Wire feeding laser welding device and welding method thereof

Abstract

The present invention provides a wire feeding laser welding device, comprising a tooling frame, a positioning plate, an annular plate, a laser head, and a wire feeding head. The laser head is installed on the bottom side of the tooling frame through the positioning plate, and the annular plate is fixed to the bottom side of the positioning plate, and an annular groove is provided in its circumference, and at least two groups of sliding blocks are connected in the annular groove, and a compression rod is provided in the sliding block, and the compression rod is correspondingly connected to the wire feeding head. The wire feeding head comprises a positioning rod that can be vertically connected to the compression rod, a wire feeding tube fixed at the bottom end of the positioning rod, and a raised strip arranged on one side of the top end of the positioning rod. A plurality of tooth grooves that can be correspondingly engaged and positioned with the raised strip are fixed around the circumference of the positioning plate, and a spring is connected to the outer sleeve of the compression rod, one end of the spring abuts against the open end of the annular groove, and the other end abuts against the side of the limit plug at the end of the compression rod. The present invention has a simple structure, can assist a six-axis robot, and relatively simply and conveniently completes the welding operation of a circumferential closed trajectory of a starting point and an end point, and the adjustment cost is also relatively low.

Description

Technical Field

[0001] The invention relates to a laser welding technology, in particular to a wire feeding laser welding device and a welding method thereof. Background Art

[0002] Laser welding is an efficient and precise welding method that uses a high-energy-density laser beam as a heat source. It is also one of the important aspects of the application of laser material processing technology. In order to achieve more intelligent and automated welding operations, the existing technology often requires the laser welding head to be fixedly installed at the end of the sixth axis of a six-axis robot, and the welding trajectory movement of the laser welding head is achieved with the assistance of the six-axis robot. However, when it is necessary to process a circumferentially closed welding trajectory with a starting point and an end point, such as a rectangular welding trajectory, at this time, every time the laser head passes an inflection point, it needs to be rotated 90 degrees. In order to ensure that the wire feed head is always located in front of the welding laser head To ensure the welding quality, each rotation is in one direction. Therefore, to complete one circle, the sixth end of the six-axis robot needs to rotate 360 ​​degrees. However, in the existing equipment, it is necessary to consider the increase in software costs when the rotation angle of the six-axis robot increases, and the limitations of the air pipe and signal line on the end flange cannot rotate at a large angle. Therefore, customers are very cautious about the rotation of the sixth end of the six-axis robot, and many six-axis robot equipment are generally set to 350 degrees. If the rotation angle needs to be increased, the modification cost is relatively large, but the rotation angle at this time cannot complete welding operations such as rectangular welding tracks.

[0003] Therefore, there is an urgent need for a wire feeding laser welding device and a welding method thereof which has a simple structure, can assist a six-axis robot, and relatively simply and conveniently complete the welding operation of a circumferential closed trajectory of a starting point and an end point, and has a low adjustment cost. Summary of the invention

[0004] The purpose of the present invention is to provide a wire feeding laser welding device and a welding method thereof, which have a simple structure and can assist a six-axis robot to relatively simply and conveniently complete the welding operation of a circumferential closed trajectory between a starting point and an end point, and the adjustment cost is also relatively low.

[0005] The present invention provides the following technical solutions:

[0006] A wire feeding laser welding device comprises a tooling frame, a positioning plate, an annular plate, a laser head, and a wire feeding head. The top side of the tooling frame is installed at the end of the sixth axis of the six-axis robot. The laser head is installed on the bottom side of the tooling frame through the positioning plate, and the annular plate is fixedly arranged on the bottom side of the positioning plate, and an annular groove away from the central opening of the annular plate is provided on its circumferential outer side. At least two groups of sliding blocks are slidably connected in the annular groove. A compression rod is provided in the sliding block. The end of the compression rod can extend out of the annular groove and is connected to the wire feeding head one by one. The wire feeding head comprises a positioning rod, a fixed rod and a fixed rod which can be vertically connected to the compression rod. A wire feeding tube at the bottom end of the positioning rod and a raised strip arranged on one side of the top end of the positioning rod, a plurality of tooth grooves that can be correspondingly engaged and positioned with the raised strip are fixed around the circumference of the positioning plate, and a spring is connected to the outer sleeve of the compression rod, one end of the spring abuts against the open end of the annular slide groove, and the other end abuts against the side of the limit plug at the end of the compression rod, and is used to compress the limit plug to pull the positioning rod toward the center of the positioning plate, and two groups of support rods are also fixed on one side of the positioning rod, the two groups of support rods are symmetrically arranged on both sides of the compression rod, and the ends of the support rods are also provided with arc blocks that can abut and limit the outer side of the annular plate.

[0007] Preferably, the sliding blocks and the wire feeding heads are each in four corresponding groups, and the wire feeding heads are distributed around the positioning plate at 90° intervals.

[0008] Preferably, two sets of driving wheels arranged opposite to each other are provided in the wire feeding tube, and the two sets of driving wheels can drive the welding wire therein to move under the drive of a micro motor.

[0009] Preferably, the interval between two adjacent groups of tooth grooves is 1°.

[0010] Preferably, at least one group of air supply pipes is provided in the wire feeding tube.

[0011] Preferably, the bottom side of the annular plate is further provided with a protective side plate arranged around the laser head.

[0012] A wire feeding laser welding method, based on the above-mentioned wire feeding laser welding device, the welding method comprises the following steps:

[0013] S1: Determine the number of wire feeding heads, and determine the angle between two adjacent groups of wire feeding heads by determining the matching positions of the positioning rod and the tooth groove;

[0014] S2: The laser of the laser head irradiates a starting point of the track to be welded of the workpiece, and the wire feeding tube in the wire feeding head located in front of the movement track of the laser head drives the welding wire to the surface of the workpiece, the welding wire is melted by the laser radiation and transitions to the surface of the workpiece, and the end of the sixth axis of the six-axis robot drives the laser head to move along the welding track until it reaches a turning point of the track. When the number of wire feeding heads is the same as the number of turning points, the angle setting of the wire feeding head can be completed in S1. At this time, the welding wire located in front of the laser head on the track to be welded at the turning point can be directly sent to the surface of the workpiece through the wire feeding tube, and the welding wire at the previous station is away from the surface of the workpiece. The welding wire is melted by the laser radiation and transitions to the surface of the workpiece, and the welding at the welding track after the turning point can be continued. When the number of wire feeding heads is less than the number of turning points, the angle setting of the wire feeding head can be completed in S1, and the angle difference with the corner at the turning point can be judged, and then the end of the sixth axis of the six-axis robot can be reciprocated according to the difference, so that the welding wire rotates alternately to the front of the laser head to perform the welding operation;

[0015] S3: When the laser of the laser head irradiates the workpiece to be welded for one circle and returns to the starting point of S2, the wire feeding tube stops feeding the wire and quickly retracts the welding wire; and the laser head stops radiating, and the molten wire on the workpiece solidifies and takes shape.

[0016] Preferably, the welding wire is pre-fed at an angle of 30 to 75° with the laser optical axis emitted by the laser head.

[0017] The beneficial effects of the present invention are as follows: by setting an annular slide groove and setting multiple groups of sliding blocks in the annular slide groove, multiple groups of wire feeding heads can be connected, and then the positioning of the wire feeding heads can be achieved in cooperation with the tooth grooves, and the wire feeding heads are set with corresponding or different numbers of inflection points of the welding motion trajectory, thereby reducing the cost of the angle of rotation of the end of the sixth axis of the six-axis robot when completing a circumferential motion trajectory. At the same time, the welding operation of the circumferential closed trajectory of the starting point and the end point can be completed more simply and conveniently, and the adjustment cost is also low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 is a cross-sectional view of the structure of the present invention in Example 1;

[0020] Figure 2 yes Figure 1 A top view of the center positioning plate;

[0021] Figure 3 is a cross-sectional view of the structure of the present invention in Example 2;

[0022] Figure 4 yes Figure 3A top view of the center positioning plate;

[0023] Markings in the figure: 1 is a tooling frame, 2 is a positioning plate, 3 is an annular plate, 4 is a laser head, 5 is a wire feeding head, 6 is an annular slide groove, 7 is a sliding block, 8 is a compression rod, 13 is a protective side plate, 14 is a laser, 51 is a positioning rod, 52 is a wire feeding tube, 53 is a raised strip, 54 is a tooth groove, 55 is a spring, 56 is a driving wheel, 57 is a welding wire, 58 is a gas supply pipe, and 59 is a support rod. DETAILED DESCRIPTION

[0024] Example 1

[0025] When the welding motion trajectory is rectangular and the number of wire feed heads 5 is four, Figure 1 to Figure 2 A wire feeding laser welding device is shown, in this embodiment, includes a tool frame 1, a positioning plate 2, an annular plate 3, a laser head 4, and a wire feeding head 5. The top side of the tool frame 1 is installed on the movable end of the six-axis robot, and the laser head 4 is installed on the bottom side of the tool frame 1 through the positioning plate 2, and the annular plate 3 is fixedly arranged on the bottom side of the positioning plate 2, and its circumferential outer side is provided with an annular groove 6 away from the central opening of the annular plate 3, and two groups of sliding blocks 7 are slidably connected in the annular groove 6, and a compression rod 8 is provided in the sliding block 7, and the end of the compression rod 8 can extend out of the annular groove 6 and is connected to the wire feeding head 5 one by one, and the wire feeding head 5 includes a positioning rod 51 which can be vertically connected to the compression rod 8, A wire feeding tube 52 fixed to the bottom end of the positioning rod 51, and a raised strip 53 arranged on one side of the top end of the positioning rod 51, a plurality of tooth grooves 54 that can be correspondingly engaged and positioned with the raised strip 53 are fixed around the circumference of the positioning plate 2, and a spring 55 is connected to the outer sleeve of the compression rod 8, one end of the spring 55 abuts against the open end of the annular slide groove 6, and the other end abuts against the side of the limit plug at the end of the compression rod 8, and is used to compress the limit plug to pull the positioning rod 51 toward the center of the positioning plate 2, and two groups of support rods 59 are also fixed on one side of the positioning rod, and the two groups of support rods 59 are symmetrically arranged on both sides of the compression rod, and the ends of the support rods are also provided with arc blocks that can abut and limit the outer side of the annular plate;

[0026] The sliding blocks 7 and the wire feed heads 5 are four sets of corresponding matches, and the wire feed heads 5 are distributed around the positioning plate 2 at 90° intervals;

[0027] Two sets of driving wheels 56 are arranged opposite to each other in the wire feeding tube 52. The two sets of driving wheels 56 can drive the welding wire 57 therein to move under the drive of the micro motor.

[0028] The interval between two adjacent groups of tooth grooves 54 is 1°;

[0029] At least one set of air supply pipes 58 is also provided in the wire feeding tube 52;

[0030] The bottom side of the annular plate 3 is also provided with a protective side plate 13 arranged around the laser head 4;

[0031] A wire feeding laser welding method, based on the above-mentioned wire feeding laser welding device, the welding method comprises the following steps:

[0032] S1: Determine the number of wire feeding heads 5, and determine the angle between two adjacent groups of wire feeding heads 5 by determining the matching positions of the positioning rod 51 and the tooth groove 54;

[0033] S2: The laser 14 of the laser head 4 irradiates the midpoint of one side of the rectangular trajectory of the workpiece to be welded as the starting point, and the wire feeding tube 52 in the wire feeding head 5 drives the welding wire 57 located in front of the laser head 4 to the surface of the workpiece, and the welding wire 57 is melted by the laser radiation and transitions to the surface of the workpiece. The end of the sixth axis of the six-axis robot drives the laser head 4 to move along the welding trajectory until it reaches the turning point of the rectangle. At this time, the four groups of wire feeding heads 5 set in S1 are distributed at 90° intervals around the positioning plate 2 centered on the laser head 4. At this time, the welding wire 57 located in front of the laser head 4 on the trajectory to be welded at the turning point can be directly delivered to the surface of the workpiece through the wire feeding tube 52, and the welding wire 57 at the previous workstation is away from the surface of the workpiece. The welding wire 57 is melted by the laser radiation and transitions to the surface of the workpiece, and the welding handover at the welding trajectory after the turning point can be continued. The six-axis robot drives the laser head 4 to move in a straight line again until it encounters the next turning point, and the above turning point operation is repeated;

[0034] S3: When the laser of the laser head 4 irradiates the workpiece to be welded for one circle and returns to the starting point described in S2, the wire feeding tube 52 stops feeding the wire and quickly retracts the welding wire 57; and the laser head 4 stops irradiating, and the molten wire on the workpiece solidifies and takes shape;

[0035] The welding wire is fed in advance at an angle of 30 to 75 degrees to the laser optical axis emitted by the laser head.

[0036] Example 2

[0037] When the welding trajectory is rectangular and the number of wire feeders 5 is two, Figure 3 to Figure 4A wire feeding laser welding device is shown, in this embodiment, includes a tool frame 1, a positioning plate 2, an annular plate 3, a laser head 4, and a wire feeding head 5. The top side of the tool frame 1 is installed at the end of the sixth axis of the six-axis robot, and the laser head 4 is installed on the bottom side of the tool frame 1 through the positioning plate 2, and the annular plate 3 is fixedly arranged on the bottom side of the positioning plate 2, and its circumferential outer side is provided with an annular groove 6 away from the central opening of the annular plate 3, and two groups of sliding blocks 7 are slidably connected in the annular groove 6, and a compression rod 8 is provided in the sliding block 7, and the end of the compression rod 8 can extend out of the annular groove 6 and is connected to the wire feeding head 5 one by one, and the wire feeding head 5 includes a positioning rod 51 which can be vertically connected to the compression rod 8, A wire feeding tube 52 fixed to the bottom end of the positioning rod 51, and a raised strip 53 arranged on one side of the top end of the positioning rod 51, a plurality of tooth grooves 54 that can be correspondingly engaged and positioned with the raised strip 53 are fixed around the circumference of the positioning plate 2, and a spring 55 is connected to the outer sleeve of the compression rod 8, one end of the spring 55 abuts against the open end of the annular slide groove 6, and the other end abuts against the side of the limit plug at the end of the compression rod 8, and is used to compress the limit plug to pull the positioning rod 51 toward the center of the positioning plate 2, and two groups of support rods 59 are also fixed on one side of the positioning rod, the two groups of support rods are symmetrically arranged on both sides of the compression rod, and the ends of the support rods are also provided with arc blocks that can abut and limit the outer side of the annular plate;

[0038] Two sets of driving wheels 56 are arranged opposite to each other in the wire feeding tube 52. The two sets of driving wheels 56 can drive the welding wire 57 therein to move under the drive of a micro motor.

[0039] The interval between two adjacent groups of tooth grooves 54 is 1°;

[0040] At least one set of air supply pipes 58 is also provided in the wire feeding tube 52;

[0041] The bottom side of the annular plate 3 is also provided with a protective side plate 13 arranged around the laser head 4;

[0042] A wire feeding laser welding method, based on the above-mentioned wire feeding laser welding device, the welding method comprises the following steps:

[0043] S1: Determine the number of wire feeding heads 5, and determine the angle between two adjacent groups of wire feeding heads 5 by determining the matching positions of the positioning rod 51 and the tooth groove 54;

[0044] S2: The laser of the laser head 4 irradiates a starting point of the track to be welded on the workpiece, and the wire feeding tube 52 in the wire feeding head 5 drives the welding wire 57 located in front of the laser head 4 to the surface of the workpiece. The welding wire 57 is melted by the laser radiation and transitions to the surface of the workpiece. The end of the sixth axis of the six-axis robot drives the laser head 4 to move along the welding track until it reaches a turning point of the track. When the number of wire feeding heads 5 is the same as the number of turning points, the angle setting of the wire feeding head 5 can be completed in S1. At this time, the welding wire 57 located in front of the laser head 4 on the track to be welded at the turning point can be directly delivered to the surface of the workpiece through the wire feeding tube 52, and the welding wire 57 at the previous workstation is away from the surface of the workpiece. The welding wire 57 is melted by the laser radiation and transitions to the surface of the workpiece, and the workpiece can be continued. The welding at the welding track after the inflection point, at this time, the number of wire feed heads 5 is less than the number of inflection points, and the angle setting of the wire feed head 5 can be completed in S1, and the set angle is 180°, so at the inflection point, the other wire feed head 5 can be rotated 90° to the front of the welding track of the welding head through the six-axis robot operation, and when moving to the next inflection point, the two groups of wire feed heads 5 are alternated again, and the rotation operation of the sixth axis end of the six-axis robot only needs to rotate 90° in the opposite direction again, without passing through an inflection point to rotate 90 degrees in one direction until four inflection points, and it must rotate 360° to complete the track, so the welding operation of the circumferential closed track of the starting point and the end point can be completed more simply and conveniently, and the adjustment cost is also low;

[0045] S3: When the laser of the laser head 4 irradiates the workpiece to be welded for one circle and returns to the starting point of S2 again, the wire feeding tube 52 stops feeding the wire and quickly retracts the welding wire 57; and the laser head 4 stops irradiating, and the molten wire on the workpiece solidifies and takes shape;

[0046] The welding wire is fed in advance at an angle of 30 to 75 degrees to the laser optical axis emitted by the laser head.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wire feeding laser welding method, based on a wire feeding laser welding device, characterized in that: The wire feeding laser welding device comprises a tooling frame, a positioning plate, an annular plate, a laser head, and a wire feeding head. The top side of the tooling frame is installed at the end of the sixth axis of the six-axis robot. The laser head is installed on the bottom side of the tooling frame through the positioning plate, and the annular plate is fixedly arranged on the bottom side of the positioning plate, and an annular groove away from the central opening of the annular plate is provided on its circumferential outer side. At least two groups of sliding blocks are slidably connected in the annular groove. A compression rod is provided in the sliding block. The end of the compression rod can extend out of the annular groove and is connected to the wire feeding head one by one. The wire feeding head comprises a positioning rod that can be vertically connected to the compression rod, a positioning rod fixed in The wire feeding tube at the bottom end of the positioning rod and the raised strip arranged on one side of the top end of the positioning rod, the positioning plate is circumferentially fixed with a plurality of tooth grooves that can be correspondingly engaged and positioned with the raised strip, and the compression rod is outer-mounted with a spring, one end of the spring abuts against the open end of the annular slide groove, and the other end abuts against the side of the limit plug at the end of the compression rod, and is used to compress the limit plug to pull the positioning rod toward the center of the positioning plate, and two groups of support rods are also fixed on one side of the positioning rod, the two groups of support rods are symmetrically arranged on both sides of the compression rod, and the ends of the support rods are also provided with arc blocks that can abut and limit the outer side of the annular plate; The wire feeding laser welding method comprises the following steps: S1: Determine the number of wire feeding heads, and determine the angle between two adjacent groups of wire feeding heads by determining the matching positions of the positioning rod and the tooth groove; S2: The laser of the laser head irradiates a starting point of the track to be welded of the workpiece, and the wire feeding tube in the wire feeding head located in front of the movement track of the laser head drives the welding wire to the surface of the workpiece, the welding wire is melted by the laser radiation and transitions to the surface of the workpiece, and the end of the sixth axis of the six-axis robot drives the laser head to move along the welding track until it reaches a turning point of the track. When the number of wire feeding heads is the same as the number of turning points, the angle setting of the wire feeding head can be completed in S1. At this time, the welding wire located in front of the laser head on the track to be welded at the turning point can be directly sent to the surface of the workpiece through the wire feeding tube, and the welding wire at the previous station is away from the surface of the workpiece. The welding wire is melted by the laser radiation and transitions to the surface of the workpiece, and the welding at the welding track after the turning point can be continued. When the number of wire feeding heads is less than the number of turning points, the angle setting of the wire feeding head can be completed in S1, and the angle difference with the corner at the turning point can be judged, and then the end of the sixth axis of the six-axis robot can be reciprocated according to the difference, so that the welding wire rotates alternately to the front of the laser head to perform the welding operation; S3: When the laser of the laser head irradiates the workpiece to be welded for one circle and returns to the starting point of S2, the wire feeding tube stops feeding the wire and quickly retracts the welding wire; and the laser head stops radiating, and the molten wire on the workpiece solidifies and takes shape.

2. A wire feeding laser welding method according to claim 1, characterized in that: The sliding blocks and the wire feeding heads are each in four corresponding groups, and the wire feeding heads are distributed around the positioning plate at 90° intervals.

3. A wire feeding laser welding method according to claim 1, characterized in that: Two sets of driving wheels arranged opposite to each other are arranged in the wire feeding tube, and the two sets of driving wheels can drive the welding wire therein to move under the drive of a micro motor.

4. A wire feeding laser welding method according to claim 1, characterized in that: The interval between two adjacent groups of tooth grooves is 1°.

5. A wire feeding laser welding method according to claim 1, characterized in that At least one group of air supply pipes is also provided in the wire feeding pipe.

6. A wire feeding laser welding method according to claim 1, characterized in that: The bottom side of the annular plate is also provided with a protective side plate arranged around the periphery of the laser head.

7. A wire feeding laser welding method according to claim 1, characterized in that: The welding wire is fed in advance at an angle of 30 to 75 degrees to the laser optical axis emitted by the laser head.

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