CN115502511A - Laser welding head anti-collision protection device and method - Google Patents
Laser welding head anti-collision protection device and method Download PDFInfo
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- CN115502511A CN115502511A CN202211210722.0A CN202211210722A CN115502511A CN 115502511 A CN115502511 A CN 115502511A CN 202211210722 A CN202211210722 A CN 202211210722A CN 115502511 A CN115502511 A CN 115502511A
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- 238000003466 welding Methods 0.000 title claims abstract description 156
- 238000000034 method Methods 0.000 title claims abstract description 39
- 239000000523 sample Substances 0.000 claims abstract description 93
- 229910000679 solder Inorganic materials 0.000 claims abstract description 33
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 36
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 8
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- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005476 soldering Methods 0.000 description 4
- 229910001080 W alloy Inorganic materials 0.000 description 3
- 229910045601 alloy Inorganic materials 0.000 description 3
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- 229920001342 Bakelite® Polymers 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
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- 229910052782 aluminium Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/005—Soldering by means of radiant energy
- B23K1/0056—Soldering by means of radiant energy soldering by means of beams, e.g. lasers, E.B.
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Abstract
The invention discloses a laser welding head collision avoidance device and a method, wherein the collision avoidance device comprises a solder ball transmission body and a welding nozzle; the iron core is fixed in the solenoid coil; one end of the elastic component is connected with the solenoid coil, the other end of the elastic component is connected with one pole of the permanent magnet, the other pole of the permanent magnet is connected with the probe, and the permanent magnet can move up and down in the solenoid coil under the driving of the elastic component; the sensor is close to the permanent magnet, the sensor is connected with the processor, the processor is connected with the switch, one end of the switch is connected with the solenoid coil, and the other end of the switch is connected with the power supply; the solder ball transmission body and the solenoid coil can move up and down under the driving of the motor, and the processor controls the rotation of the motor; the method can obtain the distance between the welding nozzle and the welding workpiece, so that the calculated distance between the welding nozzle and the welding workpiece is in the range of the preset distance value, and the damage caused by collision of the laser welding head and the welding workpiece or a peripheral jig of the welding workpiece is prevented.
Description
Technical Field
The invention relates to the field of laser welding, in particular to a laser welding head anti-collision protection device and method suitable for adopting a single-tin-ball transmission mode.
Background
The laser is used as a welding tool for ball planting application for decades, and the invention patent with the publication number of CN101722343A is a connecting pad interconnection device of a magnetic head gimbal assembly and a manufacturing method of the assembly, wherein the solder ball is placed in a slender nozzle, and is heated by the laser and sprayed to a part to be welded under the action of internal pressure; the invention patent with publication number CN103817438A, a solder ball welding device and method, the invention patent with publication number CN104588812A, a ball solder welding device CN201410850887.3 and the utility model patent with publication number CN202114398U all have common characteristics: the laser focusing head or the laser output optical fiber is arranged right above the welding nozzle or the tin ball jet orifice of the welding nozzle or the tin ball jet orifice, and the diameter of an inner hole of the welding nozzle is smaller than the diameter of the tin ball; in practical applications, the distance from the welding nozzle to the workpiece is usually larger than the diameter of the solder ball and smaller than twice the diameter of the solder ball, for example, when the solder ball with the diameter of 600um is used, the distance from the nozzle to the workpiece should be between 0.6mm and 1.2 mm; meanwhile, before welding by adopting the method related to the patent, the welding position is usually determined by performing precise positioning, machine vision positioning is usually adopted in the existing industrial production, but the method is influenced by the consistency of the machined parts, for example, the forward or oblique placement of the machined parts in the placement direction can influence the method, and the accurate coordinates can not be obtained every time in 100 percent; inaccurate positioning may cause collision of the welding nozzle with peripheral tools, such as devices for fixing machined parts; the nozzle adopted by the laser tin ball welding is made of tungsten alloy or other high-temperature-resistant high-hardness alloys, although the tungsten alloy or other high-temperature-resistant high-hardness alloys have high hardness, the tungsten alloy or other high-temperature-resistant high-hardness alloys are very brittle, and the welding nozzle can be damaged by slight collision; therefore, various anti-collision methods are adopted in some laser tin ball welding devices.
In the conventional method, as shown in fig. 1, a solder ball transmission body 101, a soldering nozzle 102, a sending end 103 of a distance measuring sensor and a receiving end 104 of the distance measuring sensor are adopted, the sending end 103 of the distance measuring sensor and the receiving end 104 of the distance measuring sensor jointly form the distance measuring sensor, and a laser distance sensor is usually used in actual engineering construction; the distance from the nozzle to the workpiece can be obtained by measuring the distance from the distance measuring sensor to the workpiece 105 to be welded and then subtracting the fixed distance from the nozzle to the distance measuring sensor; the first traditional method has the advantages that the distance measurement process is fast, non-contact type and the laser distance measurement has extremely high precision; the laser distance sensor has the disadvantages that the price of the laser distance sensor is very high, in addition, the requirements on the surface of the material are met, some transparent materials cannot be measured, meanwhile, the laser sensor has an included angle between incident light and reflected light, and the laser distance sensor can not be used for a jig with a hole structure or a step because the laser is blocked; as shown in fig. 2, a solder ball transmission body 101, a soldering nozzle 102 and a proximity sensor 106 are adopted in the second conventional method, which is lower in cost than the first conventional method, but the proximity sensor 106 adopted in the second conventional method can only detect the approach of a metal material, and cannot be used for non-metals such as bakelite and plastic, and the measurement accuracy of the proximity sensor 106 is lower than that of the first conventional method, and can only reach 0.1mm magnitude; the third traditional method adopts the height dial indicator to replace the proximity sensor 106, and has the advantages that the height dial indicator has the highest measurement accuracy compared with a laser ranging sensor and the proximity sensor, but the third traditional method has obvious defects that a probe of the height dial indicator is required to be lower than the welding nozzle 102 and can contact a workpiece, and the probe of the height dial indicator is greatly likely to collide with a welding jig during welding to cause damage to the height dial indicator.
Disclosure of Invention
The invention aims to provide a laser welding head anti-collision protection device and method suitable for adopting a single solder ball transmission mode.
In order to realize the purpose, the technical scheme of the invention is as follows:
a laser welding head anti-collision protection device comprises a solder ball transmission body and a welding nozzle arranged below the solder ball transmission body;
the first lifting mechanism is connected with the tin ball transmission body;
the lower end of the first lifting mechanism is connected with a probe; when the distance between the welding nozzle and the surface of the welded object meets the requirement, the first lifting mechanism adjusts the height of the probe before welding;
the second lifting mechanism is connected with the solder ball transmission body; the second lifting mechanism is used for adjusting the height between the welding nozzle and the surface of the object to be welded before welding;
when the first lifting mechanism is not lifted upwards, the height difference between the lower end surface of the probe and the lower end surface of the welding nozzle is set to be h1, and the lower end surface of the probe is lower than the lower end surface of the welding nozzle.
Furthermore, the first lifting mechanism is an electromagnetic adjusting mechanism, the electromagnetic adjusting mechanism comprises an iron core, and the iron core is fixed in the solenoid coil; one end of the elastic component is connected with the solenoid coil, the other end of the elastic component is connected with one pole of the permanent magnet, the other pole of the permanent magnet is connected with the probe, and one pole of the permanent magnet can move up and down in the solenoid coil under the driving of the elastic component; the sensor is close to the permanent magnet, the sensor is connected with the processor, and the processor is connected with the switch; one end of the switch is connected with the solenoid coil, and the other end of the switch is connected with the power supply.
Further, the second lifting mechanism comprises a motor, and the processor is connected with the motor and controls the rotation of the motor; the motor is connected with the sliding block, the sliding block is connected with a screw rod of the motor, and the sliding block can move up and down under the driving of the motor.
Further, slider and mounting panel fixed connection, the mounting panel includes integrated into one piece's first vertical board and L template.
The L-shaped plate comprises a horizontal plate and a second vertical plate vertical to the horizontal plate, the side surface of the horizontal plate is fixedly connected with the first vertical plate, and the bottom surface of the horizontal plate is fixedly connected with the solder ball transmission body; the second vertical plate included by the L-shaped plate is fixedly connected with the solenoid coil; the tin ball transmission body and the solenoid coil can move up and down under the drive of the motor.
A method for realizing the anti-collision protection of a laser welding head by using the anti-collision protection device of the laser welding head comprises the following steps:
the laser welding head anti-collision protection device is positioned on the initial height value of the surface of the welded object;
the second lifting mechanism descends to enable the lower end face of the probe 205 to be in contact with the surface of the welded object, the moving distance h2 of the probe is obtained, and the processor judges whether the sum of the distance h2 and the set height h1 meets the requirement or not; if the requirement is met, the lower end face of the probe 205 is lifted by the first adjusting mechanism, so that the lower end face of the probe 205 is separated from the surface contact with the welded object, and the probe 205 is prevented from being damaged during welding.
Further, the processor judges that the sum of the distance h2 and the set height h1 does not meet the requirement, and the second lifting mechanism adjusts the height of the welding nozzle.
Further, the method for realizing the anti-collision protection of the laser welding head by using the anti-collision protection device of the laser welding head specifically comprises the following steps:
s1, presetting a distance value between a welding nozzle and a workpiece during welding operation, and storing the preset distance value in a processor;
s2: the processor controls the switch to be turned on, so that the solenoid coil is connected with the power supply, the solenoid coil and the iron core generate a magnetic field, and the processor records the magnetic field strength value A at the moment;
in the step S2, the permanent magnet moves upwards under the attraction of the iron core, the elastic component is compressed, the permanent magnet moves upwards to enable part of the permanent magnet to enter the solenoid coil, and the permanent magnet is in close contact with the iron core; the sensor measures the magnetic field strength value generated by the permanent magnet at the moment, and the processor records the magnetic field strength value A at the moment.
S3, the processor controls the switch to disconnect the solenoid coil from the power supply, and the solenoid coil has no current and disappears through a magnetic field; the iron core loses the attraction to the permanent magnet, and the permanent magnet is popped out of the solenoid coil under the action of the elastic component;
s4: the sensor measures the magnetic field strength value generated by the permanent magnet when the solenoid coil is powered off, and the processor records the magnetic field strength value at the moment as B; in the solenoid coil de-energized state, the height difference between the tip of the probe and the tip of the welding nozzle is h1; the h1 value is stored in the processor;
s5: the processor judges that the magnetic field strength values A and B are not equal, the permanent magnet after self-checking can freely move in the solenoid coil, if the magnetic field strength values A and B are the same, the self-checking fails, the permanent magnet is clamped in the solenoid coil and cannot be popped out, namely the probe is clamped, the processor sends out an alarm signal to maintain the device;
s6: if A is not equal to B in the step S6, the motor drives the mounting plate to move downwards, and the welding nozzle and the probe move towards the workpiece along with the mounting plate; when the sensor detects that the magnetic field strength value is not equal to B, the probe tip is judged to be in contact with the workpiece, the motor stops rotating, the moving distance h2 of the probe is recorded, and the h2 value is stored in the processor;
s7: the processor calculates the distance h1+ h2 between the welding nozzle and the workpiece, and after the distance is obtained, the distance between the welding nozzle and the workpiece can be accurately controlled to prevent the welding nozzle from being damaged due to collision between the welding nozzle and the workpiece;
s8: and (4) finishing the measurement of the distance between the welding nozzle and the workpiece, repeating the steps S1 and S2, and retracting the probe.
Further, in step S4, in the solenoid coil deenergized state, the tip of the probe is less distant from the workpiece than the tip of the welding nozzle.
Further, in step S7, the processor calculates a distance h1+ h2 between the welding nozzle and the workpiece, and determines whether h1+ h2 is consistent with a distance value preset in step S1;
if the distance h1+ h2 between the welding nozzle and the workpiece calculated by the processor is not within the preset interval of the step S1, when the distance h1+ h2 is larger than the preset value of the step S1, the steps S1 and S2 can be repeated to enable the probe to move upwards; then, the processor controls the motor to rotate, the motor enables the welding nozzle and the probe to move downwards, the value of h2 can be reduced, and then the steps S4 to S7 are repeated until the distance h1+ h2 between the welding nozzle and the workpiece (105) is consistent with the preset distance value in the step S1;
when h1+ h2 is smaller than the preset value of the step S1, repeating the steps S1 and S2 to enable the probe to move upwards; and then controlling the motor to rotate through the processor, enabling the welding nozzle and the probe to move upwards through the motor, further increasing the value of h2, and then repeating the steps S3 to S7 until the distance h1+ h2 between the welding nozzle and the workpiece is consistent with the preset distance value in the step S1.
The invention has the beneficial effects that:
1. the device can obtain the distance between the welding nozzle and the welding workpiece, and the distance between the welding nozzle and the welding workpiece can be accurately controlled after the distance is obtained, so that the calculated distance between the welding nozzle and the welding workpiece is in the range of the preset distance value, and the damage caused by collision of the laser welding head and the welding workpiece or a peripheral jig of the welding workpiece can be prevented.
2. Compared with a welding nozzle, when the permanent magnet does not move upwards, the tip of the probe is closer to a workpiece to be welded, and when the probe tip contacts the workpiece to be welded, the whole device does not descend any more; when the probe tip contacts the workpiece to be welded, the welding nozzle is still a certain distance away from the workpiece to be welded, so that the probe can prevent the welding nozzle from being damaged due to collision between the welding nozzle and the workpiece to be welded.
3. Compared with the traditional method I in which a laser distance sensor is adopted to measure the distance from the welding nozzle to the workpiece, the method has the advantages that the cost is far lower than that of the former method, and the method is not influenced by the light transmittance of the material; compared with a traditional method II which adopts a proximity sensor, the workpiece can be metal or nonmetal; compared with the traditional method of measuring by using a contact dial indicator, the method adopts the contact dial indicator to measure, the probe can be retracted by magnetic force and a spring after each measurement is finished, the lowest end of the probe can be higher than a welding nozzle after the probe is retracted, and the risk of collision and damage of the probe during welding processing is avoided.
4. The distance between the nozzle and the workpiece to be welded can be calculated through the rotation angle of the motor, the cost of the calculating device is lower, and the calculating method is simpler.
5. Before each measurement, the self-checking process can be executed through comparison of the magnetic field strength values, and the risk of collision and damage of a welding nozzle caused by the clamping or failure of a probe is avoided.
Drawings
FIG. 1 is a diagram illustrating a conventional method in the prior art.
FIG. 2 is a diagram of a conventional method in the prior art.
FIG. 3 is a schematic view of the present invention.
FIG. 4 is a schematic view of the present invention.
FIG. 5 is a schematic view of the present invention.
FIG. 6 is a schematic view of the present invention.
FIG. 7 is a schematic view of the present invention.
FIG. 8 is a schematic view of the present invention.
In the figure: a solder ball transmission body 101; a welding nozzle 102; a ranging sensor transmitting end 103; a ranging sensor receiving end 104; a workpiece 105; a proximity sensor 106; an iron core 201; a solenoid coil 202; an elastic member 203; a permanent magnet 204; a probe 205; a sensor 206; a processor 207; a switch 208; a power supply 209; a motor 301; a screw rod 302; a slider 303; a mounting plate 304; a vertical plate 3041; an L-shaped plate 3042; a support 305.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings.
As shown in FIG. 3, the anti-collision protection device for a laser welding head of the present invention comprises a solder ball transmission body 101, a welding nozzle 102 disposed under the solder ball transmission body; the first lifting mechanism is connected with the solder ball transmission body 101, and the lower end of the first lifting mechanism is connected with the probe 205; when the height between the probe 205 and the surface of the object to be welded meets the requirement, the first lifting mechanism adjusts the height of the probe 205 before welding; the second lifting mechanism is connected with the solder ball transmission body 101; the second lifting mechanism is used for adjusting the height of the welding nozzle 102 and the surface of the object to be welded before welding; when the first elevating mechanism is not raised upward, the height difference between the lower end surface of the feeler 205 and the lower end surface of the welding nozzle 102 is set to h1, and the lower end surface of the feeler 205 is lower than the lower end surface of the welding nozzle 102.
The solder ball transmission body 101 and the soldering nozzle 102 are fixedly connected into a whole, and the object to be soldered is a workpiece 105 to be soldered.
The first lifting mechanism is an electromagnetic adjusting mechanism, and the electromagnetic adjusting mechanism comprises an iron core 201, a solenoid coil 202 with a hollow interior, an elastic component 203, a permanent magnet 204, a probe 205, a sensor 206, a processor 207, a switch 208 and a power supply 209.
The elastic member 203 is a spring; the permanent magnet 204 is columnar; the sensor 206 is a hall magnetic sensor.
The iron core 201 and the solenoid coil 202 form a part with an electromagnet function, the iron core 201 is fixed in the solenoid coil 202, the iron core 201 is located at the upper center of the solenoid coil 202, and the top end of the iron core 201 and the solenoid coil 202 can be fixed together through glue.
One end of the elastic component 203 is connected with the solenoid coil 202, and the other end is connected with the permanent magnet 204; the elastic part 203 and the solenoid coil 202 can be fixed by glue or screws; the elastic part 203 and the permanent magnet 204 can be fixed by glue or screws; one pole of the permanent magnet 204 is connected with the elastic part 203, and the other pole of the permanent magnet 204 is fixedly connected with the probe 205 through viscose glue or screws to form a rigid whole; the solenoid coil 202 is hollow, and one end of the permanent magnet 204 can move up and down in the solenoid coil 202 under the driving of the elastic component 203; the sensor 206 is close to the permanent magnet 204, the sensor 206 is in wired connection with the processor 207, the processor 207 is in wired connection with the control end switch 208, one end of the switch 208 is in wired connection with the solenoid coil 202, and the other end of the switch 208 is in wired connection with the power supply 209; the processor 207, the switch 208 and other elements are positioned on the workbench; in the present invention, the elastic member 203 can be periodically inspected and replaced.
As shown in fig. 6, 7 and 8, the second lifting mechanism includes a motor 301, and the processor 207 is connected to the motor 301 and controls the rotation of the motor; the motor 301 is connected with the sliding block 303, the sliding block 303 is connected with the screw rod 302 of the motor 301, the sliding block 303 can move up and down under the driving of the motor 301, and the supporting portion 305 is used for supporting the screw rod 302.
The motor 301 is a screw motor, the slide block 303 is connected with a screw 302 of the screw motor, and the slide block 303 can move up and down under the driving of the motor 301; the sliding block 303 is fixedly connected with the mounting plate 304, the mounting plate 304 comprises a first vertical plate 3041 and an L-shaped plate 3042 which are integrally formed, the first vertical plate 3041 is fixedly connected with the sliding block 303, and when the sliding block 303 moves up and down under the driving of the motor 301, the mounting plate 304 moves up and down simultaneously; the L-shaped plate 3042 includes a horizontal plate and a second vertical plate perpendicular to the horizontal plate, a side surface of the horizontal plate is fixedly connected to the first vertical plate 3041, and a bottom surface of the horizontal plate is fixedly connected to the solder ball transmitter 101; the L-shaped plate 3042 includes a second vertical plate fixedly connected to the solenoid coil 202 by screws.
The working process of the invention is as follows:
s1, presetting a distance value between a welding nozzle 102 and a workpiece 105 during welding operation, wherein the distance value is stored in a processor 207;
the preset distance value should be larger than the diameter of the solder ball and smaller than twice the diameter of the solder ball, and the preset distance value can be an accurate value or an interval value.
S2: the processor 207 controls the switch 208 to open, which causes the solenoid coil 202 to be connected to the power source 209, and the solenoid coil 202 and the core 201 generate a magnetic field.
As shown in fig. 4, the columnar permanent magnet 204 is attracted by the iron core 201 and moves upward, the elastic member 203 is compressed, the columnar permanent magnet 204 moves upward so that the columnar permanent magnet 204 enters the solenoid coil 202 with the hollow inside, and the permanent magnet 204 is in close contact with the iron core 201; the sensor 206 measures the magnetic field strength value generated by the permanent magnet 204 at that time, which is recorded by the processor 207 as a.
S3, the processor 207 controls the switch 208 to disconnect the solenoid coil 202 from the power supply 209, and the magnetic field disappears when no current passes through the solenoid coil 202; the iron core 201 loses the attraction to the permanent magnet 204, and the permanent magnet 204 is ejected out of the interior of the solenoid coil 202 by the elastic member 203.
S4: the sensor 206 measures the magnetic field strength value generated by the permanent magnet 204 at that time, and the processor 207 records the magnetic field strength value at that time as B; in the de-energized state of the solenoid coil 202, the height difference h1 between the tip of the measurement probe 205 and the tip of the welding nozzle 102, where h1 is a fixed value, and h1 is shown in fig. 5; the value of h1 can be custom determined at the time of production of the device of the invention; the h1 value is stored in the processor 207.
S5: and if the magnetic field strength values A and B are the same, the self-test is considered to fail, the permanent magnet 204 is clamped in the solenoid coil 202 and cannot be ejected, namely the probe 205 is clamped, and the processor 207 sends out an alarm signal.
S6: the processor judges that the magnetic field strength values A and B are not equal, the self-inspection is completed, the motor 301 drives the mounting plate 304 to move downwards, the welding nozzle 102 and the probe 205 move downwards along with the movement of the workpiece 105, and the tip of the probe 205 is closer to the workpiece 105 than the welding nozzle 102 in the power-off state of the solenoid coil 202;
driven by the motor 301, the mounting plate 304 moves downwards to drive the solder ball transmission body 101 and the soldering nozzle 102 to move downwards until the tip of the probe 205 contacts with the workpiece 105; slight vibration can be generated after the probe 205 is contacted with the workpiece, so that the magnetic field intensity between the permanent magnet 204 and the Hall sensor 206 is changed; the processor 207 repeatedly detects that the output value of the hall sensor is C during the descending process, when C is not equal to B, the probe 205 is judged to contact the workpiece 105, the motor 301 stops rotating immediately, the welding nozzle 102 and the probe 205 stop moving downwards, the sensor records the moving distance h2 of the probe 205 tip, and the h2 is the distance between the probe 205 tip and the workpiece 105 under the power-off state of the solenoid coil 202, namely the moving distance of the probe 205 moving downwards until contacting the workpiece 105.
S7: the processor calculates the distance h1+ h2 between the welding nozzle 102 and the workpiece 105; the distance between the welding nozzle 102 and the workpiece 105 can be accurately controlled after the distance is obtained, so that the welding nozzle 102 is prevented from being damaged due to collision between the welding nozzle 102 and the workpiece 105;
the processor calculates the distance h1+ h2 between the welding nozzle 102 and the workpiece 105, and determines whether h1+ h2 corresponds to the distance value preset in step S1.
If the distance h1+ h2 between the welding nozzle 102 and the workpiece 105 calculated by the processor is not within the preset interval of step S1, for example, is greater than the preset value of step S1, steps S1 and S2 may be repeated to move the probe 205 upward; then, the processor 207 controls the motor 301 to rotate, the motor 301 enables the welding nozzle 102 and the probe 205 to move downwards, the value of h2 can be reduced, and then the steps S4 to S7 are repeated until the distance h1+ h2 between the workpiece 105 and the workpiece 102 is consistent with the preset distance value in the step S1;
if the distance h1+ h2 between the welding nozzle 102 and the workpiece 105 calculated by the processor is not within the preset interval of step S1, for example, is smaller than the preset value of step S1, the steps S1 and S2 may be repeated to move the probe 205 upward; then, the processor controls the motor 301 to rotate, the motor 301 enables the welding nozzle 102 and the probe 205 to move upwards, the value of h2 is increased, and then the steps S3 to S7 are repeated until the distance h1+ h2 between the welding nozzle 102 and the workpiece 105 is consistent with the preset distance value in the step S1;
the rotating angle of the motor 301 can be controlled precisely, the moving distance of each circle of rotation of the screw rod 302 can be determined in a customized manner, and the distance of the motor 301 driving the sliding block 303 to move up and down can be determined according to the rotating angle of the motor 301, so that the distance of the sliding block 303 moving up and down can be customized; in the invention, the processor 207 is connected with the motor 301 and controls the rotation of the motor 301, the processor 207 controls the motor 301 to rotate by a fixed angle according to a fixed pulse, the processor 207 determines the rotation angle of the motor 301 according to the sent fixed pulse, the processor 207 further converts the downward movement distance of the sliding block 303 according to the rotation angle of the motor 301, the downward movement distance of the sliding block 303 is the movement distance of the probe 205, and then the distance h2 between the tip of the probe 205 and the workpiece 105 can be converted according to the rotation angle of the motor 301;
in the solenoid coil 202 de-energized state, the height difference h1 between the tip of the probe 205 and the tip of the welding nozzle 102 is a fixed value; however, as the mounting plate 304 moves up and down under the driving of the motor 301, the distance h2 between the tip of the probe 205 and the workpiece 105 changes, and the present invention can calculate the distance h2 between the tip of the probe 205 and the workpiece 105, and further calculate the distance between the welding nozzle 102 and the workpiece 105, so as to prevent the welding nozzle 102 from being damaged due to collision between the welding nozzle 102 and the workpiece 105.
S8: after the distance measurement between the welding nozzle 102 and the welding workpiece 105 is completed, repeating the steps S1 and S2 to retract the probe 205;
the distance between the welding nozzle and the workpiece is usually larger than the diameter of the solder ball and smaller than twice of the diameter of the solder ball, the distance between the welding nozzle 102 and the workpiece 105 can be determined in advance, when the distance h1+ h2 between the welding nozzle 102 and the workpiece 105 is calculated to be a predetermined value, the motor stops rotating, the mounting plate does not move downwards any more, and the welding nozzle 102 is prevented from continuously moving downwards to touch the workpiece to be welded to cause damage;
when the distance between the probe 205 and the workpiece 105 is obtained, the probe 205 is in contact with the workpiece 105, but when welding operation is performed, the probe 205 cannot be in contact with the workpiece 105, the probe 205 is prevented from being damaged, at this time, the probe 205 needs to be retracted, but at this time, the probe 205 cannot be retracted by upward movement of the mounting plate 204, and since the upward movement of the mounting plate 204 simultaneously causes the change of the distance between the welding nozzle 102 and the workpiece 105, the distance from the welding nozzle to the workpiece may be more than twice the diameter of the solder ball, therefore, after the distance measurement between the welding nozzle 102 and the workpiece 105 to be welded is completed, if the distance h1+ h2 between the welding nozzle 102 and the workpiece 105 to be welded is consistent with the distance value preset in the step S1, before the welding operation is performed, a magnetic field is generated by the solenoid coil 202 and the iron core 201, the columnar permanent magnet 204 is attracted by the iron core 201 to move upward to drive the probe 205 to move, so that the lowest end of the probe 205 is away from the workpiece 105 to be welded, and the risk of collision and damage of the probe 205 during the welding operation is prevented; since the probe 205 needs to contact the workpiece 105 to be welded when the distance between the welding nozzle 102 and the workpiece 105 is obtained, and the probe 205 needs to be retracted during welding, the self-checking program is set in the step S5 to prevent the probe 205 from being stuck and unable to move up and down along with the expansion and contraction of the spring.
The solenoid coil 202 and the iron core 201 form an electromagnet function together, and the magnetic attraction generated by the solenoid coil 202 and the iron core 201 only needs to attract the permanent magnet 204 and overcome the elasticity of the elastic component 203 and then tightly cling to the iron core 201; the iron core 201 has two functions, one is to enhance the magnetic properties of the solenoid coil 202, and the other is to restrict the position of the permanent magnet 204.
The permanent magnet 204 of the present invention is a conventional permanent magnet whose north and south poles are arranged in an up-down arrangement with no effect on the method of the present invention.
The probe 205 is a rigid material which is not magnetic and can not be magnetized, and can be plastic, aluminum, ceramic and the like, and the specific components of the rigid material have no influence on the method; when the solenoid coil 202 is de-energized, the probe needs to be lower than the welding nozzle 102 at its most point when the electromagnet is not attracted.
The sensor 206 of the present invention is a semiconductor device using hall effect, which can generate current under the action of magnetic field lorentz force; this is a common technique and device in the industry. The method of the invention has no requirement on the absolute value of the output of the Hall magnetic core sensor.
The processor 207 of the present invention is a logic control device that can operate according to the steps of the present invention; it may be of the type of microprocessor, computer, programmable controller, or relay combination.
Finally, it should be noted that: while the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof without departing from the scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Claims (10)
1. A laser welding head anti-collision protection device comprises a solder ball transmission body (101) and a welding nozzle (102) arranged below the solder ball transmission body,
the method is characterized in that: further comprising:
a first elevating mechanism connected to the solder ball transmission body (101),
the lower end of the first lifting mechanism is connected with a probe (205); when the distance between the welding nozzle (102) and the surface of the object to be welded meets the requirement, the first lifting mechanism adjusts the height of the probe (205) before welding;
the second lifting mechanism is connected with the tin ball transmission body (101); the second lifting mechanism is used for adjusting the height between the welding nozzle (102) and the surface of the object to be welded before welding;
when the first lifting mechanism is not lifted upwards, the height difference between the lower end surface of the probe (205) and the lower end surface of the welding nozzle (102) is set to be h1, and the lower end surface of the probe (205) is lower than the lower end surface of the welding nozzle (102).
2. The laser welding head crash protection device of claim 1, wherein: the first lifting mechanism is an electromagnetic adjusting mechanism, the electromagnetic adjusting mechanism comprises an iron core (201), and the iron core (201) is fixed in the solenoid coil (202); one end of the elastic component (203) is connected with the solenoid coil (202), the other end of the elastic component is connected with one pole of the permanent magnet (204), the other pole of the permanent magnet (204) is connected with the probe (205), and one pole of the permanent magnet (204) can move up and down in the solenoid coil (202) under the driving of the elastic component (203); the sensor (206) is close to the permanent magnet (204), the sensor (206) is connected with the processor (207), and the processor (207) is connected with the switch (208); one end of the switch (208) is connected with the solenoid coil (202), and the other end is connected with the power supply (209).
3. The laser welding head crash protection device of claim 1, wherein: the second lifting mechanism comprises a motor (301), and the processor (207) is connected with the motor (301) and controls the rotation of the motor; the motor (301) connect slider (303), slider (303) are connected with lead screw (302) of motor (301), slider (303) can reciprocate under the drive of motor (301).
4. A laser welding head crash protection device as defined in claim 3, wherein: the sliding block (303) is fixedly connected with a mounting plate (304), and the mounting plate (304) comprises a first vertical plate (3041) and an L-shaped plate (3042) which are integrally formed; the first vertical plate (3041) is fixedly connected with the sliding block (303).
5. The laser welding head crash protection device of claim 4, wherein: the L-shaped plate (3042) comprises a horizontal plate and a second vertical plate perpendicular to the horizontal plate, the side surface of the horizontal plate is fixedly connected with the first vertical plate (3041), and the bottom surface of the horizontal plate is fixedly connected with the solder ball transmission body (101); the second vertical plate included by the L-shaped plate (3042) is fixedly connected with the solenoid coil (202); the solder ball transmission body (101) and the solenoid coil (202) can move up and down under the drive of the motor (301).
6. A method for realizing collision avoidance of a laser welding head by using the collision avoidance device of the laser welding head as defined in any one of claims 1 to 5, which is characterized by comprising the following steps: comprises the following steps
The laser welding head anti-collision protection device is positioned on the initial height value of the surface of the welded object;
the second lifting mechanism descends to enable the lower end face of the probe (205) to be in contact with the surface of the welded object, the moving distance h2 of the probe is obtained, and whether the sum of the distance h2 and the set height h1 meets the requirement or not is judged; if the requirement is met, the first adjusting mechanism lifts the lower end face of the probe (205) to enable the lower end face of the probe (205) to be separated from surface contact with the welded object.
7. The method for realizing the anti-collision protection of the laser welding head by the anti-collision protection device of the laser welding head as claimed in claim 6 is characterized in that: and judging that the sum of the distance h2 and the set height h1 does not meet the requirement, and adjusting the height of the welding nozzle (102) by the second lifting mechanism.
8. The method for realizing the anti-collision protection of the laser welding head by the anti-collision protection device of the laser welding head as claimed in claim 6 is characterized in that: the method specifically comprises the following steps:
s1, presetting a distance value between a welding nozzle (102) and a workpiece (105) during welding operation, wherein the preset distance value is stored in a processor (207);
s2: the processor (207) controls the switch (208) to be opened, so that the solenoid coil (202) is connected with the power supply (209), the solenoid coil (202) and the iron core (201) generate a magnetic field, and the processor (207) records the strength value A of the magnetic field at the moment;
s3, the processor (207) controls the switch (208) to disconnect the solenoid coil (202) from the power supply (209), and the solenoid coil (202) has no current and disappears through a magnetic field; the iron core (201) loses the attraction to the permanent magnet (204), and the permanent magnet (204) is ejected out of the solenoid coil (202) under the action of the elastic component (203);
s4: the sensor (206) measures the magnetic field strength value generated by the permanent magnet (204) when the solenoid coil (202) is powered off, and the processor (207) records the magnetic field strength value at the moment as B; in the de-energized state of the solenoid coil (202), the height difference between the tip of the probe (205) and the tip of the welding nozzle (102) is h1; the h1 value is stored in a processor (207);
s5: if the processor judges that the magnetic field strength values A and B are not equal, the permanent magnet (204) after self-test can freely move in the solenoid coil (202), if the magnetic field strength values A and B are the same, the self-test fails, the permanent magnet (204) is clamped in the solenoid coil (202) and cannot be ejected, namely the probe (205) is clamped, and the processor (207) sends an alarm signal to carry out device maintenance;
s6: if A and B are not equal in the step S6, the motor (301) drives the mounting plate (304) to move downwards, and the welding nozzle (102) and the probe (205) move towards the workpiece (105) along with the mounting plate; when the sensor (206) detects that the magnetic field strength value is not equal to B, the probe (205) tip is judged to be in contact with the workpiece (105), the motor stops rotating, the moving distance h2 of the probe (205) is recorded, and the h2 value is stored in the processor (207);
s7: the processor (207) calculates the distance h1+ h2 between the welding nozzle (102) and the workpiece (105);
s8: the distance between the welding nozzle (102) and the workpiece (105) is measured, steps S1 and S2 are repeated, and the probe (205) is retracted.
9. A method of protecting a laser welding head from collision as claimed in claim 8, wherein: in the step S2, the permanent magnet (204) is attracted by the iron core (201) to move upwards, the elastic component (203) is compressed, the permanent magnet (204) moves upwards to enable the permanent magnet (204) to partially enter the solenoid coil (202), and the permanent magnet (204) is in close contact with the iron core (201); the sensor (206) measures the magnetic field strength value produced by the permanent magnet (204) at that time, and the processor (207) records the magnetic field strength value A at that time.
10. A method of protecting a laser welding head against collision as claimed in claim 8, wherein: in the step S7, the processor calculates the distance h1+ h2 between the welding nozzle (102) and the workpiece (105), and judges whether the distance h1+ h2 is consistent with the preset distance value in the step S1;
if the distance h1+ h2 between the welding nozzle (102) and the workpiece (105) calculated by the processor is not within the preset interval of the step S1, when the distance h1+ h2 is larger than the preset value of the step S1, the steps S1 and S2 can be repeated to enable the probe (205) to move upwards; then, the processor (207) controls the motor (301) to rotate, the motor (301) enables the welding nozzle (102) and the probe (205) to move downwards, the value of h2 can be reduced, and then the steps S4 to S7 are repeated until the distance h1+ h2 between the workpiece (105) and the welding nozzle (102) is consistent with the preset distance value in the step S1;
when h1+ h2 is smaller than the preset value of the step S1, repeating the steps S1 and S2 to enable the probe (205) to move upwards; and then controlling the motor (301) to rotate through the processor (207), enabling the motor (301) to enable the welding nozzle (102) and the probe (205) to move upwards, further increasing the value of h2, and then repeating the steps S3 to S7 until the distance h1+ h2 between the welding nozzle (102) and the workpiece (105) is consistent with the preset distance value in the step S1.
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| CN115502511B (en) | 2023-06-27 |
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Denomination of invention: A laser welding head collision protection device and method Granted publication date: 20230627 Pledgee: Guanggu Branch of Wuhan Rural Commercial Bank Co.,Ltd. Pledgor: Wuhan Lingyun Photoelectronic System Co.,Ltd. Registration number: Y2024980023710 |