CN206253808U - Wire filling laser welding increases material repair apparatus - Google Patents
Wire filling laser welding increases material repair apparatus Download PDFInfo
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- CN206253808U CN206253808U CN201620896929.1U CN201620896929U CN206253808U CN 206253808 U CN206253808 U CN 206253808U CN 201620896929 U CN201620896929 U CN 201620896929U CN 206253808 U CN206253808 U CN 206253808U
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Abstract
Increase material repair apparatus the utility model discloses a kind of wire filling laser welding, the device includes controller, four-axle linked platform, laser vision sensor, infrared vision sensor, fixture, laser torch, welding wire mouth, filler wire and wireway；The method for repairing and mending includes：Defect workpiece is arranged on patch work platform；Laser vision sensor is driven to scan the three-D profile of defect；Controller rebuilds the three-D profile of defect；It is determined that specific welding parameter；Controller drives near infrared vision sensing device to be scanned molten bath, obtains the time and frequency parameter of crater image, and according to the time and frequency parameter of crater image generation compensation control routine, the welding parameter of amendment setting in real time；After repairing terminates, drive laser vision sensor to scan the three-D profile of defect again, it is determined that whether the workpiece after repairing is up to standard, if not up to standard, defect is repaired again, untill defect mending is up to standard.Simple structure of the present utility model, easy to operate, reliability are high, strong adaptability.
Description
Technical field
The utility model is related to increase material repairing technique field, more particularly to a kind of increasing material for wire filling laser welding repairs dress
Put.
Background technology
Existing increasing material method for repairing and mending mainly have laser melt cover, arc surfacing, electropaining plating, plasma spray technology etc..Laser melts
Coating technique is the method that the consolidation together with substrate surface thin layer is allowed to using the laser beam of high-energy-density, substrate surface formed with
It is the filling cladding layer of metallurgical binding.Arc surfacing is to be deposited over substrate surface using welding rod or electrode to carry out built-up welding.Electropaining
There is electrochemical reaction in coating technology, realize that metal is deposited on plating piece surface when being and utilizing direct current by electrolyte.Thermal spraying
It is that powdered or thread metal or nonmetallic materials are heated to melting or semi-molten state using certain thermal source, deposits and shape
Into a kind of technology of the face coat with various functions.
Above method for repairing and mending has certain limitation, and wherein laser melts coating technique can cause transition region stress concentration；Electricity
Coating technology has that anchoring strength of coating and intensity itself are not enough；The heat affecting of arc surfacing technology and plasma spray technology
Qu great, easily causes workpiece deformation.In addition, above-mentioned repairing technique fails to be accurately obtained defect profile parameter before repairing, cause
Workpiece after repairing is still present certain defect, and repair efficiency is undesirable.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of easy to operate, reliability is high, adaptation
Property strong wire filling laser welding increase material repair apparatus.
Another object of the present utility model is, there is provided a kind of method for repairing and mending based on above-mentioned repair apparatus.
The purpose of this utility model is achieved through the following technical solutions：
A kind of wire filling laser welding increases material repair apparatus, and it mainly includes controller, joins positioned at four axles repaired above station
Moving platform and be arranged in linkage platform be used for obtain workpiece defect profile three-dimensional information laser vision sensor, use
In the infrared vision sensor, fixture, laser torch, welding wire mouth, filler wire and the wireway that obtain molten bath status information.It is described
Controller is connected with four-axle linked platform, laser vision sensor, infrared vision sensor, laser torch and welding wire mouth, is used for
Each unit coordinates are controlled to work.One end of the fixture is connected with four-axle linked platform, and the other end is fixed with laser torch.It is described
Filler wire is arranged on welding wire mouth, and outwardly.The welding wire mouth is connected with laser torch, and the angle between laser torch
Degree is adjustable, to adapt to various welding occasions.The wireway is arranged in laser torch, and one end and the protective gas of wireway are sent out
Raw device connection, the other end points to welding post, and the outgassing direction of wireway is adjustable, so can make protective gas preferably
Covering filler wire and molten bath.
Used as preferred scheme of the present utility model, the wireway is used can be with the Universal pipe (or ring pipe) of universal adjustment
For guiding protective gas, protective gas is set to cover welding protection area exactly.
As preferred scheme of the present utility model, connected by angle regulating unit between the welding wire mouth and laser torch
Connect, the angle regulating unit includes clamping handle and a regulating bolt, one end of the clamping handle is fastened on welding wire mouth, separately
One end is hinged by regulating bolt with the first projection in laser torch, and through hole is equipped with welding wire mouth and the first projection, regulation
Be fixed on welding wire mouth in laser torch through through hole by bolt.When regulation angle is needed, only need to unscrew regulating bolt, adjust
Regulating bolt is tightened after angle.The simple structure of the angle regulating unit, it is easy to use, can be with for wire feed angular adjustment
Obtain more preferable welding effect.
Specifically, the controller is connected with four-axle linked platform, the movement in three directions of control laser torch and
The rotation of horizontal direction, is made laser torch and defect is repaired with most suitable position and angle on jig.It is described
Controller is connected with laser vision sensor, for driving laser vision sensor and obtaining the three-D profile of defect, controller
Data according to obtaining are rebuild to the three-D profile of defect, generate optimum control code.The controller and infrared vision
Sensor is connected, for driving infrared vision sensor and obtaining the realtime graphic time and frequency parameter in molten bath, in mending course, and root
According to molten bath state real-time adjustment Repair Parameters, more preferable repair efficiency is obtained.The controller is electrically connected with laser torch, is used for
Control the watt level of laser torch and the flow of protective gas.One end of the fixture is connected with four-axle linked platform, another
End is fixed with laser torch, and four-axle linked platform drives laser torch to move and rotate by fixture, is adjusted to suitable welding
Position.
Specifically, the four-axle linked platform is used to control the position of laser torch and adjusts the welding angle of laser torch
Degree, the main X-axis mobile unit for including moving in the X-axis direction of its composition, the Y-axis mobile unit moved along Y direction, along Z axis
The Z axis mobile unit of direction motion and the A axle rotating units rotated around the rotating shaft perpendicular to workpiece.The X-axis mobile unit is consolidated
It is scheduled on repairing platform, positioned at the top of repairing station, Y-axis mobile unit is arranged in X-axis mobile unit, Z axis mobile unit
In Y-axis mobile unit, A axles rotating unit is arranged in Z axis mobile unit, can be horizontally rotated with respect to Z axis mobile unit.
The A axles rotating unit is fixedly connected with fixture, horizontally rotates with laser torch, the welding angle for adjusting laser torch
Degree.
Used as preferred scheme of the present utility model, the infrared vision sensor is using the shorter near infrared ray conduct of wavelength
The light source of vision sensor.Compared with far infrared, the depth of near infrared ray detection is deeper, and the information content of acquisition is more.Due to
Laser Welding can produce radiant light to disturb in welding process, and jamming light source can be filtered off near infrared vision sensing device, improve
The image quality of crater image.Preferably, the utility model is preferentially about 950 nanometers of near-infrared light source using wavelength.
Used as preferred scheme of the present utility model, the controller is using strong antijamming capability, stable and reliable in work, continuous
The industrial control computer of longevity of service.
Another object of the present utility model is achieved through the following technical solutions：
A kind of wire filling laser welding increases the method for repairing and mending of material repair apparatus, and the method for repairing and mending mainly comprises the following steps：
Step S1:Defect workpiece is arranged on patch work platform；
Laser vision sensor, near infrared vision sensing device are arranged on the Z of four axles (X-Y-Z-A axles) coordinated signals platform
In axle mobile unit, laser torch is arranged on A axle rotary units.
Step S2:Laser vision sensor is driven to scan the three-D profile of defect；
After installing, coordinate four-axle linked platform that laser torch is moved into relevant position first, in the control of controller
Under system, laser vision sensor scanning defect (complex geometric shapes) profile is driven to obtain structure optical signal.
Step S3:Controller receives the feedback signal of laser vision sensor, rebuilds the three-D profile of defect；
According to the operation principle of laser vision sensor, semiconductor laser emission source sends and a branch of parallel swashs in sensor
Light.On the contour surface of workpiece, defect, its surface source of light information is arrived by the CMOS camera calibrations in sensor for the laser beam,
Using principle of triangulation, accurate defect profile structure optical signal can be obtained in the controller.Controller obtains laser video
Feel the defect profile structure optical signal of sensor feedback, defect threedimensional model is set up using the method for three-dimensional reconstruction.
Step S4:Three-D profile data genaration control routine according to defect, determines that specifically melting for laser torch covers parameter；
Controller compares the defect threedimensional model of reconstruction with original part model parameter, it is determined that to be repaired is specific
Parameter simultaneously generates corresponding control routine.Controller drives four-axle linked platform courses laser torch according to the control routine of generation
The position specified is moved to, the welding parameter of laser torch is then determined by control routine.This melt cover parameter mainly include weldering
Position, bonding power, speed of welding and wire feed rate for connecing etc..
Step S5:In mending course, controller drives near infrared vision sensing device to be scanned molten bath, obtains molten bath figure
The time and frequency parameter (including time domain, frequency domain information) of picture, and according to crater image time and frequency parameter generation compensation control routine, repair in real time
The welding parameter of positive setting.
During welding, controller determines mending option according to the defect three-D profile rebuild, and drives four-axle linked platform positioning
To the position of welding, and the patcher of special, complicated defect is completed by the soldering angle of A axles rotating unit adjustment welding torch
Make.
Step S6:For the thermal deformation that surface of test piece occurs is repaired after arc surfacing, after first repairing is completed, drive again
Dynamic laser vision sensor scans the three-D profile of defect, it is determined that whether the workpiece after repairing is up to standard, if not up to standard, to defect
Repaired again, untill defect mending is up to standard.
As preferred scheme of the present utility model, in welding, when the location and shape of defect are complex, can pass through
Drive the welding angle of A axles rotating unit adjustment laser torch to complete defect mending, can further be improved using the method
Repairing efficiency, overcomes the deficiencies in the prior art.
Repair apparatus provided by the utility model may be mounted in the frame of robot end or portal frame, coordinate machine
The motion positions of device people or portal frame to relevant position, for repairing the defect test specimen under different occasions or needing repair maintenance
Equipment.
Working process and principle of the present utility model are：The utility model is using on laser vision sensor scanning workpiece
Defect, sends the three-D profile optical signal of acquisition to controller；Three-dimensional wheel of the controller according to structure light signal reconstruction defect
Exterior feature, and corresponding control routine is generated, it is determined that the technical parameter of welding；In welding process, controller drives near-infrared vision
Sensor is scanned to molten bath, obtains the time and frequency parameter of crater image, generates corresponding compensation control routine, and correct in real time
The welding parameter for setting before, makes final welding effect more preferable；After first welding is finished, laser vision sensor can be to defect
Position is scanned again, it is determined that repairing situation and evaluation repair efficiency, if repair efficiency does not reach the standard of setting, control
Device drives four-axle linked platform, laser vision sensor and infrared vision sensor to repair the defect after repairing again,
Untill repair efficiency is up to standard.Simple structure provided by the utility model, easy to operate, reliability is high, strong adaptability.
Compared with prior art, the utility model has further the advantage that：
(1) it is three-dimensional the utility model proposes four-axle linked platform measuring part defect is combined using laser vision sensor
Profile, obtains the dynamic structure optical signal of defect profile, and the side of defect threedimensional model is re-established by computer control
Method, accurately defect model can be obtained by the method, and the effectively wrong situation of the scarce weldering of reduction, solder skip, weldering occurs, hence it is evident that raising
Welding efficiency and welding effect.
(2) made again with what 3D increasing material method for repairing and mending was combined the utility model proposes by wire filling laser welding increasing material repair apparatus
The new method made, the increasing material repair apparatus that the utility model is provided are attached on robot or portal frame, can be used for repairing
The defect of workpiece or equipment, effectively improves the usage cycles of equipment, and it is reused by repairing write-off equipment, plays
Maximum value, embodies the theory of energy-conserving and environment-protective.
(3) method for repairing and mending that the utility model is provided not only introduces near infrared vision sensing device and obtains molten bath shape in welding
State and online real-time adjustment bonding power and wire feed rate, are also swept again with laser vision sensor in postwelding to defect
Retouch, with ensure defect obtain farthest repair mend and repair efficiency reach it is best.By contrasting intact piece surface
Parameter, generation repairing defects controlling code, the kinematic parameter of laser torch on four axes motion platform is determined using the code
And laser torch melts the parameter covered, can make welding more precisely in place, obtain more preferable welding effect.
(4) molten bath state is scanned the utility model proposes using near infrared vision sensing device, real-time adjustment welding
Parameter, can at utmost reduce the stress concentration after workpiece, defect reparation and the thermal deformation for causing.
(5) the utility model all carries out laser scanning after repairing every time to defective locations, for evaluating this repairing
Effect, and repair efficiency is evaluated, it is determined whether need to repair again, the process can significantly improve the reliable journey of repairing
Degree, obtains preferable repair efficiency.
(6) increasing material repair apparatus provided by the utility model can be applied on robot end or portal frame to defect
Part or equipment carry out repair operation, practicality and strong applicability.
(7) compared with arc surfacing technology, the method will not cause heat affected area big and workpiece deforms；With electropaining coating technology
Compare, the method is easy to operate, and repair after parts reliability it is high；Compared with plasma spray technology, the method environmental protection,
Strong applicability；Compared with traditional laser melts coating technique, the method combines the vision system of laser sensor, overcomes tradition
Thermal deformation and stress concentration that technology is caused.
Brief description of the drawings
Fig. 1 is the overall structure diagram of repair apparatus provided by the utility model.
Fig. 2 is the stereogram of four-axle linked platform provided by the utility model.
Fig. 3 is the front view of four-axle linked platform provided by the utility model.
Fig. 4 is the right view of four-axle linked platform provided by the utility model.
Fig. 5 is the top view of four-axle linked platform provided by the utility model.
Fig. 6 is the fundamental diagram of laser vision sensor provided by the utility model.
Fig. 7 is view of the laser torch provided by the utility model in welding.
Fig. 8 is workpiece, defect top view provided by the utility model.
Fig. 9 is workpiece, defect sectional view provided by the utility model.
Figure 10 is method for repairing and mending flow chart provided by the utility model.
Label declaration in above-mentioned accompanying drawing：100- controllers, 210-X axle mobile units, 220-Y axle mobile units, 230-Z
Axle mobile unit, 240-A axle rotating units, 300- laser vision sensors, the infrared vision sensors of 400-, 510- Laser Weldings
Torch, 520- fixtures, 530- filler wires, 540- angle regulating units, 550- welding wire mouths, 560- wireways.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, clear and definite, develop simultaneously implementation referring to the drawings
The utility model is described in further detail for example.
Embodiment 1：
The utility model discloses a kind of repair apparatus and its method for repairing and mending is used to solve the deficiency of prior art presence.
Wherein, as shown in figure 1, the repair apparatus are a kind of wire filling laser welding increases material repair apparatus, mainly including controller
100th, positioned at the four-axle linked platform repaired above station and it is arranged in linkage platform and is used to obtain the defect profile of workpiece
The laser vision sensor 300 of three-dimensional information, the infrared vision sensor 400 for obtaining molten bath status information, fixture 520,
Laser torch 510, welding wire mouth 550, filler wire 530 and wireway 560.The controller 100 and four-axle linked platform, laser
Vision sensor 300, infrared vision sensor 400, laser torch 510 and welding wire mouth 550 are connected, for controlling each unit coordinates
Work.One end of the fixture 520 is connected with four-axle linked platform, and the other end is fixed with laser torch 510.The filler wire
530 are arranged on welding wire mouth 550, and outwardly.The welding wire mouth 550 is connected with laser torch 510, and and laser torch
Adjustable angle between 510, to adapt to various welding occasions.The wireway 560 is arranged in laser torch 510, wireway 560
One end be connected with protective gas generator, the other end points to welding post, and the outgassing direction of wireway 560 is adjustable, this
Sample can make protective gas preferably cover filler wire 530 and molten bath.
Used as preferred scheme of the present utility model, the wireway 560 is used can be with the Universal pipe of universal adjustment (or ring
Pipe) for guiding protective gas, protective gas is covered welding protection area exactly.
As preferred scheme of the present utility model, angular adjustment list is passed through between the welding wire mouth 550 and laser torch 510
Unit 540 connects, and the angle regulating unit 540 includes clamping handle and a regulating bolt, and one end of the clamping handle is fastened on
On welding wire mouth, the other end is hinged by regulating bolt with the first projection in laser torch 510, and welding wire mouth 550 and first is raised
On be equipped with through hole, be fixed on welding wire mouth 550 in laser torch 510 through through hole by regulating bolt.When regulation angle is needed,
Regulating bolt only need to be unscrewed, regulating bolt is tightened after adjusting angle.The simple structure of the angle regulating unit 540, makes
With convenient, more preferable welding effect can be obtained for wire feed angular adjustment.
Specifically, the controller 100 is connected with four-axle linked platform, control laser torch 510 is in three directions
The rotation of mobile and horizontal direction, make laser torch 510 is carried out with most suitable position and angle on jig to defect
Repairing.The controller 100 is connected with laser vision sensor 300, for driving laser vision sensor 300 and obtaining defect
Three-D profile, controller 100 according to obtain data the three-D profile of defect is rebuild, generate optimum control code.
The controller 100 is connected with infrared vision sensor 400, for driving infrared vision sensor 400 and obtaining the reality in molten bath
When image time and frequency parameter, in mending course, according to molten bath state real-time adjustment Repair Parameters, obtain more preferable repair efficiency.
The controller 100 is electrically connected with laser torch 510, for controlling the watt level of laser torch 510 and the stream of protective gas
Amount.One end of the fixture 520 is connected with four-axle linked platform, and the other end is fixed with laser torch 510, and four-axle linked platform leads to
Crossing fixture 520 drives laser torch 510 to move and rotate, and is adjusted to suitable welding position.
Specifically, with reference to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the four-axle linked platform is used to control laser torch
510 position simultaneously adjusts the soldering angle of laser torch 510, the main X-axis mobile unit for including moving in the X-axis direction of its composition
210th, the Y-axis mobile unit 220 moved along Y direction, the Z axis mobile unit 230 moved along Z-direction and around perpendicular to workpiece
Rotating shaft rotation A axles rotating unit 240.The X-axis mobile unit 210 is fixed on repairing platform, positioned at repairing station
Top, Y-axis mobile unit 220 is arranged in X-axis mobile unit 210, and Z axis mobile unit 230 is arranged on Y-axis mobile unit 220
On, A axles rotating unit 240 is arranged in Z axis mobile unit 230, can be horizontally rotated with respect to Z axis mobile unit 230.The A axles
Rotating unit 240 is fixedly connected with fixture 520, horizontally rotates with laser torch 510, the weldering for adjusting laser torch 510
Connect angle.
Used as preferred scheme of the present utility model, the infrared vision sensor 400 is using the shorter near infrared ray of wavelength
As the light source of vision sensor.Compared with far infrared, the depth of near infrared ray detection is deeper, and the information content of acquisition is more.
Due to Laser Welding radiant light can be produced to disturb in welding process, jamming light source can be filtered off near infrared vision sensing device,
Improve the image quality of crater image.Preferably, the utility model is preferentially about 950 nanometers of near-infrared light source using wavelength.
As preferred scheme of the present utility model, the controller 100 using strong antijamming capability, it is stable and reliable in work,
Stream time industrial control computer long.
Wherein, the method for repairing and mending is the method for repairing and mending that a kind of wire filling laser welding increases material repair apparatus, and the method for repairing and mending can be with
For different workpiece materials to be repaired using corresponding filler wire 530 as the filler for filling up defect, with reference to Fig. 1 and Figure 10
Shown, the method for repairing and mending mainly comprises the following steps：
Step S1:Defect workpiece is arranged on patch work platform；
Laser vision sensor 300, near infrared vision sensing device 400 are arranged on four axles (X-Y-Z-A axles) coordinated signals
In the Z axis mobile unit 230 of platform, laser torch 510 is arranged on A axle rotary units.
Step S2:Laser vision sensor 300 is driven to scan the three-D profile of defect；
After installing, coordinate four-axle linked platform that laser torch 510 is moved into relevant position first, in controller
Under 100 control, scanning defect (complex geometric shapes) profile of laser vision sensor 300 is driven to obtain structure optical signal.
Step S3:Controller 100 receives the feedback signal of laser vision sensor 300, rebuilds the three-D profile of defect；
As shown in fig. 6, according to the operation principle of laser vision sensor 300, semiconductor laser emission source hair in sensor
Go out a branch of parallel laser.On the contour surface of workpiece, defect, its surface source of light information is by sensor for the laser beam
CMOS camera calibrations are arrived, and using principle of triangulation, accurate defect profile structure light letter can be obtained in controller 100
Number.Controller 100 obtains the defect profile structure optical signal of the feedback of laser vision sensor 300, using the method for three-dimensional reconstruction
Set up defect threedimensional model.
Step S4:Three-D profile data genaration control routine according to defect, it is determined that specific welding parameter；
Controller 100 compares the defect threedimensional model of reconstruction with original part model parameter, it is determined that to be repaired
Design parameter simultaneously generates corresponding control routine.Controller 100 drives four-axle linked platform courses according to the control routine of generation
Laser torch 510 moves to the position specified, and the welding parameter of laser torch 510 is then determined by control routine.The welding
Parameter mainly includes position, bonding power, speed of welding and wire feed rate of welding etc..
Step S5:In mending course, controller 100 drives near infrared vision sensing device 400 to be scanned molten bath, obtains
The time and frequency parameter (including time domain, frequency domain information) of crater image, and according to crater image time and frequency parameter generation compensation control routine,
The welding parameter of amendment setting in real time.It is illustrated in figure 7 for the complex workpiece, defect of geometry, in wire filling laser welding
Increase droplet transfer during material repair apparatus reparation defect.
When workpiece defect some under surface of test piece when, with reference to shown in Fig. 1, Fig. 8 and Fig. 9, due to A axles and laser
There is certain angle between welding torch 510, controller 100 can drive A axles rotary shaft to adjust weldering of the laser torch 510 on workpiece
Position is connect, so that the defect mending under completing surface of test piece.
Step S6:For the thermal deformation that surface of test piece occurs is repaired after arc surfacing, after first repairing is completed, drive again
Dynamic laser vision sensor 300 scans the three-D profile of defect, it is determined that whether the workpiece after repairing is up to standard, it is right if not up to standard
Defect is repaired again, untill defect mending is up to standard.
As preferred scheme of the present utility model, in welding, when the location and shape of defect are complex, can pass through
Drive the welding angle of the adjustment laser torch 510 of A axles rotating unit 240 to complete defect mending, one can be entered using the method
Step improves repairing efficiency, overcomes the deficiencies in the prior art.
Repair apparatus provided by the utility model may be mounted in the frame of robot end or portal frame, coordinate machine
The motion positions of device people or portal frame to relevant position, for repairing the defect test specimen under different occasions or needing repair maintenance
Equipment.
Working process and principle of the present utility model are：The utility model scans workpiece using laser vision sensor 300
On defect, send the three-D profile optical signal of acquisition to controller 100；Controller 100 lacks according to structure light signal reconstruction
Sunken three-D profile, and corresponding control routine is generated, it is determined that the technical parameter of welding；In welding process, controller 100 drives
Dynamic near infrared vision sensing device 400 is scanned to molten bath, obtains the time and frequency parameter of crater image, generates corresponding compensation control
Code, and the welding parameter for being set before amendment in real time, make final welding effect more preferable；After first welding is finished, laser video
Feel that sensor 300 can again be scanned to defective locations, it is determined that repairing situation and evaluation repair efficiency, if repair efficiency is not up to
To setting standard, then controller 100 drive four-axle linked platform, laser vision sensor 300 and infrared vision sensor 400
Defect after repairing is repaired again, untill repair efficiency is up to standard.Simple structure provided by the utility model, behaviour
Facilitate, reliability is high, strong adaptability.
Embodiment 2：
As shown in figure 1, laser vision sensor 300, near infrared vision sensing device 400 are arranged on into four axle (X-Y-Z-A
Axle) Motion Control Platform Z axis motion platform on, by laser torch 510 be arranged on A axle rotation platforms on.The device can pacify
On robot end or portal frame frame, robot or portal frame is coordinated to move to relevant position to repair different occasions
Lower defect test specimen or equipment.
The course of work that 3D provided by the utility model increases material repair apparatus is as follows：Cooperation four axes motion platform first will
Laser torch 510 moves to relevant position, under the control of computer control 100, drives the scanning of laser vision sensor 300 to lack
Fall into (complex geometric shapes) profile and obtain structure optical signal.
Then, semiconductor laser emission source sends a branch of parallel laser in laser vision sensor 300, and the laser beam is beaten
On the contour surface of workpiece, defect, its surface source of light information is arrived by the CMOS camera calibrations in sensor, using triangulation
Principle, can obtain accurate defect profile structure optical signal in computer control 100.(Fig. 6 is laser vision sensor
300 fundamental diagram)
Then, the defect profile structure optical signal that defect is obtained, computer controls are scanned according to laser vision sensor 300
Device 100 sets up defect threedimensional model using the method for three-dimensional reconstruction.The model of reconstruction is compared with original Parameters of The Parts, really
The design parameter of periodical repair benefit simultaneously generates control routine.
Then, drive four axes motion platform courses laser torch 510 to move to relevant position, then determined with control routine
Defective locations are carried out melting to cover repairing by the parameters such as the speed of filler wire 530, the watt level of laser torch 510 with the mode of built-up welding
Mend.As shown in fig. 7, be wire filling laser welding repair defect when droplet transfer, filler wire 530 through lead welding wire mouth 550 and to
Outer protrusion.Protective gas sprays from the mouth of pipe of wireway 560, the metal for protecting high temperature melting, prevents metal to be oxidized.Fill out
The metal filled near welding wire 530 and workpiece, defect melts in the presence of laser torch 510, forms molten bath, fills after cooling
Welding wire 530 becomes the part for workpiece.When workpiece, defect shape and the complex situation in position is run into, for this shape
The defect mending (as shown in Figure 8 and Figure 9, defect some under surface of test piece) of condition, because A axles have with laser torch 510
Certain angle, drives the welding position of A axles rotation axial adjustment laser torch 510, can complete the defect mending under surface of test piece.
Then, the schematic diagram of weld pool resonance when obtaining weldering near infrared vision sensing device 400 as shown in Figure 1, in heap repair welding
The defect crater image obtained during benefit contains the real-time repairing situation of defect, and molten bath is obtained by methods such as image procossings
Image time and frequency parameter, and then compensate control routine.
Finally, for the thermal deformation that surface of test piece occurs is repaired after arc surfacing, after first repairing is completed, laser video is used
Feel the scanning defect profile of sensor 300.The control routine repaired again after being processed through computer, so as to flat with four axes motion
Platform drives laser torch 510 and determines that corresponding melting covers parameter repairing defect.Laser vision sensor 300 obtains the three-dimensional wheel of defect
Exterior feature, near infrared vision sensing device 400 obtains the state of repairing in real time.Many heat transfer agents (laser, near infrared vision sensing device 400)
Fusion generation optimal control algorithm, including welding position, bonding power, speed of welding, the isoparametric online tune of wire feed rate
It is whole.Figure 10 is the workflow diagram of the utility model, the operation (i.e. vision-based detection, weld deposit repairing) is repeated several times, until defect
Outline shape is up to standard.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (6)
1. a kind of wire filling laser welding increases material repair apparatus, it is characterised in that including controller, positioned at four axles repaired above station
Linkage platform and be arranged in linkage platform be used for obtain workpiece defect profile three-dimensional information laser vision sensor,
Infrared vision sensor, fixture, laser torch, welding wire mouth, filler wire and wireway for obtaining molten bath status information；Institute
Controller is stated to connect with four-axle linked platform, laser vision sensor, infrared vision sensor, laser torch and welding wire mouth respectively
Connect；One end of the fixture is connected with four-axle linked platform, and the other end is fixed with laser torch；The filler wire is arranged on weldering
On silk mouth, the welding wire mouth is connected with laser torch, and the adjustable angle between laser torch；The wireway is arranged on laser
On welding torch, outgassing direction is adjustable.
2. wire filling laser welding according to claim 1 increases material repair apparatus, it is characterised in that the four-axle linked platform bag
Include X-axis mobile unit, Y-axis mobile unit, Z axis mobile unit and A axle rotating units；The X-axis mobile unit is located at patcher
Position top, Y-axis mobile unit is arranged in X-axis mobile unit, and Z axis mobile unit is arranged in Y-axis mobile unit, and A axles are rotated
Unit is arranged in Z axis mobile unit, can be horizontally rotated with respect to Z axis mobile unit；The A axles rotating unit is fixed with fixture and connected
Connect, the soldering angle for adjusting laser torch.
3. wire filling laser welding according to claim 1 increases material repair apparatus, it is characterised in that the infrared vision sensor
It is near infrared vision sensing device.
4. wire filling laser welding according to claim 1 increases material repair apparatus, it is characterised in that the controller is using industry
Control computer.
5. wire filling laser welding according to claim 1 increases material repair apparatus, it is characterised in that the wireway is using universal
Pipe or ring pipe.
6. wire filling laser welding according to claim 1 increases material repair apparatus, it is characterised in that the welding wire mouth passes through angle
Adjustment unit is connected with laser torch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620896929.1U CN206253808U (en) | 2016-08-17 | 2016-08-17 | Wire filling laser welding increases material repair apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620896929.1U CN206253808U (en) | 2016-08-17 | 2016-08-17 | Wire filling laser welding increases material repair apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206253808U true CN206253808U (en) | 2017-06-16 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141436A (en) * | 2016-08-17 | 2016-11-23 | 广东工业大学 | Wire filling laser welding increases material repair apparatus and method for repairing and mending |
| CN109848545A (en) * | 2019-01-08 | 2019-06-07 | 北京邮电大学 | A kind of laser processing method of integrated object abnormal area identification and heat effect |
| CN111246964A (en) * | 2017-10-17 | 2020-06-05 | Lg电子株式会社 | Welding system and method of operating the same |
| JP2021007962A (en) * | 2019-06-28 | 2021-01-28 | パナソニックＩｐマネジメント株式会社 | Repair welding control apparatus and repair welding control method |
| CN113305439A (en) * | 2021-05-13 | 2021-08-27 | 上海电机学院 | Double-beam pulse laser time-sharing induction MAG electric arc directional swinging surfacing device |
-
2016
- 2016-08-17 CN CN201620896929.1U patent/CN206253808U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141436A (en) * | 2016-08-17 | 2016-11-23 | 广东工业大学 | Wire filling laser welding increases material repair apparatus and method for repairing and mending |
| CN111246964A (en) * | 2017-10-17 | 2020-06-05 | Lg电子株式会社 | Welding system and method of operating the same |
| CN109848545A (en) * | 2019-01-08 | 2019-06-07 | 北京邮电大学 | A kind of laser processing method of integrated object abnormal area identification and heat effect |
| JP2021007962A (en) * | 2019-06-28 | 2021-01-28 | パナソニックＩｐマネジメント株式会社 | Repair welding control apparatus and repair welding control method |
| JP7220383B2 (en) | 2019-06-28 | 2023-02-10 | パナソニックＩｐマネジメント株式会社 | REPAIR WELDING CONTROL DEVICE AND REPAIR WELDING CONTROL METHOD |
| CN113305439A (en) * | 2021-05-13 | 2021-08-27 | 上海电机学院 | Double-beam pulse laser time-sharing induction MAG electric arc directional swinging surfacing device |
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