An adaptive servo wire feeding welding mechanism and its welding method

Abstract

This invention provides an adaptive servo wire feeding welding mechanism and its welding method, comprising: a laser, a wire feeding mechanism, and a rotary motor. The wire feeding mechanism is connected to the rotary motor. During laser welding, the rotary motor drives the wire outlet of the wire feeding mechanism to rotate around the laser. The wire outlet of the wire feeding mechanism extends to the welding point of the laser, located at the front end of the tangent direction of the laser's corresponding running trajectory. A first slide mechanism includes a first displacement device and a second displacement device. A first mounting plate is provided on the first displacement device, and a second mounting plate is provided on the second displacement device. A second slide mechanism includes a third displacement device and a fourth displacement device. A third mounting plate is provided on the third displacement device, and a fourth mounting plate is provided on the fourth displacement device. Thus, while ensuring welding speed and accuracy, the movement and tilt angle adjustment of the laser and the wire feeding mechanism can be effectively controlled to meet different processing requirements of the laser.

Description

Technical Field

[0001] This invention relates to the field of laser welding technology, and in particular to an adaptive servo wire feeding welding mechanism and its welding method. Background Technology

[0002] Laser welding has become widespread in many fields, including manufacturing, electronics, and automotive, and new demands for laser welding are emerging. However, due to the small spot size in laser welding, the requirements for workpiece material errors and assembly precision are extremely high, making it unsuitable for processing thick plates and other defective parts. To expand the application range of laser welding, laser wire feeding welding technology is gradually being promoted.

[0003] Laser wire feeding welding is a machining method that uses a high-energy laser beam emitted from a continuous laser to melt and cool the welding wire and the workpiece, then welds several parts of the workpiece together. In laser wire feeding welding, the axial machining movement direction must be consistent with the wire feeding direction to ensure that the welding wire is fully heated and melts into a stable molten pool, evenly distributed across the weld. However, currently, the wire feeding mechanism in platform laser wire feeding welding is fixed in direction, so the mechanism can only process in one direction and cannot meet the different processing requirements of the laser. Summary of the Invention

[0004] This invention provides an adaptive servo wire feeding welding mechanism and welding method, which addresses the problem that the wire feeding mechanism cannot meet the different processing requirements of the laser while ensuring the welding speed and accuracy of the laser.

[0005] This invention provides an adaptive servo wire feeding welding mechanism, comprising:

[0006] Laser;

[0007] The system includes a wire feeding mechanism and a rotary motor. The wire feeding mechanism is connected to the rotary motor. During the laser welding process, the rotary motor drives the wire outlet of the wire feeding mechanism to rotate around the laser. The wire feeding outlet of the wire feeding mechanism extends to the welding point of the laser and is located at the front end of the tangential direction of the laser's corresponding running trajectory.

[0008] The first slide mechanism includes: a first displacement device and a second displacement device; the first displacement device is provided with a first mounting plate that is slidable along the X-axis direction; the second displacement device is disposed on the first mounting plate, and the second displacement device is provided with a second mounting plate that is slidable along the Y-axis direction; one end of the second mounting plate is hinged to the laser and the wire feeding mechanism.

[0009] The second slide mechanism includes a third displacement device and a fourth displacement device; the third displacement device is provided with a third mounting plate that can slide along the Y-axis direction; the fourth displacement device is disposed on the third mounting plate and is provided with a fourth mounting plate that can slide along the X-axis direction; one end of the fourth mounting plate is hinged to the laser and the wire feeding mechanism.

[0010] This invention provides an adaptive servo wire feeding welding mechanism, the wire feeding mechanism comprising:

[0011] A turntable is mounted on the laser and is connected to the rotary motor for transmission. The turntable can rotate radially along the laser and is provided with a mounting base.

[0012] A wire feeder is connected to the turntable via the mounting base. The outlet of the wire feeder extends to the welding point of the laser and is located at the front end of the tangential direction of the laser's corresponding running trajectory.

[0013] This invention provides an adaptive servo wire feeding welding mechanism, the wire feeding mechanism further comprising:

[0014] The wire feeding tube and the wire feeding machine are provided, with one end of the wire feeding tube connected to the inlet of the wire feeding head and the other end of the wire feeding tube connected to the wire feeding machine.

[0015] This invention provides an adaptive servo wire feeding welding mechanism, wherein the wire feeding tube and / or the wire feeder are equipped with a wire feeding switch, which is used to control the start and stop of wire feeding.

[0016] This invention provides an adaptive servo wire feeding welding mechanism, which further includes:

[0017] The first universal joint and the second universal joint, the second mounting plate is hinged to the laser via the first universal joint; the fourth mounting plate is hinged to the laser via the second universal joint.

[0018] This invention provides an adaptive servo wire feeding welding mechanism, which further includes:

[0019] The welding controller is electrically connected to the rotary motor, the first displacement device, the second displacement device, the third displacement device, and the fourth displacement device to control the translation and / or rotation of the laser and the wire feeding mechanism through a preset running trajectory corresponding to the welding point of the laser.

[0020] This invention provides an adaptive servo wire feeding welding mechanism, which further includes:

[0021] A first position sensor and a second position sensor are provided. The first position sensor is disposed on the laser and is used to detect the position change of the corresponding welding point of the laser. The second position sensor is disposed on the wire feeding mechanism and is used to detect the position of the wire feeding port of the wire feeding mechanism.

[0022] The wire feed controller is electrically connected to the rotary motor, the first position sensor, and the second position sensor. Based on the position change of the welding point and the position of the wire feed port, it controls the rotary motor so that the wire feed port is always located at the front end of the tangent direction of the laser's corresponding running trajectory.

[0023] This invention provides an adaptive servo wire feeding welding mechanism, which further includes:

[0024] The operating table has a stepped surface on its top surface, which has a first mounting surface and a second mounting surface. The height of the first mounting surface is greater than the height of the second mounting surface. The first displacement device and the third displacement device are both mounted on the first mounting surface. The first mounting surface is movable along the Z-axis to control the movement of the first displacement device and the third displacement device along the Z-axis. The workpiece to be welded is mounted on the second mounting surface.

[0025] This invention provides a welding method using an adaptive servo wire feeding welding mechanism, comprising:

[0026] Obtain the preset trajectory of the laser at the corresponding welding point;

[0027] Based on the preset operating trajectory, the laser and the wire feeding mechanism are controlled to translate and / or rotate.

[0028] This invention provides a welding method using an adaptive servo wire feeding welding mechanism, which further includes the following steps after controlling the translation and / or rotation of the laser and the wire feeding mechanism:

[0029] The positional change of the welding point and the position of the wire feeding port of the wire feeding mechanism are obtained;

[0030] Based on the positional changes of the welding point and the position of the wire feeding port, the wire feeding mechanism is controlled to adjust the wire feeding direction so that the wire feeding port is always located at the front end of the tangent direction of the laser's corresponding running trajectory.

[0031] The adaptive servo wire feeding welding mechanism and welding method provided by this invention include a laser, a wire feeding mechanism, a rotary motor, a first slide mechanism, and a second slide mechanism. A first displacement device has a first mounting plate slidable along the X-axis. A second displacement device is mounted on the first mounting plate, and a second mounting plate is slidable along the Y-axis on the second displacement device. One end of the second mounting plate is hinged to the laser and the wire feeding mechanism. A fourth displacement device is mounted on a third mounting plate, and a fourth mounting plate is slidable along the X-axis on the fourth displacement device. One end of the fourth mounting plate is hinged to the laser and the wire feeding mechanism. This allows the laser and the wire feeding mechanism to translate and adjust their tilt angles during the movement of the first, second, third, and fourth mounting plates. Furthermore, the wire feeding mechanism can adjust its wire feeding direction accordingly. Thus, while ensuring welding speed and accuracy, the tilt angle of the laser and the wire feeding mechanism can be effectively controlled, ensuring that the wire feeding mechanism is positioned at the forefront of the tangent direction of the laser's corresponding operating trajectory, thereby improving welding reliability. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a front view of an adaptive servo wire feeding welding mechanism provided in an embodiment of the present invention;

[0034] Figure 2 This is a side view of an adaptive servo wire feeding welding mechanism provided in another embodiment of the present invention;

[0035] Figure 3 This is a top view of an adaptive servo wire feeding welding mechanism provided in another embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of a wire feeding mechanism provided in an embodiment of the present invention;

[0037] Figure 5 This is a flowchart of a welding method using an adaptive servo wire feeding welding mechanism according to an embodiment of the present invention;

[0038] Figure label:

[0039] Among them, 100 is the first sliding table mechanism; 1010 is the first displacement device; 1011 is the first mounting plate; 1012 is the first drive mechanism; 1020 is the second displacement device; 1021 is the second mounting plate; 1022 is the second drive mechanism; 200 is the second sliding table mechanism; 2010 is the third displacement device; 2011 is the third mounting plate; 2012 is the third drive mechanism; 2020 is the fourth displacement device; 2021 is the fourth mounting plate; 20 22. Fourth drive mechanism; 300. Laser; 310. First universal joint; 320. Second universal joint; 330. Laser gun head; 340. Protective cover; 400. Positioning mechanism; 410. First clamping body; 420. Second clamping body; 430. Base; 440. Limiting component; 500. Operating table; 600. Wire feeding mechanism; 601. Turntable; 602. Wire feeding tube; 603. Belt; 604. Wire outlet; 700. Rotary motor. Detailed Implementation

[0040] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0041] In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] This invention provides an adaptive servo wire feeding welding mechanism, such as... Figures 1 to 4As shown, the adaptive servo wire feeding welding mechanism includes: a laser 300, a wire feeding mechanism 600, a rotary motor 700, a first slide mechanism 100, and a second slide mechanism 200.

[0045] The laser 300 is used to output laser light and has at least two mounting positions arranged sequentially along the Z-axis. The mounting positions are arranged at intervals and the number of mounting positions can be adjusted as needed.

[0046] A wire feeding mechanism 600 is mounted on the laser 300 and connected to a rotary motor 700. Under the action of the rotary motor 700, the wire feeding mechanism 600 can rotate around the laser 300. Specifically, during the welding process on the laser 300, the rotary motor 700 drives the wire outlet 604 of the wire feeding mechanism 600 to rotate around the laser 300. The wire outlet of the wire feeding mechanism 600 extends to the welding point on the laser 300, and is located at the front end of the tangential direction of the laser 300's corresponding running trajectory. This ensures that the wire feeding direction and the laser 300's processing forward direction are aligned, ensuring the overall processing range and improving processing efficiency and welding quality.

[0047] The first slide mechanism 100 includes a first displacement device 1010 and a second displacement device 1020. The first displacement device 1010 is arranged along the X-axis, and the second displacement device 1020 is arranged along the Y-axis. The first displacement device 1010 is provided with a first mounting plate 1011 that is slidable along the X-axis, meaning that the first mounting plate 1011 can move on the first displacement device 1010 in the positive or negative direction of the X-axis. The second displacement device 1020 is disposed on the first mounting plate 1011, so that the second displacement device 1020 can move on the first mounting plate 1011 in the positive or negative direction of the X-axis. The second displacement device 1020 is provided with a second mounting plate 1021 that is slidable along the Y-axis, and one end of the second mounting plate 1021 is hinged to the laser 300 and the wire feeding mechanism 600. To simplify the structure, the wire feeding mechanism 600 can be mounted on the laser 300, and the second mounting plate 1021 can be hinged to one of the mounting positions on the laser 300. This allows the laser 300 to move along the positive or negative Y-axis as the second mounting plate 1021 operates. Since the wire feeding mechanism 600 is mounted on the laser 300, it can move in coordination with the laser 300 along the positive or negative Y-axis during its rotation around the laser 300.

[0048] The second slide mechanism 200 includes a third displacement device 2010 and a fourth displacement device 2020. The third displacement device 2010 is arranged along the Y-axis, and the fourth displacement device 2020 is arranged along the X-axis. The third displacement device 2010 is provided with a third mounting plate 2011 that is slidable along the Y-axis, meaning that the third mounting plate 2011 can move on the third displacement device 2010 in the positive or negative direction of the Y-axis. The fourth displacement device 2020 is mounted on the third mounting plate 2011, so that the fourth displacement device 2020 can move on the third mounting plate 2011 in the positive or negative direction of the Y-axis. The fourth displacement device 2020 is provided with a fourth mounting plate 2021 that is slidable along the X-axis, and one end of the fourth mounting plate 2021 is hinged to the laser 300 and the wire feeding mechanism 600. To simplify the structure, the wire feeding mechanism 600 can be mounted on the laser 300, and the second mounting plate 1021 can be hinged to another mounting position on the laser 300. This allows the laser 300 to move along the positive or negative X-axis under the operation of the fourth mounting plate 2021. Since the wire feeding mechanism 600 is mounted on the laser 300, it can move in coordination with the laser 300 along the positive or negative X-axis during its rotation around the laser 300.

[0049] Specifically, during the operation of the first displacement device 1010, the second displacement device 1020, the third displacement device 2010 and the fourth displacement device 2020, the laser 300 can be adjusted in translation or tilt angle.

[0050] Specifically, when the second mounting plate 1021 moves along the Y-axis with the second displacement device 1020, if the third mounting plate 2011 also moves along the Y-axis with the third displacement device 2010, and the second mounting plate 1021 and the third mounting plate 2011 move asynchronously (the second mounting plate 1021 and the third mounting plate 2011 move at different rates, or their final displacements are different), since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the laser 300, the laser 300 rotates around the X-axis, thus adjusting the tilt angle of the laser 300. Similarly, the tilt angle of the wire feeding mechanism 600 can be adjusted.

[0051] Similarly, when the first mounting plate 1011 moves along the X-axis in the first displacement device 1010, if the fourth mounting plate 2021 also moves along the X-axis in the fourth displacement device 2020, and the first mounting plate 1011 and the fourth mounting plate 2021 move asynchronously (the first mounting plate 1011 and the fourth mounting plate 2021 move at different rates, or their final displacements are different), since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to the other mounting position of the laser 300, the laser 300 rotates around the Y-axis, thus adjusting the tilt angle of the laser 300. Similarly, the tilt angle of the wire feeding mechanism 600 can be adjusted.

[0052] When the second mounting plate 1021 moves along the Y-axis with the second displacement device 1020, if the third mounting plate 2011 also moves along the Y-axis with the third displacement device 2010, and the second and third mounting plates 1021 move synchronously (at the same speed or with the same final displacement), since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300 and one end of the fourth mounting plate 2021 is hinged to another mounting position of the laser 300, the laser 300 moves along the Y-axis, thus adjusting the movement of the laser 300. Similarly, the movement of the wire feeding mechanism 600 can be adjusted.

[0053] Similarly, when the first mounting plate 1011 moves along the X-axis with the first displacement device 1010, if the fourth mounting plate 2021 also moves along the X-axis with the fourth displacement device 2020, and the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (the first mounting plate 1011 and the fourth mounting plate 2021 move at the same speed, or their final displacements are the same), since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to the other mounting position of the laser 300, the laser 300 moves along the X-axis, thus adjusting the movement of the laser 300. Similarly, the movement of the wire feeding mechanism 600 can be adjusted.

[0054] When the second mounting plate 1021 moves along the Y-axis with the second displacement device 1020, if the third mounting plate 2011 also moves along the Y-axis with the third displacement device 2010, and the second and third mounting plates 1021 move synchronously (the second and third mounting plates 1021 move at the same speed or have the same final displacement), while the first and fourth mounting plates 1011 move asynchronously, the laser 300 moves along the Y-axis and rotates around the Y-axis, thus achieving tilt angle adjustment and translation of the laser 300. Similarly, the tilt angle adjustment and translation of the wire feeding mechanism 600 can be achieved.

[0055] Similarly, when the first mounting plate 1011 moves along the X-axis with the first displacement device 1010, if the fourth mounting plate 2021 also moves along the X-axis with the fourth displacement device 2020, and the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (the first mounting plate 1011 and the fourth mounting plate 2021 move at the same speed, or their final displacements are the same), while the second mounting plate 1021 and the third mounting plate 2011 move asynchronously, the laser 300 moves along the X-axis and rotates around the X-axis, thus simultaneously adjusting the tilt angle and translating the laser 300. Similarly, the tilt angle and translation of the wire feeding mechanism 600 can be adjusted.

[0056] The adaptive servo wire feeding welding mechanism and welding method provided by this invention include a laser, a wire feeding mechanism, a rotary motor, a first slide mechanism, and a second slide mechanism. A first displacement device has a first mounting plate slidable along the X-axis. A second displacement device is mounted on the first mounting plate, and a second mounting plate is slidable along the Y-axis on the second displacement device. One end of the second mounting plate is hinged to the laser and the wire feeding mechanism. A fourth displacement device is mounted on a third mounting plate, and a fourth mounting plate is slidable along the X-axis on the fourth displacement device. One end of the fourth mounting plate is hinged to the laser and the wire feeding mechanism. This allows the laser and the wire feeding mechanism to translate and adjust their tilt angles during the movement of the first, second, third, and fourth mounting plates. Furthermore, the wire feeding mechanism can adjust its wire feeding direction accordingly. Thus, while ensuring welding speed and accuracy, the tilt angle of the laser and the wire feeding mechanism can be effectively controlled, ensuring that the wire feeding mechanism is positioned at the forefront of the tangent direction of the laser's corresponding operating trajectory, thereby improving welding reliability.

[0057] like Figures 1 to 4As shown, the wire feeding mechanism 600 includes a turntable 601 and a wire feeding head. The turntable 601 is mounted on the laser 300 and is connected to a rotary motor 700 via a belt 603. The turntable 601 can rotate radially along the laser 300, and a mounting base is provided on the turntable 601. The wire feeding head is connected to the turntable 601 via the mounting base, and the outlet of the wire feeding head extends to the welding point of the laser 300. The outlet of the wire feeding head is located at the front end of the tangential direction of the laser 300's corresponding running trajectory.

[0058] A rotary motor 700 is mounted on the laser 300. A turntable 601 can rotate on the laser head. A wire feed head is mounted on the turntable 601, so that the wire feed head can rotate with the turntable 601 as the rotary motor 700 drives the turntable 601 to rotate. The outlet of the wire feed head is close to the welding point of the laser 300. The direction of wire feeding can be changed by the rotation of the turntable 601.

[0059] In addition, the wire feeding mechanism also includes a wire feeding tube 602 and a wire feeder. One end of the wire feeding tube 602 is connected to the inlet of the wire feeding head, and the other end of the wire feeding tube 602 is connected to the wire feeder. Thus, when the wire feeder feeds wire, it can directly feed the wire to the welding point through the wire feeding tube 602.

[0060] To facilitate control of wire feeding, a wire feeding switch is provided on the wire feeding tube 602 or the wire feeding machine, or a wire feeding switch is provided on both the wire feeding tube 602 and the wire feeding machine. The wire feeding switch is used to control the start and stop of wire feeding.

[0061] When the wire feed switch is on, the wire feeder can feed wire to the welding point through the wire feed tube 602, so that the wire feeder can cooperate with the laser 300 to perform welding. When the wire feed switch is off, the wire feeder can stop feeding wire, and the laser 300 can perform welding alone.

[0062] In order to achieve control of the adaptive servo wire feeding welding mechanism, such as Figure 1 and Figure 2 As shown, the adaptive servo wire feeding welding mechanism also includes a welding controller. The welding controller is electrically connected to the first displacement device 1010, the second displacement device 1020, the third displacement device 2010, and the fourth displacement device 2020. The welding controller is used to control the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011, and the fourth mounting plate 2021, so as to control the translation and / or rotation of the laser 300 and the wire feeding mechanism 600 according to the preset running trajectory of the laser 300 corresponding to the welding point input by the user.

[0063] Specifically, when the welding controller controls the second mounting plate 1021 to move along the Y-axis direction with the second displacement device 1020, the welding controller simultaneously controls the third mounting plate 2011 to move along the Y-axis direction with the third displacement device 2010. Furthermore, the second and third mounting plates 1021 move asynchronously (at different rates or with different final displacements). Since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the laser 300, the laser 300 can rotate around the X-axis, thus adjusting its tilt angle. Similarly, the tilt angle of the wire feeding mechanism 600 can be adjusted.

[0064] Similarly, when the welding controller controls the first mounting plate 1011 to move along the X-axis using the first displacement device 1010, the welding controller also controls the fourth mounting plate 2021 to move along the X-axis using the fourth displacement device 2020. Furthermore, the first mounting plate 1011 and the fourth mounting plate 2021 move asynchronously (at different rates or with different final displacements). Since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to the other mounting position of the laser 300, the laser 300 can rotate around the Y-axis, thus adjusting its tilt angle. Similarly, the tilt angle of the wire feeding mechanism 600 can be adjusted.

[0065] When the welding controller controls the second mounting plate 1021 to move along the Y-axis direction with the second displacement device 1020, the welding controller also controls the third mounting plate 2011 to move along the Y-axis direction with the third displacement device 2010. Furthermore, the second and third mounting plates 1021 move synchronously (at the same speed or with the same final displacement). Since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to another mounting position of the laser 300, the laser 300 can move along the Y-axis direction, thus adjusting its movement. Similarly, the movement of the wire feeding mechanism 600 can be adjusted.

[0066] Similarly, when the welding controller controls the first mounting plate 1011 to move along the X-axis direction with the first displacement device 1010, the welding controller also controls the fourth mounting plate 2021 to move along the X-axis direction with the fourth displacement device 2020. Furthermore, the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (at the same speed or with the same final displacement). Since one end of the second mounting plate 1021 is hinged to one mounting position of the laser 300, and one end of the fourth mounting plate 2021 is hinged to the other mounting position of the laser 300, the laser 300 can move along the X-axis direction, thus adjusting its movement. Similarly, the movement of the wire feeding mechanism 600 can be adjusted.

[0067] When the welding controller controls the second mounting plate 1021 to move along the Y-axis using the second displacement device 1020, the welding controller also controls the third mounting plate 2011 to move along the Y-axis using the third displacement device 2010. Furthermore, the second and third mounting plates 1021 move synchronously (at the same speed or with the same final displacement). During the asynchronous movement of the first and fourth mounting plates 1011, the laser 300 can move along the Y-axis and rotate around it, allowing for tilt angle adjustment and translation of the laser 300. Similarly, the tilt angle and translation of the wire feeding mechanism 600 can be adjusted.

[0068] Similarly, when the welding controller controls the first mounting plate 1011 to move along the X-axis using the first displacement device 1010, the welding controller also controls the fourth mounting plate 2021 to move along the X-axis using the fourth displacement device 2020. Furthermore, the first mounting plate 1011 and the fourth mounting plate 2021 move synchronously (at the same speed or with the same final displacement). During the asynchronous movement of the second mounting plate 1021 and the third mounting plate 2011, the laser 300 can move along the X-axis and rotate around it, thus allowing for tilt angle adjustment and translation of the laser 300. Similarly, the tilt angle and translation of the wire feeding mechanism 600 can be adjusted accordingly.

[0069] In addition, the adaptive servo wire feeding welding mechanism is equipped with a first position sensor, a second position sensor, and a wire feeding controller.

[0070] The first position sensor is mounted on the laser 300. Through coordinate transformation, the first position sensor can be used to detect position changes at the corresponding welding point of the laser 300. The second position sensor is mounted on the wire feeding mechanism 600. Through coordinate transformation, the second position sensor can be used to detect the position of the wire feeding port of the wire feeding mechanism 600. The wire feeding controller is electrically connected to the rotary motor 700, the first position sensor, and the second position sensor. Based on the position changes of the welding point and the position of the wire feeding port, the wire feeding controller controls the rotary motor 700 to ensure that the wire feeding port is always located at the front end of the tangent direction of the corresponding running trajectory of the laser 300.

[0071] Specifically, during the process of the welding controller controlling the laser 300 to move according to a preset running trajectory, the first position sensor is used to detect the position change of the corresponding welding point of the laser 300, while the second position sensor is used to detect the position of the wire feeding port of the wire feeding mechanism 600. Based on the position change of the welding point and the position of the wire feeding port, the wire feeding controller controls the rotary motor 700 to ensure that the wire feeding port is always located at the front end of the tangential direction of the corresponding running trajectory of the laser 300.

[0072] In one example, such as Figures 1 to 3 As shown, to facilitate the control of the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011, and the fourth mounting plate 2021, the first displacement device 1010 is equipped with a first drive mechanism 1012, which drives the first mounting plate to reciprocate along the X-axis on the first displacement device 1010. The second displacement device 1020 is equipped with a second drive mechanism 1022, which drives the second mounting plate to reciprocate along the Y-axis on the second displacement device. The third displacement device 2010 is equipped with a third drive mechanism 2012, which drives the third mounting plate to reciprocate along the Y-axis on the third displacement device. The fourth displacement device 2020 is equipped with a fourth drive mechanism 2022, which drives the fourth mounting plate to reciprocate along the X-axis on the fourth displacement device.

[0073] The first drive mechanism 1012, the second drive mechanism 1022, the third drive mechanism 2012 and the fourth drive mechanism 2022 can be pneumatically or electrically controlled.

[0074] In the case of pneumatic control in the adaptive servo wire feeding welding mechanism, the first drive mechanism 1012, the second drive mechanism 1022, the third drive mechanism 2012 and the fourth drive mechanism 2022 can all be cylinder drive mechanisms. The pressure of compressed air is converted into mechanical energy through pneumatic transmission, so that the corresponding first mounting plate 1011, second mounting plate 1021, third mounting plate 2011 and fourth mounting plate 2021 perform linear motion.

[0075] In the case of an adaptive servo wire feeding welding mechanism that is electrically controlled, the first drive mechanism 1012, the second drive mechanism 1022, the third drive mechanism 2012 and the fourth drive mechanism 2022 can all be motor drive mechanisms, which can directly control the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011 and the fourth mounting plate 2021 to perform linear motion by turning the power on and off.

[0076] Based on the above embodiments, in one embodiment provided by the present invention, as follows: Figures 1 to 3 As shown, at least two mounting positions are provided with a first universal joint 310 and a second universal joint 320, respectively. The second mounting plate 1021 is hinged to one of the mounting positions through the first universal joint 310, and the fourth mounting plate 2021 is hinged to the other mounting position through the second universal joint 320.

[0077] In this embodiment, the adaptive servo wire feeding welding mechanism has two mounting positions. One mounting position is equipped with a first universal joint 310, and the other mounting position is equipped with a second universal joint 320. Thus, when the second mounting plate 1021 and the third mounting plate 2011 move asynchronously, or when the first mounting plate 1011 and the fourth mounting plate 2021 move asynchronously, the tilt angle of the laser 300 and the wire feeding mechanism 600 can be adjusted through the first universal joint 310 and the second universal joint 320.

[0078] If the adaptive servo wire feeding welding mechanism has more than two mounting positions, the first universal joint 310 and the second universal joint 320 can select any two of the mounting positions to hinge. Since each mounting position is set sequentially along the Z-axis, the height of the laser 300 and the wire feeding mechanism 600 can be adjusted according to the different mounting positions selected.

[0079] For example, the adaptive servo wire feeding welding mechanism has mounting positions A, B, C, and D arranged sequentially from top to bottom along the Z-axis. Initially, the first universal joint 310 is positioned at mounting position A, and the second universal joint 320 is positioned at mounting position B. If it is necessary to lower the height of the laser 300, the first universal joint 310 can be positioned at mounting position B, and the second universal joint 320 at mounting position C. If it is necessary to further lower the height of the laser 300, the first universal joint 310 can be positioned at mounting position C, and the second universal joint 320 at mounting position D.

[0080] Furthermore, the first universal joint 310 and the second universal joint 320 have the same structure, both including an inner ring and an outer ring. The inner ring of the first universal joint 310 is connected to one mounting position, and the inner ring of the second universal joint 320 is connected to another mounting position. The outer ring of the first universal joint 310 is connected to the second mounting plate 1021, and the first universal joint 310 is rotatably mounted on the corresponding inner ring. The outer ring of the second universal joint 320 is connected to the fourth mounting plate 2021, and the second universal joint 320 is rotatably mounted on the corresponding inner ring.

[0081] Based on the above embodiments, in one embodiment provided by the present invention, as follows: Figures 1 to 3 As shown, the laser 300 includes a laser gun head 330 and a protective cover 340 coaxially arranged. The protective cover 340 is a shell structure used to protect the laser gun head 330. A cavity is provided within the protective cover 340, and an opening in the cavity is located at the bottom end of the protective cover 340. The laser gun head 330 is used to emit laser light. The laser gun head 330 passes through the top end of the protective cover 340, and at least partially is disposed within the cavity; that is, the emitting end of the laser gun head 330 is disposed within the protective cover 340.

[0082] During operation, when it is necessary to move or adjust the tilt angle of the laser gun head 330, the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011 and the fourth mounting plate 2021 can be directly controlled so that the laser gun head 330 and the wire feeding mechanism 600 can adjust the tilt angle and / or move.

[0083] To protect the laser gun head 330, the laser also includes a jet pipe. The jet pipe has an inlet and an outlet; the inlet of the jet pipe is connected to an inert gas pipe, and the outlet of the jet pipe is located in the cavity, facing the opening direction, and there is an angle between the outlet of the jet pipe and the laser gun head 330.

[0084] Connecting the air inlet of the jet pipe to the inert gas pipe allows the outlet of the jet pipe to blow out protective gases such as argon and nitrogen during operation. Furthermore, the angle between the outlet of the jet pipe and the laser gun head 330 keeps the welding trajectory in a certain position, which is beneficial for the protection and cooling of the weld.

[0085] Based on the above embodiments, in one embodiment provided by the present invention, as follows: Figures 1 to 3 As shown, the adaptive servo wire feeding welding mechanism also includes a positioning mechanism 400. The positioning mechanism 400 is used to fix the welding workpiece. The positioning mechanism 400 is opposite to the laser 300, and the two are set at a certain distance apart.

[0086] To facilitate the adjustment of the position of the welding workpiece, the positioning mechanism 400 includes: a base 430, a first clamping body 410 and a second clamping body 420; the base 430 is provided with a sliding groove, the first clamping body 410 and the second clamping body 420 are arranged opposite to each other, and both the first clamping body 410 and the second clamping body 420 are slidably arranged in the sliding groove.

[0087] When it is necessary to fix the workpiece for welding, the workpiece is directly placed between the first clamping body 410 and the second clamping body 420. By moving the first clamping body 410 and the second clamping body 420, the workpiece can be clamped. Then, the position of the laser 300 is adjusted, and the laser 300 is aligned with the workpiece for welding to achieve welding.

[0088] like Figures 1 to 3 As shown, to increase the stability of the welded workpiece, the adaptive servo wire feeding welding mechanism also includes two limiting members 440, which are disposed on opposite sides of the base 430. The two limiting members 440 are used to limit the movement of the first clamping body 410 and the second clamping body 420, respectively. At least one limiting member 440 is a position-adjustable movable limiting member.

[0089] In this embodiment, two limiting members 440 are respectively disposed on the left and right sides of the base 430. The limiting member 440 on the left side is used to limit the first clamping body 410, and the limiting member 440 on the right side is used to limit the second clamping body 420. When it is necessary to fix the welding workpiece, the welding workpiece is directly placed between the first clamping body 410 and the second clamping body 420. By adjusting the two limiting members 440, the movement of the first clamping body 410 and the second clamping body 420 can be controlled to clamp the welding workpiece. Then, the position of the laser 300 is adjusted, and when the laser 300 is aligned with the welding workpiece, welding of the welding workpiece can be realized.

[0090] In addition, the adaptive servo wire feeding welding mechanism also includes an operating table 500. The operating table 500 is equipped with buttons corresponding to various functions, which can be used to control the operation of the first displacement device 1010, the second displacement device 1020, the third displacement device 2010, and the fourth displacement device 2020. Users can directly control the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011, and the fourth mounting plate 2021 via the operating table 500.

[0091] The top surface of the operating table 500 is provided with a stepped surface, which has at least a first mounting surface and a second mounting surface. The height of the first mounting surface is greater than the height of the second mounting surface. Both the first displacement device 1010 and the third displacement device 2010 are disposed on the first mounting surface. In this embodiment, the first displacement device 1010 is disposed on the first mounting surface along the X-axis, and the third displacement device 2010 is disposed on the first mounting surface along the Y-axis. The first mounting surface is movable along the Z-axis, thereby allowing control of the movement of the first displacement device 1010 and the third displacement device 2010 along the Z-axis. The base 430 of the positioning mechanism 400 is disposed on the second mounting surface, i.e., the workpiece to be welded is disposed on the second mounting surface. The difference in height between the first and second mounting surfaces allows the laser 300 and the positioning mechanism 400 to be spaced apart, facilitating the adjustment of the position and angle of the laser 300.

[0092] According to user needs, the first mounting surface can be set as a movable mounting surface along the Z-axis. The height of the first mounting surface as a whole is controlled by a lifting device. At this time, the first displacement device 1010 and the third displacement device 2010 are set on the first mounting surface. Therefore, the entire first slide mechanism 100 and the second slide mechanism 200 can move along the Z-axis, thereby adjusting the height of the laser 300 and adjusting the welding position and welding trajectory.

[0093] This application also provides a welding method using a servo wire feeding welding mechanism, the structure of which is as follows: Figures 1 to 4 As shown, it will not be elaborated further here.

[0094] like Figure 5 As shown, the welding method includes the following steps:

[0095] Step S510: Obtain the preset running trajectory of the laser corresponding to the welding point.

[0096] Step S520: Based on the preset running trajectory, control the laser and the wire feeding mechanism to translate and / or rotate.

[0097] Before control, the preset running trajectory of the laser corresponding to the welding point is obtained by the user input. The welding controller is used to control the movement of the first mounting plate 1011, the second mounting plate 1021, the third mounting plate 2011 and the fourth mounting plate 2021, so as to control the laser 300 and the wire feeding mechanism 600 to translate and / or rotate according to the preset running trajectory of the laser 300 corresponding to the welding point.

[0098] Step S530: Obtain the positional change of the welding point and the position of the wire feeding port of the wire feeding mechanism.

[0099] During the translation and / or rotation of the laser 300 and the wire feeding mechanism 600, the first position sensor detects the position change of the corresponding welding point of the laser 300 through coordinate transformation, while the second position sensor detects the position of the wire feeding port of the wire feeding mechanism 600 through coordinate transformation.

[0100] Step S540: Based on the positional changes of the welding point and the position of the wire feeding port, control the wire feeding mechanism to adjust the wire feeding direction so that the wire feeding port is always located at the front end of the tangent direction of the laser's corresponding running trajectory.

[0101] The wire feed controller controls the rotary motor 700 according to the position changes of the welding point and the position of the wire feed port. During this process, the wire feed controller controls the rotary motor 700 to rotate forward or backward according to the direction of the running trajectory, so that the wire feed port is always located at the front end of the tangent direction of the running trajectory of the laser 300.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0103] The above embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Although the invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the invention do not depart from the spirit and scope of the invention and should be covered within the scope of the claims of the invention.

Claims

1. An adaptive servo wire feeding welding mechanism, characterized in that, include: A laser, wherein the laser is provided with at least two mounting positions arranged sequentially along the Z-axis direction; The system includes a wire feeding mechanism and a rotary motor. The wire feeding mechanism is connected to the rotary motor. During the laser welding process, the rotary motor drives the wire outlet of the wire feeding mechanism to rotate around the laser. The wire feeding outlet of the wire feeding mechanism extends to the welding point of the laser and is located at the front end of the tangential direction of the laser's corresponding running trajectory. The first slide mechanism includes: a first displacement device and a second displacement device; the first displacement device is provided with a first mounting plate that is slidable along the X-axis direction; the second displacement device is disposed on the first mounting plate, and the second displacement device is provided with a second mounting plate that is slidable along the Y-axis direction; one end of the second mounting plate is hinged to the laser and the wire feeding mechanism. The second slide mechanism includes: a third displacement device and a fourth displacement device; the third displacement device is provided with a third mounting plate that can slide along the Y-axis direction; the fourth displacement device is disposed on the third mounting plate and is provided with a fourth mounting plate that can slide along the X-axis direction. The first universal joint and the second universal joint; the second mounting plate is hinged to the laser via the first universal joint; the fourth mounting plate is hinged to the laser via the second universal joint. The tilt angle of the laser is adjusted by synchronously or asynchronously controlling the movement of the first displacement device, the second displacement device, the third displacement device, and the fourth displacement device.

2. The adaptive servo wire feeding welding mechanism according to claim 1, characterized in that, The wire feeding mechanism includes: A turntable is mounted on the laser and is connected to the rotary motor for transmission. The turntable can rotate radially along the laser and is provided with a mounting base. A wire feeder is connected to the turntable via the mounting base. The outlet of the wire feeder extends to the welding point of the laser and is located at the front end of the tangential direction of the laser's corresponding running trajectory.

3. The adaptive servo wire feeding welding mechanism according to claim 2, characterized in that, The wire feeding mechanism further includes: The wire feeding tube and the wire feeding machine are provided, with one end of the wire feeding tube connected to the inlet of the wire feeding head and the other end of the wire feeding tube connected to the wire feeding machine.

4. The adaptive servo wire feeding welding mechanism according to claim 3, characterized in that, The wire feeding tube and / or the wire feeder are equipped with a wire feeding switch, which is used to control the start and stop of wire feeding.

5. The adaptive servo wire feeding welding mechanism according to claim 1, characterized in that, Also includes: The welding controller is electrically connected to the rotary motor, the first displacement device, the second displacement device, the third displacement device, and the fourth displacement device to control the translation and / or rotation of the laser and the wire feeding mechanism through a preset running trajectory corresponding to the welding point of the laser.

6. The adaptive servo wire feeding welding mechanism according to claim 5, characterized in that, Also includes: A first position sensor and a second position sensor are provided. The first position sensor is disposed on the laser and is used to detect the position change of the corresponding welding point of the laser. The second position sensor is disposed on the wire feeding mechanism and is used to detect the position of the wire feeding port of the wire feeding mechanism. The wire feed controller is electrically connected to the rotary motor, the first position sensor, and the second position sensor. Based on the position change of the welding point and the position of the wire feed port, it controls the rotary motor so that the wire feed port is always located at the front end of the tangent direction of the laser's corresponding running trajectory.

7. The adaptive servo wire feeding welding mechanism according to claim 1, characterized in that, Also includes: The operating table has a stepped surface on its top surface, and the stepped surface has a first mounting surface and a second mounting surface; the height of the first mounting surface is greater than the height of the second mounting surface. Both the first displacement device and the third displacement device are disposed on the first mounting surface, and the first mounting surface is movable along the Z-axis direction to control the first displacement device and the third displacement device to move along the Z-axis direction; The workpiece to be welded is placed on the second mounting surface.

8. A welding method according to the adaptive servo wire feeding welding mechanism as described in any one of claims 1-7, characterized in that, include: Obtain the preset trajectory of the laser at the corresponding welding point; Based on the preset operating trajectory, the laser and the wire feeding mechanism are controlled to translate and / or rotate.

9. The welding method of the adaptive servo wire feeding welding mechanism according to claim 8, characterized in that, The step of controlling the translation and / or rotation of the laser and the wire feeding mechanism further includes: The positional change of the welding point and the position of the wire feeding port of the wire feeding mechanism are obtained; Based on the positional changes of the welding point and the position of the wire feeding port, the wire feeding mechanism is controlled to adjust the wire feeding direction so that the wire feeding port is always located at the front end of the tangent direction of the laser's corresponding running trajectory.

Images