Coaxial visual guiding device for galvanometer flying welding
By using line scanning mechanisms and filters in the coaxial visual guide device of galvanometer flight welding, accurate scanning and welding of large-size and complex weld products is achieved, solving the problems of welding accuracy and efficiency in traditional technology, and improving welding accuracy and efficiency.
Patent Information
- Application Number
- CN202421885397.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-06
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-08-06
AI Technical Summary
When traditional laser welding technology deals with products with large size and complex welds, it is difficult to achieve accurate positioning at one time, resulting in low welding accuracy and efficiency. The weight and volume of the surface array camera are large, which affects the movement speed and accuracy of the welding device.
A coaxial visual guide device for galvanometer flight welding is designed. Through the combination of the line scanning mechanism and the filter, the accurate alignment of the line scanning image information and the position to be welded of the welding mechanism is achieved, avoiding multiple alignment steps and improving working efficiency.
Accurate scanning and welding of large-size and complex weld products is achieved, welding accuracy and efficiency are improved, the volume and weight of the welding device are reduced, and the movement speed and stability of the welding device are enhanced.
Smart Images
Figure CN222902946U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of laser processing, and particularly relates to a coaxial vision guiding device for galvanometer flying welding. Background Art
[0002] With the rapid progress of society and the high-speed development of economy, as an important driving force to support the efficient development of society, high-end manufacturing has also developed rapidly in recent years. The laser welding technology, with its non-contact and high welding efficiency characteristics, is widely used in various fields of high-end manufacturing.
[0003] In traditional laser welding, the galvanometer is driven by a robot for processing, and recognition and welding are carried out alternately, resulting in a large amount of welding waiting time and reciprocating movement of the mechanism. Moreover, in the prior art, an area array camera is used to collect the image information of the base material. For products with large sizes and complex weld seams, it is often impossible to accurately locate them at one time, and multiple shots need to be taken and fused before analysis. The application object is limited, and at the same time, the accuracy is difficult to guarantee. Meanwhile, the weight and volume of the area array camera are relatively large, which will not only increase the volume of the welding device, but also cause the welding device to move at a relatively low speed when the load is too heavy, affecting the welding accuracy and reducing the welding efficiency. Summary of the Utility Model
[0004] In view of one or more of the above defects or improvement requirements of the prior art, the utility model provides a coaxial vision guiding device for galvanometer flying welding, which can adapt to base materials with large sizes and complex welding surfaces. It can not only accurately scan the base material to be welded at one time, but also ensure that the line scan camera can accurately collect the line scan image information in the area to be welded by the welding mechanism, realize the accurate alignment of the line scan image information with the position to be welded by the welding mechanism in the future, thereby avoiding the alignment step of the line scan image information with the area to be welded of the base material again, and then improving the working efficiency.
[0005] To achieve the above object, the utility model provides a coaxial vision guiding device for galvanometer flying welding, which is arranged on one side of the welding mechanism, and the welding mechanism includes a driving member and a welding member. The welding member is arranged on the moving end of the driving member, and the welding member is spaced on one side of the base material; the guiding device includes:
[0006] A line scan mechanism, which is arranged on one side of the welding member, and part of the image acquisition optical path of the line scan mechanism is coaxial with the welding optical path of the welding member, and is used for collecting the line scan image information in the area to be welded of the base material;
[0007] And the line scanning mechanism includes a filter, which is obliquely embedded in the welding optical path, used to reflect the light of the area to be welded on the base material and transmit the welding laser of the welding machine mechanism.
[0008] As a further preference of the present utility model, the welding mechanism further includes a mounting plate, the position of the mounting plate is fixed, and the driving mechanism is fixed on the mounting plate.
[0009] As a further preference of the present utility model, the line scanning mechanism includes a focusing ring, and the foci of the welding member and the line scanning camera are both focused on the base material.
[0010] As a further preference of the present utility model, the included angle between the filter and the welding optical path is 45 degrees.
[0011] As a further preference of the present utility model, the line scanning mechanism further includes a line scanning camera and at least one reflector. The line scanning camera is fixedly installed in parallel on one side of the welding member, and each reflector is fixed on one side of the filter, used to reflect the light of the area to be welded on the base material to the line scanning camera.
[0012] As a further preference of the present utility model, the welding mechanism further includes an air knife member, the air knife member is fixed on the welding member, and the air knife member is provided with an air blowing port facing the base material.
[0013] As a further preference of the present utility model, the welding mechanism further includes a supplementary lighting member, the supplementary lighting member is arranged on the side of the welding member facing the base material, and the light emitting end of the supplementary lighting member faces the base material.
[0014] As a further preference of the present utility model, the supplementary lighting member is a uniform light source, a pulsed light source or a stroboscopic light source.
[0015] As a further preference of the present utility model, the driving member is a multi-axis motion member or a robotic arm.
[0016] As a further preference of the present utility model, the welding member is a welding galvanometer.
[0017] Generally speaking, compared with the prior art through the above technical solutions conceived by the present utility model, the beneficial effects include:
[0018] (1)The coaxial vision guiding device for galvanometer flying welding of the present utility model, the guiding device is arranged on one side of the welding mechanism. The welding mechanism includes a driving member and a welding member. The welding member is arranged on the moving end of the driving member, and the welding members are spaced on one side of the base material. The guiding device includes a line scanning mechanism. Part of the image acquisition optical path of the line scanning mechanism is coaxial with the welding optical path of the welding member. The line scanning mechanism includes a filter. The filter is inclined and embedded in the welding optical path for reflecting the light of the area to be welded on the base material and transmitting the welding laser of the welding machine mechanism. This guiding device can ensure that the line scanning camera can accurately collect the line scanning image information in the area to be welded by the welding mechanism, realize the accurate alignment of the line scanning image information with the position to be welded of the welding mechanism, and further avoid the alignment step of the line scanning image information with the area to be welded on the base material again.
[0019] (2)The coaxial vision guiding device for galvanometer flying welding of the present utility model, above the top surface of the base material, it includes an air knife member with an air blowing port and an air knife bracket facing the base material, which removes pollutants such as flying chips or dust generated by the welding member during the welding process of the base material, so as to ensure that the line scanning camera can accurately collect the line scanning image information of the base material in the area to be welded in real time, and further improve the accuracy of guiding the welding of the base material.
[0020] (3)The coaxial vision guiding device for galvanometer flying welding of the present utility model has stable operation, accurate guiding, high working efficiency and good compatibility. By adopting the welding optical path of the welding member and part of the image acquisition optical path of the line scanning camera to be coaxial, and combining with the line scanning camera fixedly installed on the welding member, the welding member and the line scanning camera can be synchronously focused on the base material, and the centers of their working areas overlap, realizing the accurate alignment of the line scanning image information with the area to be welded on the base material that the welding mechanism will weld next, reducing the compensation steps in the process of generating the trajectory from the image information collected by the conventional area array camera, and improving the guiding efficiency of the welding of the base material. At the same time, it can also avoid the problems of multiple shootings and image stitching existing in the use of area array cameras, providing efficient and accurate guidance for the subsequent welding work, not only improving the accuracy of the welding work, but also significantly improving the working efficiency of the welding of the base material, and having good popularization value and application prospect. Description of the Drawings
[0021] Figure 1 is the overall structural schematic diagram of the coaxial vision guiding device for galvanometer flying welding in the embodiment of the present utility model;
[0022] Figure 2 is the optical path structural schematic diagram of the coaxial vision guiding device for galvanometer flying welding in the embodiment of the present utility model.
[0023] In all the drawings, the same reference numerals represent the same technical features, specifically:
[0024] 1. Welding component; 2. Line-scan camera; 3. Reflector; 4. Filter; 5. Mounting plate; 6. Air knife bracket; 7. Air outlet; 8. Supplementary lighting component; 9. Base material; 10. Image acquisition optical path; 11. Welding optical path. Specific implementation manner
[0025] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the following further details the present utility model in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. In addition, the technical features involved in the various implementation manners of the present utility model described below can be combined with each other as long as they do not conflict with each other.
[0026] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present utility model.
[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.
[0028] In the present utility model, unless otherwise clearly specified and limited, the terms "mount", "connect", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0029] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.
[0030] Embodiment:
[0031] Please refer to Figures 1-2 , the coaxial vision guiding device for galvanometer flying welding in the preferred embodiment of the present utility model can ensure that the line scan camera 2 can accurately collect the line scan image information within the area to be welded by the welding mechanism, realize the accurate alignment of the line scan image information with the position to be welded by the welding mechanism next, thereby avoiding the alignment step of the line scan image information with the area to be welded of the base material 9 again, and then improving the working efficiency.
[0032] Specifically, as Figures 1-2 described, in the preferred embodiment of the present application, the coaxial vision guiding device for galvanometer flying welding is arranged on one side of the welding mechanism. At the same time, the welding mechanism includes a driving member and a welding member 1, and the welding member 1 is arranged on the moving end of the driving member. Correspondingly, the welding member 1 is arranged at intervals on one side of the base material 9. Preferably, the welding member 1 is arranged above the top of the base material 9 so as to drive the welding member 1 to move through the moving end, and then enable the welding member 1 to accurately weld the corresponding position on the base material 9.
[0033] The line scan mechanism is arranged on one side of the welding member 1 to facilitate accurately collecting the information of the base material 9 in the area to be welded by the welding mechanism. Part of the image acquisition optical path 10 of the line scan mechanism and the welding optical path 11 of the welding member 1 are coaxial. During actual use, by adopting the coaxial arrangement of the image acquisition optical path 10 and the welding optical path 11, and matching the synchronous movement between the line scan mechanism and the welding member 1, the line scan mechanism can accurately scan the area of the base material 9 to be welded. Preferably, the welding member 1 is a welding galvanometer.
[0034] Furthermore, the line scanning mechanism includes a filter 4, which is obliquely embedded in the welding optical path 11. During actual use, after the laser beam penetrates the filter 4 along the welding optical path 11, it directly acts on the base material 9, ensuring that the laser can accurately weld the base material 9. At the same time, the light on the base material 9 is emitted along the image acquisition optical path 10 opposite to the welding direction to the filter 4, and then the light on the base material 9 is reflected by the obliquely arranged filter mirror into the line scanning mechanism. Furthermore, on the basis of ensuring partial coaxiality of the welding optical path 11 and the image acquisition optical path 10, it can also ensure that the line scanning mechanism accurately obtains the line scanning image information within the welding area. Preferably, the included angle between the filter 4 and the welding optical path 11 is 90 degrees.
[0035] It should be noted that in the preferred embodiment of the present application, the direction perpendicular to or plumb to the horizontal plane is the Z-axis direction. In the horizontal plane, the extending direction of the base material 9 is the X-axis direction, and the direction perpendicular to the X-axis in the horizontal plane is the Y-axis direction.
[0036] Furthermore, in the preferred embodiment of the present application, the welding mechanism further includes a mounting plate 5, and the position of the mounting plate 5 is fixed, and the driving mechanism is fixedly installed on the mounting plate 5. Preferably, the mounting plate 5 is arranged vertically and is arranged on one side of the base material 9. Preferably, below the bottom end surface of the mounting plate 5, a horizontally arranged support platform is provided at intervals, and the support platform is arranged below the welding mechanism to facilitate providing a stable and reliable support platform for welding the base material 9.
[0037] Further preferably, in the preferred embodiment of the present application, the line scanning mechanism further includes a focusing ring for adjusting the focal position of the line scanning mechanism, so that the focus of the line scanning mechanism is stably focused on the base material 9.
[0038] Furthermore, in the preferred embodiment of the present application, the line scanning mechanism further includes a line scanning camera 2 and at least one reflector 3. The line scanning camera 2 is parallel to the welding member 1 and is arranged on one side of the welding member 1, thereby reducing the space occupied by the welding device. Preferably, a connecting plate is provided on the outer shell of the welding member 1. One end of the connecting plate is fixed to the outer shell of the welding member, and the other end of the connecting plate is provided with a line scanning camera 2 parallel to the welding member 1. Each reflector 3 is arranged on one side of the filter 4, and the light of the base material 9 reflected from the filter 4 is re-reflected through each reflector 3 to form a complete image acquisition optical path 10 for the light of the base material 9 to be reflected to the line scanning camera 2, so that the line scanning camera 2 can accurately obtain the line scanning image information of the area to be welded on the base material 9.
[0039] Further preferably, in the preferred embodiment of the present application, the line scanning mechanism only includes a reflector 3. An image acquisition end is provided on the bottom end surface of the line scanning camera 2. Correspondingly, the reflector 3 is spaced directly below the image acquisition end. At the same time, the reflector 3 can receive the light of the area to be welded of the base material 9 reflected by the filter 4 and reflect the light of the area to be welded of the base material 9 onto the image acquisition end of the line scanning camera 2.
[0040] Preferably, the reflector 3 is parallel to the welding filter 4. Further preferably, the angle between the reflector 3 and the vertical direction is degrees. Further preferably, the reflector 3 and the filter 4 are at the same vertical height, and the reflector 3 faces the filter 4.
[0041] More specifically, in the preferred embodiment of the present application, the filter 4 is arranged inside the housing of the welding member 1. Correspondingly, a light channel is provided on the housing of the welding member 1 that penetrates the side wall surface of the housing in the horizontal direction. Thus, the light in the area to be welded of the base material 9 can pass through the light channel and be emitted onto the reflector 3 after being reflected by the filter 4. And after the light of the area to be welded of the base material 9 is reflected by the reflector 3, it enters the image acquisition end of the line scanning camera 2, so as to facilitate the accurate acquisition of the light in the area to be welded of the base material 9 by the line scanning mechanism.
[0042] Further, in the preferred embodiment of the present application, the driving member is arranged between the mounting plate 5 and the outer shell of the welding member 1. Specifically, the driving member is a multi-axis motion member, which includes an X-axis motion component, a Y-axis motion component, and a Z-axis motion component. Among them, the X-axis motion component is arranged along the X-axis direction, and an X-axis motion end that can reciprocate along the X-axis direction is provided on the X-axis motion component. The Y-axis motion component extends along the Y-axis direction and is fixedly installed on the X-axis motion end, and a Y-axis motion end that can reciprocate along the Y-axis is installed on the Y-axis motion component. The Z-axis motion component extends along the Z direction and is fixed on the Y-axis motion end, and a Z-axis motion end that can reciprocate along the Z-axis direction is provided on the Z-axis motion component. Correspondingly, the outer shell of the welding member 1 is fixed on the Z-axis motion end, so that the welding member 1 can be flexibly adjusted in its spatial position under the drive of the driving member.
[0043] Preferably, the X-axis motion component, the Y-axis motion component, and the Z-axis motion component all adopt lead screws driven by stepper motors.
[0044] Further preferably, position monitoring sensors are provided corresponding to the X-axis motion component, the Y motion component, and the Z-axis motion component, for real-time monitoring of the motion position of the welding member, so as to improve the accuracy of welding the base material 9 by the welding member 1.
[0045] Of course, the motion form of the welding mechanism is not limited to the above structural form. In another preferred embodiment of the present application, the welding member 1 is fixed on the robotic arm, that is, the driving member is the robotic arm, and the spatial position of the welding member 1 is adjusted through the robotic arm.
[0046] Further preferably, the welding mechanism further includes an air knife member. The air knife member is fixed on the welding member 1, and an air blowing port 7 facing the base material 9 is provided on the air knife member for continuously blowing air flow to the welding area of the base material 9. Preferably, the air knife member includes an air knife bracket 6. One end of the air knife bracket 6 is fixed on the welding member 1, and the other end extends in the vertical direction until it is close to the base material 9. And, on the end of the air knife bracket 6 facing away from the welding member 1, an air blowing port 7 is provided, and the air blowing port 7 is arranged at an interval from the top surface of the base material 9. Further preferably, a ventilation duct is provided on the air knife bracket 6. One end of the ventilation duct is connected to the air blowing port 7, and the other end of the ventilation duct communicates with an air source. Preferably, the air source is a compressor.
[0047] Furthermore, in a preferred embodiment of the present application, the welding mechanism further includes a supplementary lighting member 8. The supplementary lighting member 8 is arranged on the side of the welding member 1 facing the base material 9, and the light emitting end of the supplementary lighting member 8 faces the base material 9, so that the line scan camera 2 can continuously and accurately obtain the light of the area to be welded on the base material 9.
[0048] Further preferably, in a preferred embodiment of the present application, the supplementary lighting member 8 is an annular supplementary lighting frame. The center of the annular supplementary lighting frame is vertically below the center of the filter 4. Correspondingly, an annular light strip is provided above the bottom end surface of the annular supplementary lighting frame to form the light emitting end of the annular supplementary lighting, so as to realize stable supplementary lighting of the surface of the base material 9.
[0049] More specifically, in a preferred embodiment of the present application, the supplementary lighting member 8 is a uniform light source, a pulsed light source or a flash screen light source.
[0050] Further preferably, in a preferred embodiment of the present application, for the adjustment of the positions of the line scan mechanism and the welding member 1, according to the position of the support platform on the mounting plate 5 and the height of the base material 9, the position of the welding member 1 is adjusted by adjusting the driving member including the Z-axis motion component. At the same time, since the welding member 1 and the line scan mechanism are fixedly connected, the positions of the line scan mechanism and the welding member 1 can be adjusted synchronously. Then, combined with the focusing ring provided on the line scan mechanism, both the line scan camera 2 and the welding member 1 can be focused on the base material 9. During the subsequent welding process, the movement of the welding mechanism member can be determined by simply controlling the movement of the X-axis motion component and the Y-axis motion component, so that the welding member 1 can complete accurate welding of the base material 9.
[0051] The coaxial vision guiding device for galvanometer flying welding in the present utility model has stable operation, accurate guiding, high working efficiency and good compatibility. By making the welding optical path 11 of the welding member 1 and part of the image acquisition optical path 10 of the line scan camera 2 coaxial, and fixedly installing the line scan camera 2 on the welding member 1, the welding member 1 and the line scan camera 2 can be synchronously focused on the base material 9, and the centers of their working areas overlap, realizing the accurate alignment of the line scan image information with the area to be welded of the base material 9 to be welded by the welding mechanism next, reducing the compensation steps in the process of generating the trajectory from the image information collected by the conventional area array camera, and improving the guiding efficiency for welding the base material 9. At the same time, it can also avoid the problems of multiple shootings and image stitching existing in the use of area array cameras, providing efficient and accurate guiding for the subsequent welding work, not only improving the accuracy of the welding work, but also significantly improving the working efficiency of welding the base material 9, and having good popularization value and application prospect.
[0052] It is easy for those skilled in the art to understand that the above are only the preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.
Claims
1. A coaxial visual guidance device for galvanometer flying welding, which is arranged on one side of a welding mechanism, and the welding mechanism includes a driving component and a welding component, the welding component is arranged on the moving end of the driving component, and the welding component is arranged at intervals on one side of a parent material; characterized in that, The guide device includes: A line scanning mechanism, wherein the line scanning mechanism is arranged on one side of the welding component, and a part of the image acquisition optical path of the line scanning mechanism is coaxial with the welding optical path of the welding component, and is used to collect line scanning image information in the area to be welded of the parent material; The line scanning mechanism includes a filter, which is obliquely embedded in the welding light path and is used to reflect the light from the area to be welded of the parent material and transmit the welding laser of the welding mechanism.
2. The coaxial visual guidance device for galvanometer flying welding according to claim 1, wherein: The welding mechanism further comprises a mounting plate, the mounting plate is fixed in position, and the driving member is fixed on the mounting plate.
3. The coaxial visual guidance device for galvanometer flying welding according to claim 2, wherein: The line scanning mechanism comprises a focusing ring, and the focal points of the welding component and the line scanning mechanism are both focused on the parent material.
4. The coaxial visual guidance device for galvanometer flying welding according to any one of claims 1 to 3, wherein: The angle between the filter and the welding light path is 45 degrees.
5. The coaxial visual guidance device for galvanometer flying welding according to claim 4, wherein: The line scanning mechanism also includes a line scanning camera and at least one reflector. The line scanning camera is fixedly installed in parallel on one side of the welding component. Each of the reflectors is fixed on one side of the filter to reflect the light from the area to be welded of the base material to the line scanning camera.
6. The coaxial visual guidance device for galvanometer flying welding according to any one of claims 1 to 3, wherein: The welding mechanism further comprises an air knife component, wherein the air knife component is fixed on the welding component and is provided with an air blowing port facing the parent material.
7. The coaxial visual guidance device for galvanometer flying welding according to any one of claims 1 to 3, wherein: The welding mechanism further comprises a fill-light component, which is arranged on a side of the welding component facing the base material, and a light-emitting end of the fill-light component faces the base material.
8. The coaxial visual guidance device for galvanometer flying welding according to claim 7, wherein: The supplementary light component is a uniform light source, a pulse light source or a stroboscopic light source.
9. The coaxial visual guidance device for galvanometer flying welding according to any one of claims 1 to 3, wherein: The driving component is a multi-axis motion component or a robotic arm.
10. The coaxial visual guidance device for galvanometer flying welding according to any one of claims 1 to 3, wherein: The welding component is a welding galvanometer.