CN100442100C - Circular laser trace realizing method based on object lens rotation - Google Patents
Circular laser trace realizing method based on object lens rotation Download PDFInfo
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- CN100442100C CN100442100C CNB2005100277246A CN200510027724A CN100442100C CN 100442100 C CN100442100 C CN 100442100C CN B2005100277246 A CNB2005100277246 A CN B2005100277246A CN 200510027724 A CN200510027724 A CN 200510027724A CN 100442100 C CN100442100 C CN 100442100C
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- relay lens
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Abstract
The present invention relates to an annular laser trace realizing method based on object lens rotation in the field of welding sensing technology, which uses a rotary lens to combine and eliminate aberration. A driving motor is fixed to a laser diode, and distance between mounting centers is half of the diameter of a circular ring trace needing to be acquired and is equal to the distance between the driving motor and a primary optical axis of the rotary lens. The motor drives the lens to rotate, and incident laser transmitted by the laser diode scans to generate an annular laser trace on the surface of a welding piece at the focal distance of the lens through the function of the rotary lens. The present invention avoids the light splitting function of structured light, the annular laser trace has the advantages of good definition and high precision, and spherical aberration is eliminated in the manufacturing process of the lens. The present invention is not only suitable for the positioning of welding seams, the shape measurement of the welding pieces, the tracking of the welding seams and the measurement of the depth and the width of the seams.
Description
Technical field
The present invention relates to a kind of laser trace implementation method of welding field of sensing technologies, particularly a kind of circular laser trace implementation method based on the object lens rotation.
Background technology
Characteristics such as the intellectuality that robot and sensor technology had, flexibility and informationization will make it become in the 21st century industry manufacture field one of the most potential advanced machining technology.In intelligent welding process, guarantee that the continuity of welded structure quality and quality is the problem that welding robot system faces.Rigging error, welding stress and distortion can both cause the deviation between position while welding and the robot predetermined location.And robot itself can't this deviation of autonomous classification variation.Usually need to use soldered sensor to send the positional information and the deviation information of weld seam to robot, adjust path of welding in real time.So the Intelligence of Sensors degree directly determines the development prospect of intelligent robotization.The loop laser sensor that detects based on active light can improve traditional point-like or linear laser vision sensor quantity of information is few; Explain fuzzy; Tracking accuracy difference and only can one dimension or problem such as two-dimensional directional tracking.The optical scanning method is generally the method for object lens in conjunction with scanning reflection mirror, mainly contains before the object lens scanning system, object lens scanning system after the scanning system and object lens.If object lens rotate around the central axis of parallel beam, parallel beam is a certain value apart from objective lens optical axis, behind the strict aberration correction of object lens, parallel beam necessarily focuses on the plane optical axis by object lens, then parallel beam scans the circle of certain radius on focal plane of lens, when adjust objective lens optical axis and parallel rays axis spacing from the time, can obtain the scanning annulus of any radius, this method principle is simple, but owing to need direct motor drive object lens rotations, exist the motor center to overlap and be difficult to overcome the space and assemble an overlapping difficult problem with the lasing light emitter central shaft; Scanning system is the system that plane of reflection mirror is placed object lens the place ahead before the object lens, and scanning imagery is a plane, can obtain good scan image, but needs strictly to put and the off-axis point aberration on the axis calibration; Scanning system is the scanning system that scanning reflection mirror is positioned at the object lens rear behind the object lens, and scanning objective only requires that the some aberration gets final product on the axis calibration, yet the scanning image planes are a curved surface, is unfavorable for that image receives and conversion.
Find that through literature search " Tsing-Hua University's journal " 1997 the 8th phase P29-31 pages or leaves have been published " a kind of research of three-dimensional ray machine scanning system " literary composition, propose a kind of annular ray machine scanning system that is used for weld seam location and weld joint tracking in the literary composition prior art.Its implementation optical texture complexity, form by semiconductor light sources, two infrared transmitting tubes and photosensitive device etc., and need to obtain simulating signal through the secondary opto-electronic conversion, the rotation of semiconductor light sources is that drive stepping motor drives realization by gear pair, and precision is low, shuttle-scanning speed descends, mechanical vibration are big.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, proposes a kind of implementation method of the circular laser trace based on object lens rotations.Make its difficult problem of having avoided traditional scanning system lasing light emitter and motor space fit on, be not only applicable to weld seam location, weldment shape measure and and weld joint tracking, also be applicable to the degree of depth and the width measure of seam.
The present invention is achieved by the following technical solutions, the present invention utilizes relay lens in conjunction with eliminating aberration, drive motor and laser diode are fixed, and the distance between the main shaft of drive motor and the main shaft of laser diode is half of the annulus track diameter that need to obtain, equal drive motor to the distance between the relay lens primary optical axis, drive motor drives the lens rotation, the incident laser of laser diode emission is through after the effect of relay lens, and the weldment surface scan at focal length of lens place goes out circular laser trace; Described relay lens is a kind of positive and negative compound lens, and the scioptics manufacturing technology is eliminated aberration, and positive and negative compound lens is a kind of eccentric spherical lens, and promptly rotation center departs from sphere centre, and the distance that departs from is exactly the radius of the laser trace annulus of setting.
Relay lens is a kind of positive and negative compound lens, can the scioptics manufacturing technology eliminate aberration.Positive and negative combination relay lens is a kind of eccentric spherical lens, and promptly rotation center departs from sphere centre, and the distance that departs from is exactly the radius of the laser trace annulus of setting.
Among the present invention, lasing light emitter is motionless, and all incident lasers all will be assembled on the focal plane of compound lens through behind the optical effect of relay lens.Be specially:
1. when the primary optical axis position of relay lens rotated to the main spindle's of laser diode, light passed relay lens but does not deflect, and direct projection forms an end points of circular laser trace nominal diameter to workpiece;
2. when relay lens edge (corresponding another point of relay lens primary optical axis) when rotating to the main spindle's of laser diode, light forms another end points of circular laser trace nominal diameter through the deflection of relay lens generation maximum angle;
3. when other positions of relay lens rotate to the main spindle's of laser diode, laser beam light projects on the position of intersecting point of the primary optical axis of lens and workpiece through relay lens generation corresponding deflection.
The LASER Light Source of incident of the present invention is motionless, the lens drive motor is fixed, the rotation of motor-driven relay lens, with the main axis of the drive motor rotation center as whole optical scanning system, to be two distances be the parallel lines of the annulus orbital radius r that needs to obtain for the mounting center axle of laser diode and the main shaft of drive motor.Relay lens adopts two positive and negative optical lens combinations to form, when ruddiness that laser diode sends is incident upon on the compound lens of rotation, by positive negative lens aplanasia, forming diameter on the welding work pieces surface that highly is the focal length size of compound lens is the high-resolution circular laser trace of 2r.Principle of the present invention be compound lens with laser diode send ruddiness through the optical effect of positive negative lens, eliminate spherical aberration and converge on the focal plane of compound lens.Obtain the laser picture point of high-resolution.When the positive and negative compound lens of motor-driven rotated continuously, correspondingly, ruddiness was scanned into circular laser trace on surface of the work.
The present invention has substantive distinguishing features and marked improvement, and the inventive method and structured light realize that the method for circular laser trace compares, owing to adopt the optical scanning method, and the relay lens surface is coated with anti-reflection film, avoided the lasing light emitter energy to reduce; Compare in conjunction with the scan mode of catoptron with object lens commonly used, reduced aplanatic workload, owing to a fixing distance is arranged between motor axis and the lasing light emitter optical axis center line, has avoided the installation difficult problem that the machine shaft center overlaps with the lasing light emitter central shaft in the object lens scanning system.The distance at machine shaft center and laser beam axis center equals motor axis to the distance between the spherical lens primary optical axis, has guaranteed the precision of circular laser trace.The present invention be not only applicable to weld seam location, weldment shape measure and and weld joint tracking, also be applicable to the degree of depth and the width measure of seam.
Description of drawings
Fig. 1 the inventive method realizes schematic diagram
Fig. 2 relay lens structure front elevation
Fig. 3 relay lens structure vertical view
Embodiment
As shown in Figure 1, among the present invention, lasing light emitter and motor are all fixing, also do not need catoptron, and the distance of motor axis and laser beam center line is r, equals it to the distance between the spherical lens center.Motor drives the compound lens rotation by rotating shaft, by the optical effect of relay lens, is the circular laser trace of 2r forming diameter apart from the surface of the work to be welded for f (compound lens focal length).Light path of light computation process of the present invention is as follows:
Known, the object space focal length of positive negative lens be respectively f as square focal length
1, f
2And f
1', f
2'.Optical interval Δ=d-f
1'+f
2, because
So have
The object space focal length of relay lens with as square focal length be,
Wherein, f, f ' are the object space focal length and picture side's focal length of compound lens; r
1, r
2Be the radius-of-curvature of positive negative lens, d is the distance between the bonding lens, and n is the refractive index of positive negative lens.
The substitution optical parametric can obtain the focal length size, is on the welded piece surface of f at the distance relay lens promptly, and this optical scanning system scans the laser annulus track that diameter is 2r, and spherical aberration is less than 0.8mm.The device that present embodiment adopts is made up of laser diode 1, motor 2, middle fagging 3, relay lens 4, axle 5, counterbalance weight 6, bearing 7, laser diode 1 is installed on the middle fagging 3 with motor 2, relay lens 4 is fixed on the electric machine rotational axis, and turning axle is fixedly connected by trip bolt and motor rotary shaft.
As shown in Figures 2 and 3, wherein dotted line is original sphere lens sizes, and diameter is that the right cylinder of φ 1 is the former molded dimension case of compound lens after processing.φ 2 is the counterbalance weight mounting groove, and φ 3 is for connecting the shaft diameter of motor and lens.R is the distance between laser diode optical axis and the motor rotation axis; R1 is the spherical crown radius of positive lens upper surface; R2 is the spherical crown radius of negative lens lower surface, and the focal length of relay lens is 175mm.
Energized, direct motor drive turning axle and relay lens rotate continuously.Laser diode emission light is mapped on the relay lens by the hole, through transmission (refraction) effect of compound lens, is that the acquisition diameter is the circular laser trace of 40.00mm on the welded piece surface of 175mm at the distance compound lens.The diameter of circular laser trace changes along with the variation of operating distance.When operating distance was 100mm, obtaining diameter on the welded piece surface was the circular laser trace of 22.86mm.When operating distance was 200mm, the diameter of circular laser trace was 45.71mm.
The present invention has avoided the lasing light emitter energy to reduce, and has reduced aplanatic workload, and the distance at machine shaft center and laser beam axis center equals motor axis to the distance between the spherical lens primary optical axis, has guaranteed the precision of circular laser trace.
Claims (3)
1, a kind of circular laser trace implementation method based on the relay lens rotation, it is characterized in that, utilize relay lens in conjunction with eliminating aberration, drive motor and laser diode are fixed, and the distance between the main shaft of drive motor and the main shaft of laser diode is half of the circular laser trace diameter that need to obtain, equal drive motor to the distance between the relay lens primary optical axis, the rotation of drive motor driven in rotation lens, the incident laser of laser diode emission is through after the effect of relay lens, and the weldment surface scan at relay lens focal length place goes out circular laser trace; Described relay lens is a kind of positive and negative compound lens, and the scioptics manufacturing technology is eliminated aberration, and positive and negative compound lens is a kind of eccentric spherical lens, and promptly rotation center departs from sphere centre, and the distance that departs from is exactly the radius of the circular laser trace of setting.
2, the circular laser trace implementation method based on the relay lens rotation according to claim 1 is characterized in that, described relay lens, all incident lasers all gather on the focal plane of relay lens after acting on through it, are specially:
1. when the primary optical axis position of relay lens rotated to the main spindle's of laser diode, light to workpiece, formed an end points of circular laser trace nominal diameter through the relay lens direct projection;
2. when the relay lens edge be corresponding another point of relay lens primary optical axis when rotating to the main spindle's of laser diode, light forms another end points of circular laser trace nominal diameter through the deflection of relay lens generation maximum angle;
3. when the position beyond the edge of relay lens rotates to the main spindle's of laser diode, laser beam light projects on the position of intersecting point of the primary optical axis of relay lens and workpiece through relay lens generation corresponding deflection.
3, the circular laser trace implementation method based on the relay lens rotation according to claim 1 is characterized in that, the main shaft of laser diode and the main shaft of drive motor are that two distances are the parallel lines that needs the circular laser trace radius of acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100277246A CN100442100C (en) | 2005-07-14 | 2005-07-14 | Circular laser trace realizing method based on object lens rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100277246A CN100442100C (en) | 2005-07-14 | 2005-07-14 | Circular laser trace realizing method based on object lens rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1715989A CN1715989A (en) | 2006-01-04 |
| CN100442100C true CN100442100C (en) | 2008-12-10 |
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| CNB2005100277246A Expired - Fee Related CN100442100C (en) | 2005-07-14 | 2005-07-14 | Circular laser trace realizing method based on object lens rotation |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353326B (en) * | 2011-06-02 | 2013-06-05 | 华中科技大学 | Automatic trajectory-tracking method based on round scanning laser |
| CN105300296B (en) * | 2014-07-15 | 2018-02-02 | 中国科学院沈阳自动化研究所 | A kind of laser assembly solder curved surface seam measuring method and its realization device |
| CN105618932B (en) * | 2016-03-23 | 2017-09-29 | 江苏海德威激光科技发展有限公司 | A kind of circular plumb joint that spot welding is clamped for laser |
| CN107900562B (en) * | 2017-10-27 | 2019-04-23 | 湘潭大学 | A kind of ring laser sensor for weld joint tracking |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04237585A (en) * | 1991-01-23 | 1992-08-26 | Hitachi Constr Mach Co Ltd | Laser cutter and laser cutting method |
| DE10123018A1 (en) * | 2001-05-11 | 2002-12-12 | Lzh Laserzentrum Hannover Ev | Production of cylindrical recesses in a workpiece comprises irradiating the workpiece with laser pulses using a rotating mask, and forming the irradiating mark of the laser on the workpiece using a lens |
| CN1125701C (en) * | 2001-01-05 | 2003-10-29 | 中国科学技术大学 | Laser beam rotator for laser processing and its processing method |
| CN1159129C (en) * | 2000-08-29 | 2004-07-28 | 三菱电机株式会社 | Laser machining apparatus |
| CN2690098Y (en) * | 2004-01-30 | 2005-04-06 | 武汉天宇激光数控技术有限责任公司 | Laser circular cutting and perforating device |
-
2005
- 2005-07-14 CN CNB2005100277246A patent/CN100442100C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04237585A (en) * | 1991-01-23 | 1992-08-26 | Hitachi Constr Mach Co Ltd | Laser cutter and laser cutting method |
| CN1159129C (en) * | 2000-08-29 | 2004-07-28 | 三菱电机株式会社 | Laser machining apparatus |
| CN1125701C (en) * | 2001-01-05 | 2003-10-29 | 中国科学技术大学 | Laser beam rotator for laser processing and its processing method |
| DE10123018A1 (en) * | 2001-05-11 | 2002-12-12 | Lzh Laserzentrum Hannover Ev | Production of cylindrical recesses in a workpiece comprises irradiating the workpiece with laser pulses using a rotating mask, and forming the irradiating mark of the laser on the workpiece using a lens |
| CN2690098Y (en) * | 2004-01-30 | 2005-04-06 | 武汉天宇激光数控技术有限责任公司 | Laser circular cutting and perforating device |
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|---|---|
| CN1715989A (en) | 2006-01-04 |
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Granted publication date: 20081210 Termination date: 20110714 |