordinated movement of the robotic arm system and the conveying system.

[0007] Preferably, as described in any of the above embodiments, the laser control system further includes: a laser control cabinet, on which an optical fiber protection device is fixed, and the laser is fixed on the laser control cabinet; an electrical control box integrated on the laser control cabinet; a chiller fixed inside the laser control cabinet; and a weld seam camera, which is fixedly connected to the laser head.

[0008] Preferably, as described in any of the above embodiments, the robotic arm system includes: a base platform, disposed adjacent to the laser control cabinet; and a robotic arm, fixedly mounted on the base platform, wherein the movable end of the robotic arm is fixedly connected to a weld seam camera.

[0009] Preferably, as described in any of the above embodiments, the vision system includes: a vision processing system display screen, fixed to the laser control cabinet; and a connector, fixed to the end of the laser head.

[0010] Preferably, as described in any of the above embodiments, the vision system further includes: a camera lens, fixed to the connector; and a light source, fixed to the bottom of the connector.

[0011] Preferably, as described in any of the above embodiments, the conveying system includes: a frame, disposed adjacent to the laser control cabinet; a conveyor belt, fixed to the frame, wherein a drive roller is provided inside the conveyor belt; and a power unit, fixed to the frame, wherein the power unit is connected to the drive roller in a transmission manner.

[0012] Preferably, the power unit is a drive motor, as described in any of the above schemes.

[0013] Compared with the prior art, the advantages and beneficial effects of this application are as follows: 1. The system uses a vision system to identify weld features in real time and guide welding. There is no need to design precision special fixtures for each cup type. The system can quickly switch between cups of different diameters and heights through the program, which significantly reduces the types of molds, inventory costs and mold change time. It can efficiently meet the flexible production needs of multiple varieties and small batches.

[0014] 2. The sensing system can compensate for changes in weld position caused by workpiece assembly, slight deviations in incoming material dimensions, or thermal deformation, and achieve adaptive real-time tracking. Combined with the advantages of concentrated laser welding energy and precise and controllable heat input, it can ensure consistent weld penetration and aesthetically pleasing weld formation, significantly improving weld quality consistency and product qualification rate.

[0015] 3. The flying welding mode allows the workpiece to be welded during continuous transport, eliminating the frequent positioning, clamping, and start-stop time in traditional processes. Combined with a high-speed robotic arm and real-time synchronous control, it effectively shortens the welding cycle time of a single piece and improves the overall efficiency of the equipment.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1This is a perspective view of an embodiment of this application.

[0018] In the diagram: 101, Vision processing system display screen; 102, Light source; 103, Camera lens; 104, Connector; 2, Laser control cabinet; 201, Fiber optic protection device; 202, Electrical control box; 203, Laser; 204, Chiller; 205, Laser head; 206, Weld seam camera; 301, Base platform; 302, Robotic arm; 401, Frame; 402, Conveyor belt; 403, Power unit. Detailed Implementation

[0019] like Figure 1 As shown, a vision-guided laser flying welding equipment includes a vision system, a laser control system, a robotic arm system, a conveying system, and a central control unit (not shown).

[0020] Furthermore, the laser control system includes a laser 203 and a laser head 205, used to generate and control the output and focus movement of the welding laser beam; Also includes: A laser control cabinet 2, on which an optical fiber protection device 201 is fixed, and a laser 203 is fixed on the laser control cabinet 2; Electrical control box 202 is integrated into laser control cabinet 2; The chiller 204 is fixed inside the laser control cabinet 2. The chiller 204 is built into or closely integrated with the laser control cabinet 2 to provide circulating cooling for core heat-generating components such as the laser 203 and laser head 205, ensuring the system operates stably for a long time. The weld seam camera 206 is fixedly connected to the laser head 205. In order to realize the pre-identification of the weld seam in motion, the camera is fixedly mounted on the laser head 205 and extends a certain distance forward along the welding direction. It is used to quickly capture the initial image of the weld seam area before the welding point arrives, providing information for path prediction.

[0021] Furthermore, the robotic hand system is used to carry and move the laser head 205 in three-dimensional space, including: The base platform 301 is disposed adjacent to the laser control cabinet 2; The robotic arm 302 is fixed on the base platform 301, and the movable end of the robotic arm 302 is fixedly connected to the weld seam camera 206. The robotic arm 302 is a multi-joint, high-degree-of-freedom precision motion mechanism. Its end flange is directly fixedly connected to the mounting bracket of the laser head 205 and the weld seam camera 206. According to the instructions of the central control unit, the robotic arm 302 drives the laser head 205 to move along a preset or real-time corrected three-dimensional spatial trajectory, which is the key to realizing spatial synchronization in "flying welding".

[0022] Furthermore, the vision system is used to acquire image information of the weld area in real time and identify weld features, including: The vision processing system display screen 101 is fixed on the laser control cabinet 2; Connector 104 is fixed to the end of laser head 205; Also includes: The camera lens 103 is fixed to the connector 104; The light source 102 is fixed to the bottom of the connector 104; The camera lens 103 is a high-performance industrial camera, which is firmly mounted on the end of the laser head 205 via a rigid connector 104. The optical axis is usually arranged at a fixed angle or coaxially with the laser beam. The camera is used to perform real-time continuous imaging of the laser action point and the adjacent weld area during the welding process.

[0023] The light source 102 is fixed to the bottom or around the connector 104 to provide stable and uniform lighting for the shooting area, highlighting the contrast between the weld (such as bevel and butt joint) and the base material, and ensuring that clear images can be obtained in different workpiece surface conditions.

[0024] Furthermore, the conveying system is used to transport the workpiece to be welded, including: Rack 401 is located adjacent to laser control cabinet 2; A conveyor belt 402 is fixed on the frame 401. A drive roller is provided inside the conveyor belt 402. A cup 501 is conveyed on the conveyor belt 402. A power unit 403 is fixed on the frame 401, and the power unit 403 is connected to the drive roller. The power unit 403 is a drive motor, which is connected to the drive roller through a reducer, chain or synchronous belt. The drive motor receives speed commands from the central control unit and can achieve precise start-stop, speed adjustment and position synchronization to ensure that the workpiece conveying speed and welding speed are strictly matched.

[0025] Furthermore, the central control unit is integrated in the laser control cabinet 2 and is connected to the vision system, the laser control system and the robotic arm system respectively. It is used to receive the weld feature information identified by the vision system and synchronously control the motion trajectory of the robotic arm system, the focal motion trajectory of the laser control system and the laser output parameters, so as to perform dynamic welding on the workpiece during the coordinated movement of the robotic arm system and the conveying system.

[0026] A vision-guided laser flying welding device, the working principle of which is as follows: The cup body 501 to be welded is placed into the conveying system. After being conveyed to the welding position, the weld seam camera 206 captures the weld seam trajectory of the cup body 501 and converts it into multiple coordinate points according to the trajectory characteristics. These coordinate points are then sent to the robotic arm system. The robotic arm 302 drives the laser head 205 to move according to the trajectory coordinates to perform welding. After welding is completed, the cup body flows into the next process.

Claims

1. A vision-guided laser flying welding equipment, characterized in that: include: A vision system is used to acquire image information of the weld area in real time and identify weld features; A laser control system, including a laser and a laser head, is used to generate and control the output and focal movement of a welding laser beam; A robotic arm system is used to support and move the laser head in three-dimensional space; A conveyor system used to transport workpieces to be welded; The central control unit is connected to the vision system, the laser control system, and the robotic arm system respectively. It is used to receive the weld feature information identified by the vision system and synchronously control the motion trajectory of the robotic arm system, the focal motion trajectory of the laser control system, and the laser output parameters, so as to perform dynamic welding on the workpiece during the coordinated movement of the robotic arm system and the conveying system.

2. The vision-guided laser flying welding equipment according to claim 1, characterized in that: The laser control system also includes: A laser control cabinet, on which an optical fiber protection device is fixed, and the laser is fixed on the laser control cabinet; The electrical control box is integrated into the laser control cabinet; The chiller is fixed inside the laser control cabinet; A weld seam camera, which is fixedly connected to a laser head.

3. The vision-guided laser flight welding equipment according to claim 2, characterized in that: The robotic hand system includes: The base platform is arranged adjacent to the laser control cabinet; A robotic arm is fixed to the base platform, and the movable end of the robotic arm is fixedly connected to a weld seam camera.

4. The vision-guided laser flight welding equipment according to claim 2, characterized in that: The vision system includes: The vision processing system display screen is fixed on the laser control cabinet; Connector, fixed to the end of the laser head.

5. The vision-guided laser flying welding equipment according to claim 4, characterized in that: The vision system also includes: The camera lens is fixed to the connector. The light source is fixed to the bottom of the connector.

6. The vision-guided laser flight welding equipment according to claim 3, characterized in that: The transmission system includes: The rack is positioned adjacent to the laser control cabinet; A conveyor belt is fixed to the frame, and a drive roller is provided inside the conveyor belt; The power unit is fixed on the frame and is connected to the drive roller.

7. The vision-guided laser flight welding equipment according to claim 6, characterized in that: The power unit is a drive motor.

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