阅读说明：本技术 含有超声在线检测装置的激光焊接系统及激光焊接方法 (Laser welding system containing ultrasonic online detection device and laser welding method ) 是由 赵新玉 史春元 闫浩明 陈婧阳 温欣 卢伟 于 2018-07-18 设计创作，主要内容包括：本发明公开了一种含有超声在线检测装置的激光焊接系统及激光焊接方法。本发明以超声相控阵技术为基础,通过读取上位机传送来的激光焊机位置,使用三轴悬臂系统控制超声相控阵换能器的位置,实现对激光焊接焊缝的实时在线检测,采集焊缝数据并将上传至上位机,对焊缝内部进行成像处理。(The invention discloses laser welding systems containing ultrasonic online detection devices and laser welding methods.)

1, laser welding system with ultrasonic online detection device, which is characterized in that it comprises laser welding machine, laser welding bench, ultrasonic detection system and control system,

the laser welding machine comprises a manipulator and a laser welding head, wherein the manipulator is connected with the laser welding head and is controlled by a signal transmitted by the control system;

the laser welding workbench comprises a welding workbench surface, support legs and a detection cantilever loading workbench surface, wherein a locking device is arranged on the welding workbench surface and can be used for locking a workpiece to be welded, the detection cantilever loading workbench surface is positioned below the welding workbench surface and is parallel to the welding workbench surface, and the support legs penetrate through the welding workbench surface and the detection cantilever loading workbench surface and fix the laser welding workbench on the ground;

the ultrasonic detection system comprises a three-axis cantilever system and a detection probe, wherein the three-axis cantilever system is arranged on a loading table top of the detection cantilever and comprises a cantilever, a horizontal slide rail parallel to the loading table top of the detection cantilever, a horizontal slide rail II perpendicular to the horizontal slide rail and parallel to the loading table top of the detection cantilever, a vertical slide rail, a servo motor , a servo motor II and a servo motor III, the cantilever is arranged on the vertical slide rail and can reciprocate along the vertical slide rail under the driving of the servo motor , the vertical slide rail is arranged on the horizontal slide rail II and can reciprocate along the horizontal slide rail II under the driving of the servo motor III, the horizontal slide rail II is arranged on the horizontal slide rail and can reciprocate along the vertical slide rail under the driving of the servo motor III, the detection probe is arranged at the end part of the cantilever and comprises an ultrasonic phased array transducer and a probe medium cavity, a medium is arranged in the probe medium cavity, the ultrasonic phased array transducer is fixedly connected to through a coupling liquid and the probe;

the control system controls the motion and welding parameters of the laser welding machine and the motion parameters of the ultrasonic detection system, receives detection data transmitted by the ultrasonic detection system, and adjusts the motion and welding parameters of the laser welding machine in real time according to a detection result.

2. The laser welding system with ultrasonic on-line detection device as claimed in claim 1, wherein the ultrasonic phased array transducer is an auto-focusing linear array transducer.

3. The laser welding system with the ultrasonic online detection device as claimed in claim 1, wherein the locking device is a profile fixing device, and the workpiece can be pressed on the welding table top through a plurality of plum blossom-shaped handles.

4. The laser welding system with ultrasonic online detection device as claimed in claim 1, wherein the detection probe is mounted at the end of the cantilever by a clamping device.

5. The laser welding system with ultrasonic online detection device as claimed in claim 1, wherein the medium contained in the medium cavity of the probe is water.

6. The laser welding system with the ultrasonic online detection device as claimed in claim 1, wherein the ultrasonic phased array transducer is connected with the probe medium cavity by a screw through a coupling liquid in a fixed manner.

7. The laser welding system with ultrasonic online detection device as claimed in claim 1, wherein the motion parameters of the laser welder and the motion parameters of the ultrasonic detection system are maintained .

8. The laser welding system with the ultrasonic online detection device as claimed in claim 1, wherein a water receiving tray is installed below the probe medium cavity.

9. The laser welding system with ultrasonic online detection device as claimed in claim 1, wherein the robot is a six-axis robot.

10, method for laser welding by using the laser welding system containing the ultrasonic online detection device as claimed in any claim 1-9, characterized by comprising the following steps:

step 1: fixing a workpiece to be welded on a welding table top by using a locking device according to the process requirements;

step 2: the control system controls the mechanical arm to move to a specified welding position to start welding, and in the welding process, the mechanical arm drives the laser welding head to move above a workpiece and weld according to the welding parameters sent by the control system; meanwhile, the control system controls the three-axis cantilever system to move to the position right below the weld joint, the ultrasonic phased array transducer is triggered, ultrasonic signals are excited, and returned ultrasonic detection signals are received, so that the ultrasonic phased array transducer can synchronously detect the weld joint;

step 3: and after receiving the ultrasonic detection signal, the control system carries out real-time analysis and processing, judges whether the welding process parameters need to be adjusted or not, and transmits new welding parameters to the laser welding machine for welding if the welding process parameters need to be adjusted.

Technical Field

The invention relates to the field of laser welding and ultrasonic nondestructive detection, in particular to laser welding systems with ultrasonic online detection devices and laser welding methods.

Background

Laser welding is novel welding processes, has the advantages of energy concentration, little splashing, attractive weld forming, easy realization of automation and the like, and has been widely applied to in industrial production, however, in the long-term operation process of laser welding, due to error accumulation caused by repeated positioning of a mechanical system, thermal deformation occurs in the welding process, and problems existing in the pre-welding assembly process, various defects of the laser weld can occur, and therefore, nondestructive detection is carried out on the laser weld.

The ultrasonic phased array technology is originated from the electromagnetic wave phased array technology of radar, and a multichannel instrument is utilized to respectively carry out accurate excitation and receiving delay control on each array element of an array transducer, so that the angle deflection, the focusing change and the electronic scanning of sound beams are realized, and the defect detection capability and the detection efficiency are further effectively improved.

At present, the traditional ultrasonic detection mainly detects the laser welding seam in an off-line mode after welding, and the method needs to transfer a welding workpiece from a welding workbench to a detection workbench, reassemble the welding workpiece and detect the welding workpiece, and is time-consuming and labor-consuming. And the quality information of the welding seam can not be obtained in real time in the welding process by postweld detection, and the welding parameters are difficult to be adjusted in time according to the quality problem of the welding seam.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides laser welding systems and laser welding methods with ultrasonic online detection devices.

In order to achieve the purpose, the technical scheme of the invention is as follows:

laser welding system containing ultrasonic online detection device, which is characterized in that the laser welding system comprises a laser welder, a laser welding workbench, an ultrasonic detection system and a control system:

the laser welding machine comprises a manipulator and a laser welding head, wherein the manipulator is connected with the laser welding head and is controlled by a signal transmitted by the control system;

the laser welding workbench comprises a welding workbench surface, support legs and a detection cantilever loading workbench surface, wherein a locking device is arranged on the welding workbench surface and can be used for locking a workpiece to be welded, the detection cantilever loading workbench surface is positioned below the welding workbench surface and is parallel to the welding workbench surface, and the support legs penetrate through the welding workbench surface and the detection cantilever loading workbench surface and fix the laser welding workbench on the ground;

the ultrasonic detection system comprises a three-axis cantilever system and a detection probe, wherein the three-axis cantilever system is arranged on a loading table top of the detection cantilever and comprises a cantilever, a horizontal slide rail parallel to the loading table top of the detection cantilever, a horizontal slide rail II perpendicular to the horizontal slide rail and parallel to the loading table top of the detection cantilever, a vertical slide rail, a servo motor , a servo motor II and a servo motor III, the cantilever is arranged on the vertical slide rail and can reciprocate along the vertical slide rail under the driving of the servo motor , the vertical slide rail is arranged on the horizontal slide rail II and can reciprocate along the horizontal slide rail II under the driving of the servo motor III, the horizontal slide rail II is arranged on the horizontal slide rail and can reciprocate along the vertical slide rail under the driving of the servo motor III, the detection probe is arranged at the end part of the cantilever and comprises an ultrasonic phased array transducer and a probe medium cavity, a medium is arranged in the probe medium cavity, the ultrasonic phased array transducer is fixedly connected to through a coupling liquid and the probe;

the control system controls the motion and welding parameters of the laser welding machine and the motion parameters of the ultrasonic detection system, receives detection data transmitted by the ultrasonic detection system, and adjusts the motion and welding parameters of the laser welding machine in real time according to a detection result.

Preferably, the ultrasonic phased array transducer is an auto-focusing linear array transducer.

Preferably, the locking device is a section bar fixing device, and workpieces can be pressed on the welding table top through a plurality of plum blossom-shaped handles.

Preferably, the detection probe is mounted at the end of the cantilever by a clamping device.

Preferably, the medium contained in the medium cavity of the probe is water.

Preferably, the ultrasonic phased array transducer is in screw connection with the medium cavity of the probe through the fixed connection mode of the coupling liquid.

Preferably, the motion parameters of the laser welder and the motion parameters of the ultrasonic detection system are maintained .

Preferably, a water receiving tray is arranged below the probe medium cavity.

Preferably, the robot is a six-axis robot

method for using laser welding system with ultrasonic online detection device, which is characterized by comprising the following steps

Step 1: fixing the workpiece to be welded on the welding table top by using a locking device according to the process requirements

Step 2: the control system controls the mechanical arm to move to a specified welding position to start welding, and in the welding process, the mechanical arm drives the laser welding head to move above a workpiece and weld according to the welding parameters sent by the control system; meanwhile, the control system controls the three-axis cantilever system to move to the position right below the weld joint, the ultrasonic phased array transducer is triggered, ultrasonic signals are excited, and returned ultrasonic detection signals are received, so that the ultrasonic phased array transducer can synchronously detect the weld joint;

step 3: and after receiving the ultrasonic detection signal, the control system carries out real-time analysis and processing, judges whether the welding process parameters need to be adjusted or not, and transmits new welding parameters to the laser welding machine for welding if the welding process parameters need to be adjusted.

According to the technical scheme, the ultrasonic online detection system arranged below the welding table top is used for carrying out real-time online monitoring and feedback on the state of the welding workpiece, the synchronism of welding and detection is ensured through the control system, and the purposes of synchronous detection and timely adjustment can be achieved. Therefore, the invention has the obvious characteristics of improving the working efficiency and reducing the rework amount and the detection time.

Drawings

FIG. 1 is a schematic diagram of a laser welding system including an ultrasonic on-line detection device according to an embodiment of the present invention;

FIG. 2 is a schematic block diagram of the control and transmission of the control system in an embodiment of the present invention;

FIG. 3 is a front view of an ultrasound detection system in an embodiment of the present invention;

FIG. 4 is a left side view of the ultrasound probe system shown in FIG. 3;

FIG. 5 is a schematic view of the cantilever and probe of the ultrasound probe system of FIG. 3;

figure 6 is a front view of a probe in the ultrasound detection system shown in figure 3.

Detailed Description

The following detailed description provides a detailed description of an embodiment of the invention in conjunction with the drawings.

In the following detailed description of the embodiments of the present invention, in order to clearly illustrate the structure of the present invention and to facilitate explanation, the structure shown in the drawings is not drawn to scale as , and is partially enlarged, modified and simplified, so that the present invention should not be construed as limited thereto.

In the following detailed description of the present invention, referring to fig. 1, fig. 1 is a schematic diagram of a laser welding system including an ultrasonic online detection device.

As shown in fig. 1, laser welding systems with ultrasonic online detection devices comprise a laser welder 1, a laser welding workbench 2, an ultrasonic detection system 3 and a control system:

the laser welding machine comprises a manipulator 11 and a laser welding head 12, wherein the manipulator is connected with the laser welding head and is controlled by signals transmitted by a control system.

In this embodiment, the robot 11 is a six-axis robot, and can perform laser repair in any shape and at any position.

The laser welding workbench comprises a welding table top 21, a support leg 22 and a detection cantilever loading table top 23, a locking device is installed on the welding table top and can be used for locking a workpiece to be welded, the detection cantilever loading table top 23 is located below the welding table top and is parallel to the welding table top 21, and the support leg 22 penetrates through the welding table top 21 and the detection cantilever loading table top 23 and fixes the laser welding workbench 2 on the ground.

In this embodiment, the locking device is a profile fixing device, and the workpiece can be pressed on the welding table top through a plurality of plum blossom-shaped handles 24.

Referring to fig. 3-6, the ultrasonic detection system comprises a three-axis cantilever system and a detection probe 32, the three-axis cantilever system is mounted on the loading table of the detection cantilever and comprises a cantilever 311, a horizontal slide rail 312 parallel to the loading table of the detection cantilever, a second horizontal slide rail 313 perpendicular to the horizontal slide rail and parallel to the loading table of the detection cantilever, a vertical slide rail 314, a servo motor 315, a second servo motor 316 and a third servo motor 317, the cantilever 311 is mounted on the vertical slide rail 314 and can reciprocate along the vertical slide rail 314 under the drive of the servo motor 315, the vertical slide rail 314 is mounted on the second horizontal slide rail 313 and can reciprocate along the second horizontal slide rail 313 under the drive of the second servo motor 316, the second horizontal slide rail 313 is mounted on the horizontal slide rail 312 and can reciprocate along the horizontal slide rail 312 under the drive of the third servo motor 317, the detection probe 32 is mounted at the end of the cantilever 31 and comprises an ultrasonic phased array transducer 321 and a probe medium cavity 322, media are contained in the probe cavity, the ultrasonic phased array transducer 321 is fixedly connected with the through a coupling medium liquid, and a data transducer 322 in the ultrasonic detection system is.

In this embodiment, the ultrasonic phased array transducer is an auto-focusing linear array transducer.

Referring to fig. 5, in the present embodiment, the detecting probe 32 is mounted on the end of the cantilever 311 by a clamping device.

Referring to fig. 4, in this embodiment, the medium contained in the medium chamber of the probe is water. Because the attenuation of sound waves in air is large, it is difficult for sound waves to pass through a water chamber that is not filled with water. The probe water cavity is tightly attached to the workpiece to be detected, so that the sound wave can reach the position of a welding line and the detection is normally carried out. A water-receiving tray 323 is installed below the probe media chamber, since water spillage may occur during cantilever movement.

In this embodiment, the ultrasonic phased array transducer is connected to the probe media cavity by a screw through a coupling liquid.

The control system controls the motion and welding parameters of the laser welding machine 1 and the motion parameters of the ultrasonic detection system 3, receives detection data transmitted by the ultrasonic detection system 3, and adjusts the motion and welding parameters of the laser welding machine 1 in real time according to a detection result.

In this embodiment, the motion parameters of the laser welder 1 and the motion parameters of the ultrasonic detection system 3 are maintained .

The method for laser welding using the laser welding system with the ultrasonic online detection device comprises the following steps, referring to figure 2,

step 1: fixing a workpiece to be welded on a welding table top by using a locking device according to the process requirements;

step 2: the control system controls the mechanical arm to move to a specified welding position to start welding, and in the welding process, the mechanical arm drives the laser welding head to move above a workpiece and weld according to the welding parameters sent by the control system; meanwhile, the control system controls the three-axis cantilever system to move to the position right below the weld joint, the ultrasonic phased array transducer is triggered, ultrasonic signals are excited, and returned ultrasonic detection signals are received, so that the ultrasonic phased array transducer can synchronously detect the weld joint;

step 3: and after receiving the ultrasonic detection signal, the control system carries out real-time analysis and processing, judges whether the welding process parameters need to be adjusted or not, and transmits new welding parameters to the laser welding machine for welding if the welding process parameters need to be adjusted.

For example, when the unfused defect occurs, the output power of the laser is increased, the adjusted parameters are transmitted to the laser welding system in real time, and the welding quality is improved by changing the welding process parameters.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.