Laser welding method and apparatus

Abstract

The application discloses a laser welding method, comprising: providing a sealed cavity, the cavity is used for accommodating two workpieces needing to be welded; acquiring characteristics of the two workpieces in the cavity through a visual assembly, the characteristics of the workpieces including a positional relationship of the two workpieces needing to be welded and material characteristics of the two workpieces needing to be welded; selecting a corresponding welding mode according to the characteristics of the workpieces; and welding the two workpieces in the selected welding mode by using a laser assembly. The laser welding method enables the workpieces to be selectively processed in an optimal processing environment, and is favorable for improving molten pool cracks, porosity defects, reducing appearance welding slag, welding fume defects and improving the quality of welding processing. The application also discloses a laser welding device.

Description

Technical Field

[0001] This application relates to the field of laser welding technology, specifically to a laser welding method and apparatus. Background Technology

[0002] In conventional laser welding, weld pool cracks and porosity are the most common serious defects, which reduce the strength and plasticity of the weld, cause leakage, promote cold cracking, and become the fracture source for various fractures. In addition, a thin oxide layer, welding fumes, and brown oxide slag are formed on the weld surface, which are the most common appearance defects. Summary of the Invention

[0003] In view of the above, it is necessary to propose a laser welding method and apparatus to improve the weld pool cracks and porosity defects that occur in laser welding, reduce the appearance of weld slag and welding fume defects, and improve the quality of welding.

[0004] This application provides a laser welding method, comprising: providing a sealed cavity for accommodating two workpieces to be welded; acquiring characteristics of the two workpieces within the cavity through a vision component, wherein the characteristics of the workpieces include the positional relationship between the two workpieces to be welded and the material characteristics of the two workpieces to be welded; selecting a corresponding welding mode according to the characteristics of the workpieces; and welding the two workpieces using a laser component in the selected welding mode.

[0005] The aforementioned laser welding method provides a sealed cavity, and a vision component acquires the characteristics of two workpieces within the cavity. Based on the characteristics of the workpieces, a corresponding welding mode is selected, and the laser component welds the two workpieces using the selected welding mode. This laser welding method can select the corresponding welding mode according to the characteristics of the workpieces, so that the workpieces can be selectively processed in the optimal processing environment, reducing the influence of adverse factors on laser welding, which is beneficial to reducing cracks, thereby improving molten pool cracks and porosity defects, reducing appearance slag and welding fume defects, improving mechanical properties, enhancing the quality of welding processing, and avoiding material oxidation.

[0006] In some embodiments, the welding mode includes vacuum welding and shielded gas welding.

[0007] In some embodiments, the positional relationship between the two workpieces to be welded includes stacking and butt jointing.

[0008] In some embodiments, the step of obtaining the positional relationship of two workpieces to be welded through a vision component includes: obtaining boundary features of the welding positions of the two workpieces in an image obtained by the vision component; if the distance between the two boundary features meets a preset condition, then the positional relationship of the two workpieces to be welded is determined to be overlapping; otherwise, the positional relationship of the two workpieces to be welded is determined to be butt joint.

[0009] In some embodiments, the step of obtaining the material properties of the two workpieces to be welded through a vision component includes: obtaining the grayscale values ​​of the two workpieces in an image obtained by the vision component; and determining the material of the two workpieces through the grayscale values.

[0010] In some embodiments, prior to the step of welding the two workpieces using a laser assembly in the selected welding mode, the method further includes: acquiring the welding positions of the two workpieces within the cavity using the vision assembly; acquiring three-dimensional features of the welding positions on the two workpieces within the cavity using the vision assembly and a height sensor; and welding the two workpieces using the laser assembly in the selected welding mode based on the welding positions and the three-dimensional features.

[0011] In some embodiments, the vacuum welding includes: evacuating the cavity to create a vacuum environment; welding two workpieces in the vacuum environment using the laser assembly; the shielding gas welding includes: filling the cavity with gas to create a protective environment; welding two workpieces in the protective environment using the laser assembly.

[0012] In some embodiments, the vacuum welding further includes: monitoring the air pressure value of the cavity; and welding the two workpieces in the vacuum environment using the laser component based on the air pressure value reaching a preset vacuum value.

[0013] In some embodiments, the vacuum welding further includes: after welding the two workpieces in the vacuum environment, breaking the vacuum in the cavity; monitoring the air pressure value of the cavity; and based on the air pressure value reaching a preset air pressure value, opening the cavity and removing the two welded workpieces from the cavity.

[0014] In some embodiments, the protective gas welding further includes: monitoring the gas concentration value of the cavity; and welding the two workpieces in the protective environment using the laser component based on the gas concentration value reaching a preset concentration value.

[0015] In some embodiments, the protective gas welding further includes: after welding the two workpieces in the protective environment, releasing the gas from the cavity; monitoring the gas pressure value of the cavity; and based on the gas pressure value reaching a preset gas pressure value, opening the cavity and removing the two welded workpieces from the cavity.

[0016] In some embodiments, the protective gas used to fill the cavity is nitrogen.

[0017] This application also provides a laser welding apparatus, including a worktable, and further comprising: a cavity disposed on the worktable for accommodating two workpieces to be welded; a vision component disposed on the worktable for acquiring characteristics of the two workpieces within the cavity, wherein the characteristics of the workpieces include the positional relationship between the two workpieces to be welded and the material characteristics of the two workpieces to be welded; a controller connected to the vision component for selecting a corresponding welding mode based on the characteristics of the workpieces; and a laser component disposed on the worktable, communicatively connected to the controller, and performing welding on the two workpieces in the selected welding mode.

[0018] The aforementioned laser welding device, through the cooperation of the cavity, vision component, controller, and laser component, allows the vision component to acquire the characteristics of two workpieces within the cavity. The controller selects the corresponding welding mode based on the characteristics of the workpieces, and the laser component welds the two workpieces under the selected welding mode. This laser welding device can select the corresponding welding mode according to the characteristics of the workpieces, enabling the workpieces to be selectively processed in the optimal processing environment, reducing the impact of adverse factors on laser welding, which helps to reduce cracks, thereby improving molten pool cracks and porosity defects, reducing surface weld slag and welding fume defects, improving mechanical properties, enhancing the quality of welding processing, and preventing material oxidation.

[0019] In some embodiments, the controller is further configured to acquire boundary features of the welding positions of the two workpieces in the image obtained by the vision component; if the distance between the two boundary features meets a preset condition, the positional relationship of the two workpieces to be welded is determined to be overlapping; otherwise, the positional relationship of the two workpieces to be welded is determined to be butt joint.

[0020] In some embodiments, the controller is further configured to acquire grayscale values ​​of two workpieces in an image obtained by the vision component; and to determine the material of the two workpieces using the grayscale values.

[0021] In some embodiments, the laser welding apparatus further includes: a height sensor disposed on the worktable and connected to the controller, for acquiring height features of the two workpieces within the cavity; the vision component is further used to acquire the welding positions of the two workpieces within the cavity; the controller is further used to acquire three-dimensional features of the welding positions on the two workpieces within the cavity based on the vision component and the height sensor; and to control the laser component to weld the two workpieces in the selected welding mode based on the welding positions and the three-dimensional features.

[0022] In some embodiments, the cavity includes a base and a cover, the cover having a first opening and a light-transmitting area, the base being used to support two workpieces to be welded; the laser welding apparatus further includes: a transfer assembly disposed on the worktable and communicatively connected to the controller, used to connect the cover; a motion assembly disposed on the worktable and communicatively connected to the controller, used to connect the base, the motion assembly being used to move the base to the cover, and the transfer assembly being used to connect the first opening of the cover to the base to form a sealed cavity.

[0023] In some embodiments, the welding mode includes vacuum welding and shielding gas welding, and the cover is further provided with a second opening; the laser welding device further includes: an inflation device, which communicates with the second opening and is communicatively connected to the controller, the inflation device inflating the cavity through the second opening to form a protective environment in the cavity; and an extraction device, which communicates with the second opening and is communicatively connected to the controller, the extraction device extracting air from the cavity through the second opening to form a vacuum environment in the cavity.

[0024] In some embodiments, the laser welding apparatus further includes a pressure sensor and a gas concentration sensor, which are connected to the cavity and communicate with the controller to sense the pressure value and gas concentration value inside the cavity.

[0025] In some embodiments, the laser welding apparatus further includes a moving component disposed on the worktable and connected to the vision component and the laser component. The moving component is also communicatively connected to the controller and is used to move the vision component and the laser component. Attached Figure Description

[0026] Figure 1 This is a schematic flowchart of laser welding method S110-S140 provided in the embodiments of this application.

[0027] Figure 2 This is a schematic flowchart of laser welding method S210-S250 provided in the embodiments of this application.

[0028] Figure 3 This is a schematic flowchart of laser welding method S310-S350 provided in the embodiments of this application.

[0029] Figure 4 This is a schematic flowchart of laser welding method S410-S450 provided in the embodiments of this application.

[0030] Figure 5 This is a three-dimensional structural schematic diagram of the laser welding device provided in the embodiments of this application.

[0031] Figure 6 yes Figure 5 The diagram shows a three-dimensional view of the laser welding device from another angle.

[0032] Figure 7 yes Figure 5 The diagram shows a three-dimensional structure of the laser welding device from another angle.

[0033] Explanation of main component symbols

[0034] Laser welding equipment 100

[0035] Workbench 10

[0036] Hole 12

[0037] Second hole 14

[0038] Third hole 16

[0039] Cavity 20

[0040] Base 22

[0041] Cover 24

[0042] First opening 242

[0043] Light-transmitting area 244

[0044] Transfer component 30

[0045] Transfer drive unit 32

[0046] Transfer connector 34

[0047] Laser component 40

[0048] Visual Components 50

[0049] Motion Component 60

[0050] Motion drive component 62

[0051] Track 64

[0052] Mobile component 70

[0053] Support frame 71

[0054] Moving guide rail 72

[0055] First linear module 73

[0056] First moving plate 74

[0057] Second linear module 75

[0058] Second movable plate 76

[0059] Third linear module 77

[0060] Third moving plate 78

[0061] Connection component 80

[0062] Trachea 81

[0063] Connector driver 82

[0064] Connector plate 84

[0065] Connecting pipe 86

[0066] Electromagnetic switch 88

[0067] Barometric pressure sensor 90 Detailed Implementation

[0068] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0069] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "multiple" means two or more, unless otherwise explicitly specified.

[0070] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0071] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0072] Please see Figure 1 This application provides a schematic flowchart of a laser welding method for welding two workpieces. The workpieces can be metal objects such as a back cover, camera, studs, or panels. The two workpieces can be identical or different; for example, welding one panel to another, welding a camera into the camera hole of the back cover, welding a stud to the back cover, or welding one stud to another. Using the laser welding method provided in this application to weld two workpieces can effectively improve weld pool cracks and porosity defects, reduce surface slag and welding fume defects, and improve the quality of the welding process.

[0073] Depending on different needs, the order of steps in the flowchart described below may be changed, and some steps may be omitted. For ease of explanation, only the parts relevant to some embodiments of this application are shown.

[0074] Please see Figure 1 The laser welding method includes the following steps S110-S140.

[0075] S110 provides a sealed cavity for housing two workpieces that need to be welded.

[0076] S120: The characteristics of two workpieces inside the cavity are obtained through the vision component. The characteristics of the workpieces include the positional relationship between the two workpieces to be welded and the material characteristics of the two workpieces to be welded.

[0077] S130: Select the appropriate welding mode based on the characteristics of the workpiece.

[0078] S140 uses a laser assembly to weld two workpieces in the selected welding mode.

[0079] Thus, the laser welding method provides a sealed cavity, the vision component acquires the characteristics of two workpieces inside the cavity, selects the corresponding welding mode based on the characteristics of the workpieces, and the laser component welds the two workpieces in the selected welding mode. This allows the laser welding method to select the corresponding welding mode based on the characteristics of the workpieces, so that the workpieces can be selectively processed in the optimal processing environment.

[0080] The vision component can be a CCD (charge coupled device) camera.

[0081] In this embodiment, the welding modes include vacuum welding and shielded gas welding.

[0082] Please see Figure 2 In this embodiment, the laser welding method includes the following steps S210-S220 when selecting the vacuum welding mode.

[0083] S210 evacuates the cavity to create a vacuum environment.

[0084] The S220 uses a laser assembly to weld two workpieces in a vacuum environment.

[0085] Thus, in vacuum welding mode, the cavity is evacuated to create a vacuum environment. The laser assembly then welds two workpieces within this vacuum environment. In this vacuum, the liquid in the molten pool formed by the laser flows upwards along the front wall of the keyhole, reducing the likelihood of air bubbles and porosity. This improves porosity. Furthermore, the liquid at the bottom of the molten pool has weaker fluidity and better thermal uniformity, which helps reduce cracks and improves molten pool crack and porosity defects. In addition, compared to conventional environments, laser welding requires less energy to achieve the same molten pool state in a vacuum environment. The ion plume is significantly smaller, resulting in lower slag and zero welding fume, which helps reduce surface defects such as slag and welding fume.

[0086] Please see Figure 3 In this embodiment, the laser welding method includes steps S310-S320 when selecting the shielding gas welding mode.

[0087] S310, inflate the cavity to create a protective environment within it.

[0088] The S320 uses a laser assembly to weld two workpieces in a protected environment.

[0089] Thus, in the shielded gas welding mode, the cavity is filled with gas to create a protective environment. The laser assembly then welds two workpieces within this protected environment. In this environment, the shielding gas can chemically react with the workpieces, producing substances that can, to some extent, increase the weld strength, improve mechanical properties, and enhance the welding process control. Alternatively, the shielding gas can also avoid chemically reacting with the workpieces, reducing the width of the weld heating zone, preventing material oxidation, and further enhancing the welding process control.

[0090] In some embodiments, nitrogen is used as the protective gas for filling the cavity. Nitrogen is chemically inert and can be used as a protective gas. Understandably, other inert gases can also be used as the protective gas for filling the cavity.

[0091] In this embodiment, the positional relationship of the two workpieces to be welded includes stacking and butt welding. Stacking can be understood as two workpieces being piled up, with contact between them. Welding the two workpieces is called lap welding. For example, one panel placed on top of another panel is stacking, or a stud placed on a back cover is stacking. Butt welding can be understood as two workpieces placed opposite each other, without contact, with a gap between them. Welding the two workpieces is called seam welding. For example, a camera placed inside the camera hole of a back cover is butt welding, or a stud facing another stud is butt welding. Depending on whether the positional relationship of the two workpieces to be welded is stacking or butt welding, the laser welding method needs to select different processing environments for welding the two workpieces.

[0092] In this embodiment, the workpiece is made of at least one of steel, aluminum, and copper. The workpiece can also be made of composite metal materials or other metal materials that can be welded.

[0093] Nitrogen, through its chemical reaction with steel, produces nitrides that can, to some extent, increase the strength of the weld joint and improve its mechanical properties. When the two workpieces to be welded are seam welds, welding can be performed in a protective environment. When the two workpieces to be welded are lap welds, welding can be performed in a vacuum environment. Thus, when the workpiece material is steel, the welding environment (vacuum or protective) can be selected based on the positional relationship of the two workpieces to be welded, ensuring the workpieces are processed in the optimal environment.

[0094] Nitrogen reacts chemically with aluminum at certain temperatures to produce nitrides, which can increase weld brittleness and reduce weld toughness to some extent, significantly impacting the mechanical properties of the weld joint. Therefore, welding aluminum should not be performed in a protective environment. Furthermore, in a vacuum environment, the flow of the molten pool effectively improves porosity and cracking issues. Thus, when the workpiece is made of aluminum, welding in a vacuum environment is a suitable option.

[0095] Nitrogen does not chemically react with copper. In a protective environment, nitrogen effectively reduces the width of the weld heating zone, preventing material oxidation. In a vacuum environment, since there is no gas that reacts chemically with copper, the effect of effectively reducing the weld heating zone and preventing material oxidation is still achieved. Therefore, when the workpiece is made of copper, welding can be performed in either a vacuum or protective environment depending on the overall welding requirements. For example, if the workpiece is in a vacuum environment before and after welding, a vacuum environment can be chosen when welding copper points to avoid the time spent converting the internal gas pressure of the chamber.

[0096] In some implementations, when the two workpieces to be welded are stacked, if the workpieces are made of steel, welding can be performed in a vacuum environment; if the workpieces are made of aluminum, welding can be performed in a vacuum environment; and if the workpieces are made of copper, welding can be performed in a protective environment or a vacuum environment.

[0097] In other embodiments, when the two workpieces to be welded are butt-to-button, if the workpieces are made of steel, welding can be performed in a protective environment; if the workpieces are made of aluminum, welding can be performed in a vacuum environment; and if the workpieces are made of copper, welding can be performed in either a protective environment or a vacuum environment.

[0098] Please see Figure 4 In this embodiment, based on the positional relationship between the two workpieces to be welded being either stacked or butted, the laser welding method specifically includes steps S410-S430 for obtaining the positional relationship between the two workpieces to be welded through a vision component.

[0099] S410, acquire the boundary features of the welding positions of the two workpieces in the image obtained by the vision component.

[0100] Specifically, the image obtained by the vision component is acquired, and the boundary features of the welding position of the two workpieces are obtained from the image. The welding position can be understood as the welding point of the two workpieces, and the boundary features can be understood as the periphery of the workpiece at the welding position. For example, the two workpieces are distinguished by the gray values ​​of different workpieces, and the boundary features of the two workpieces are identified at the selected welding position.

[0101] S420, if the spacing between two boundary features meets the preset conditions, then the positional relationship between the two workpieces to be welded is determined to be stacked.

[0102] Specifically, if the distance between the boundary features of the two identified workpieces meets the preset conditions, for example, if the distance between the boundary features of the two workpieces is 0.02mm, then the positional relationship of the two workpieces to be welded is considered to be overlapping.

[0103] S430, if not, then the positional relationship between the two workpieces to be welded is determined to be a butt joint.

[0104] Specifically, if the distance between the boundary features of two workpieces does not meet the preset conditions, for example, if the distance between the boundary features of two workpieces is greater than 0.05mm, then there is a gap between the peripheries of the two workpieces, and the positional relationship of the two workpieces to be welded is considered to be butt joint.

[0105] Thus, by executing steps S410-S430, the positional relationship between the two workpieces to be welded is determined, thereby selecting the optimal processing environment for processing based on the characteristics of the workpieces.

[0106] In this embodiment, the laser welding method specifically includes steps S440-S450, which involve obtaining the material properties of the two workpieces to be welded through a vision component.

[0107] S440, acquire the grayscale values ​​of the two workpieces in the image obtained by the vision component.

[0108] Specifically, the image of the two workpieces obtained by the vision component is acquired, and the grayscale values ​​of the two workpieces are obtained from the image respectively.

[0109] S450 determines the material of two workpieces by using grayscale values.

[0110] Specifically, different materials will have a certain range of grayscale values ​​under different exposure values. The material of two workpieces is determined by obtaining two grayscale values. For example, at a certain exposure value, a grayscale value of 234 indicates that the workpiece is made of steel; a grayscale value of 201 indicates that the workpiece is made of aluminum; a grayscale value of 138 indicates that the workpiece is made of copper; and a grayscale value of 51 indicates that the workpiece is made of plastic. Among these, the grayscale values ​​of steel, aluminum, copper, and plastic decrease sequentially, ranging from 0 to 255 from black to white.

[0111] The order of steps S410-S430 and steps S440-S450 can be interchanged, and this application embodiment does not limit this.

[0112] Please see Figure 2 In this embodiment, after selecting the corresponding welding mode according to the characteristics of the workpiece, such as selecting the vacuum welding mode, the laser welding method further includes steps S212-S214.

[0113] S212, obtains the welding position of the two workpieces inside the cavity through the vision component.

[0114] S214 uses a vision component and a height sensor to acquire three-dimensional features of the welding positions on two workpieces inside the cavity.

[0115] Specifically, the height sensor can be a 3D camera, such as the Keyence LJ-X8000 series. This height sensor uses a laser triangulation method to obtain the height characteristics of the welding position on the workpiece. For example, the cylindrical objective lens of this height sensor magnifies the laser into a strip, and then the laser diffuses at the welding position. The reflected light is focused onto a CMOS (Complementary Metal Oxide Semiconductor) sensor to measure the height characteristics of the workpiece. The height characteristics are combined with the planar characteristics of the welding position obtained by the vision component to obtain the three-dimensional characteristics of the welding position. The height sensor can also be a device that can measure height or distance, such as a laser height gauge. This three-dimensional characteristic can be understood as the step difference, gap, or other features between the two workpieces to be welded.

[0116] Accordingly, in this embodiment, step S220 specifically involves welding two workpieces in a vacuum environment using a laser assembly, based on the welding position and three-dimensional features.

[0117] Thus, by executing steps S212-S214-S220, welding two workpieces in a vacuum environment is performed based on the welding position and three-dimensional features, which helps to improve the accuracy and quality of laser welding.

[0118] Please see Figure 3 In another embodiment, for example, by selecting a shielding gas welding mode, the laser welding method includes steps S312-S314.

[0119] S312 uses a vision component to obtain the welding positions of two workpieces inside the cavity.

[0120] S314 acquires three-dimensional features of the welding positions on two workpieces inside the cavity through a vision component and a height sensor.

[0121] Accordingly, in this embodiment, step S320 specifically involves welding two workpieces in a protected environment using a laser assembly, based on the welding position and three-dimensional features.

[0122] Thus, by executing steps S312-S314-S320, welding is performed on two workpieces in a protected environment based on the welding position and three-dimensional features, which helps to improve the accuracy and quality of laser welding.

[0123] In this embodiment, please refer to the relevant documentation. Figure 5The cavity 20 provided in step S110 includes a base 22 and a cover 24. The base 22 is used to support the workpieces to be welded. The cover 24 has a first opening 242, which is used to connect with the base 22 to form a sealed cavity 20. The cover 24 has a light-transmitting area 244, and the laser emitted by the laser assembly 40 can pass through the light-transmitting area 244 of the cover 24 to weld the two workpieces inside the cavity 20. The light-transmitting area 244 can be formed of quartz material provided on the cover 24.

[0124] Accordingly, please refer to Figure 1 Step S110 specifically involves connecting the first opening 242 of the cover 24 to the base 22 via a transfer assembly 30 to form a sealed cavity 20.

[0125] Specifically, after the base 22 supports the two workpieces to be welded, a transfer assembly 30 with a transfer function connects the cover 24 to the base 22 to form a sealed cavity 20, thereby providing a sealed cavity for welding.

[0126] In this embodiment, a second opening is also provided on the cover 24 of the cavity 20. The second opening is used to connect the air extraction device and the gas filling device so that when performing vacuum welding mode or performing protective gas welding mode, the air extraction device or the gas filling device extracts or fills the cavity 20 through the second opening so that a vacuum environment or a protective environment is formed inside the cavity 20.

[0127] Accordingly, after performing step S110, the laser welding method also includes step S112.

[0128] S112, connecting the second opening to a vacuum device and an inflation device.

[0129] Specifically, the second opening of the cover 24 can be continuously connected to the air extraction device and the air inflation device, or the second opening can be connected to the air extraction device and the air inflation device after the cover 24 is connected to the base 22. The specific settings can be made according to the actual situation.

[0130] Please see Figure 2 In this embodiment, after selecting the corresponding welding mode, such as selecting the vacuum welding mode, the laser welding method step S210 specifically involves: evacuating the cavity using an evacuation device to create a vacuum environment in the cavity.

[0131] Please see Figure 3 In another embodiment, for example, when selecting a shielding gas welding mode, step S310 of the laser welding method specifically involves: filling the cavity with gas using a gas filling device to create a protective environment within the cavity. Please refer to... Figure 2 In this embodiment, the laser welding method further includes step S211.

[0132] S211, monitors the air pressure value of the chamber.

[0133] Specifically, when evacuating the cavity, the air pressure inside the cavity is monitored, and the air pressure value is the vacuum level.

[0134] Accordingly, after performing step S211, the laser welding method can proceed to step S220, which specifically involves welding two workpieces in a vacuum environment using a laser assembly based on the gas pressure reaching a preset vacuum value.

[0135] Specifically, when the air pressure reaches a preset vacuum value, for example, 5 kPa, the vacuum environment inside the cavity meets the requirements, and the laser assembly can be used to weld two workpieces in a vacuum environment. Thus, by executing step S211, it is ensured that the workpiece is processed in an optimal vacuum environment.

[0136] In another embodiment, after performing step S211, the laser welding method may also perform steps S212-S214-S220 in sequence, wherein step S220 specifically involves welding two workpieces in a vacuum environment using a laser assembly based on the welding position and three-dimensional features.

[0137] In this embodiment, the laser welding method further includes steps S230-S250.

[0138] S230: After welding two workpieces in a vacuum environment, the vacuum in the cavity is broken.

[0139] S240, monitors the air pressure value of the chamber.

[0140] S250, based on the air pressure reaching the preset air pressure value, opens the cavity and removes the two welded workpieces from the cavity.

[0141] Specifically, after welding two workpieces in a vacuum environment, the vacuum in the cavity is broken and the gas pressure inside the cavity is monitored. When the gas pressure reaches a preset value, for example, atmospheric pressure, the cover and base are separated by a transfer assembly, and the two welded workpieces are removed from the base. Breaking the vacuum can be achieved by opening a second opening or by filling the cavity with gas using an inflation device.

[0142] Please see Figure 3 In this embodiment, the laser welding method further includes step S311.

[0143] S311, monitors the gas concentration value in the chamber.

[0144] Specifically, when the cavity is inflated, the gas concentration inside the cavity is monitored, and the gas concentration value is the concentration value of the protective gas.

[0145] Accordingly, after executing step S311, step S320 can be executed. Step S320 specifically involves welding two workpieces in a protected environment using a laser component based on the gas concentration value reaching a preset concentration value.

[0146] Specifically, once the gas concentration reaches the preset value, the protective environment within the cavity meets the requirements, and the laser assembly can then be used to weld two workpieces within this protective environment. Thus, by executing step S311, welding of the workpieces is ensured to take place in an optimal protective environment.

[0147] In another embodiment, after performing step S311, the laser welding method can also perform steps S312-S314-S320 in sequence, wherein step S320 specifically involves welding two workpieces in a protected environment using a laser assembly based on the welding position and three-dimensional features.

[0148] In this embodiment, the laser welding method further includes steps S330-S350.

[0149] S330: After welding two workpieces in a protected environment, the cavity is vented.

[0150] S340, monitors the air pressure value of the chamber.

[0151] S350, based on the air pressure reaching the preset air pressure value, opens the cavity and removes the two welded workpieces from the cavity.

[0152] Specifically, after welding two workpieces in a protected environment, the cavity is vented and the gas pressure inside is monitored. When the gas pressure reaches a preset value, for example, when the concentration of the protective gas meets the requirements, or when the gas pressure inside the cavity is atmospheric pressure, the cover and base are separated by a transfer assembly, and the two welded workpieces are removed from the base. Venting can be achieved by opening a second opening or by using a vacuum device.

[0153] The laser welding method provided in this embodiment enables workpieces to be selectively processed in the optimal processing environment, which helps to improve weld pool cracks and porosity defects, reduce surface slag and welding fume defects, and improve the quality of welding processing.

[0154] Please see Figure 5Some embodiments of this application also provide a laser welding apparatus 100 for welding two workpieces that need to be welded. The laser welding apparatus 100 includes a worktable 10, a cavity 20, a laser component 40, a vision component 50, and a controller (not shown).

[0155] Specifically, a cavity 20 is mounted on the worktable 10 and is used to house two workpieces to be welded. A vision assembly 50 is mounted on the worktable 10 and is used to acquire the characteristics of the two workpieces within the cavity 20, including the positional relationship and material properties of the two workpieces to be welded. A controller is connected to the vision assembly 50 and is used to select the corresponding welding mode based on the characteristics of the workpieces. A laser assembly 40 is mounted on the worktable 10, communicates with the controller, and performs welding on the two workpieces under the selected welding mode.

[0156] Thus, through the coordinated operation of the cavity 20, laser component 40, vision component 50, and controller, the laser welding device 100 enables the vision component 50 to acquire the characteristics of the two workpieces within the cavity 20. The controller selects the corresponding welding mode based on the characteristics of the workpieces, and the laser component 40 welds the two workpieces within the cavity 20 under the selected welding mode. The laser welding device 100 can select the corresponding welding mode based on the characteristics of the workpieces, so that the workpieces can be selectively processed in the optimal processing environment, reducing the impact of adverse factors on laser welding.

[0157] Welding modes include vacuum welding and shielded gas welding. In vacuum welding, under vacuum conditions, the liquid in the molten pool flows upward along the front wall of the keyhole, making it less prone to air bubbles and resulting in a pore-free molten pool, which helps improve porosity. Furthermore, the liquid at the bottom of the molten pool has weaker fluidity and better thermal uniformity, which helps reduce cracks and thus improves molten pool crack and porosity defects. In addition, under vacuum conditions, compared to conventional environments, laser welding requires less energy to achieve the same molten pool state, the ion plume is significantly smaller, and the effects of low slag and zero welding fume are obvious, which helps reduce appearance defects such as slag and welding fume. In shielded gas welding, under protective conditions, the shielding gas can chemically react with the workpiece, and the resulting substances can, to some extent, increase the weld strength, which helps improve mechanical properties and the quality of welding. In addition, the shielding gas can also avoid chemically reacting with the workpiece, reducing the width of the weld heating zone and preventing material oxidation, which helps improve the quality of welding.

[0158] The controller can be a central processing unit (CPU), and may also include other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The controller can be used to receive, process, store, and transmit data. The controller is the control center of the laser welding apparatus 100, connecting various parts of the entire laser welding apparatus 100 via various interfaces and lines. In some embodiments, the controller can also execute the steps of the laser welding method described in the above embodiments.

[0159] In this embodiment, based on the positional relationship between the two workpieces to be welded, including overlapping and docking, the controller is further configured to acquire the boundary features of the welding positions of the two workpieces in the image obtained by the vision component 50; if the distance between the two boundary features meets the preset conditions, the positional relationship of the two workpieces to be welded is determined to be overlapping; otherwise, the positional relationship of the two workpieces to be welded is determined to be docking. In this way, the positional relationship of the two workpieces to be welded is determined, thereby selecting the optimal processing environment for processing according to the characteristics of the workpieces.

[0160] In this embodiment, the workpiece is made of at least one of steel, aluminum, and copper.

[0161] In this embodiment, the controller is also used to acquire the grayscale values ​​of two workpieces in the image obtained by the vision component 50; and to determine the material of the two workpieces based on the grayscale values. Specifically, different materials will have a certain range of grayscale values ​​under different exposure values, and the material of the two workpieces is determined by the two grayscale values ​​obtained. For example, at a certain exposure value, when the grayscale value is 234, the material of the workpiece is steel; when the grayscale value is 201, the material of the workpiece is aluminum; when the grayscale value is 138, the material of the workpiece is copper; and when the grayscale value is 51, the material of the workpiece is plastic. Among them, the grayscale values ​​of steel, aluminum, copper, and plastic decrease sequentially, and the grayscale values ​​range from 0 to 255 from black to white.

[0162] In this embodiment, the laser welding apparatus 100 also includes a height sensor (not shown). The height sensor is mounted on the worktable 10 and connected to the controller. The height sensor is used to acquire the height characteristics of the two workpieces within the cavity 20. Correspondingly, the vision component 50 is also used to acquire the welding position of the two workpieces within the cavity 20; the controller is also used to acquire the three-dimensional features of the welding position on the two workpieces within the cavity 20 based on the vision component 50 and the height sensor; and to control the laser component 40 to weld the two workpieces in a vacuum environment according to the welding position and three-dimensional features in the selected welding mode. Thus, welding two workpieces in a vacuum environment or a protective environment based on the welding position and three-dimensional features helps improve the accuracy and quality of laser welding.

[0163] The height sensor can be a 3D camera, such as the Keyence LJ-X8000 series. This height sensor uses a laser triangulation method to obtain the height characteristics of the welding position on the workpiece. For example, the cylindrical objective lens of the height sensor magnifies the laser into a strip, and then the laser produces diffuse reflection at the welding position. The reflected light is focused onto a CMOS (Complementary Metal Oxide Semiconductor) sensor to measure the height characteristics of the workpiece. The height characteristics are combined with the planar characteristics of the welding position obtained by the vision component to obtain the three-dimensional characteristics of the welding position. The height sensor can also be a laser height gauge or other device that can measure height or distance. This three-dimensional characteristic can be understood as the step difference, gap, or other features between the two workpieces to be welded. The height sensor is mounted on the worktable via a moving axis, and the height sensor can move under the drive of the moving axis.

[0164] In this embodiment, the cavity 20 includes a base 22 and a cover 24. The cover 24 has a first opening 242 and a light-transmitting area 244. The base 22 is used to support two workpieces that need to be welded. The light-transmitting area 244 can be formed of quartz material provided on the cover 24.

[0165] Please refer to the following: Figures 5 to 7In this embodiment, the laser welding device 100 further includes a transfer component 30 and a motion component 60. The transfer component 30 is disposed on the worktable 10 and is communicatively connected to the controller. The transfer component 30 is used to connect the cover 24. The motion component 60 is disposed on the worktable 10 and is communicatively connected to the controller. The motion component 60 is used to connect the base 22 and to move the base 22 to the cover 24. The transfer component 30 is used to connect the first opening 242 of the cover 24 to the base 22 to form a sealed cavity 20. Through the transfer component 30 and the motion component 60, it is easy to connect the base 22 and the cover 24 to form a sealed cavity 20, or to drive the base 22 and the cover 24 to be misaligned and separated, so as to put in the workpiece to be welded and take out the workpiece after welding.

[0166] Specifically, the workbench 10 has a first hole 12 and a second hole 14. There are two transfer components 30, and two first holes 12, which are approximately square. The two first holes 12 are located on either side of the second hole 14, which is approximately rectangular. Each transfer component 30 includes a transfer drive 32 and a transfer connector 34 connected to the transfer drive 32. The transfer drive 32... Figure 5 The Z-axis direction is located within the first hole 12. The transfer connector 34 is approximately convex, and each transfer connector 34 is connected to one end of the cover 24. The transfer drive 32 drives the cover 24 to move along the Z-axis direction through the transfer connector 34. The motion assembly 60 includes a motion drive 62 and motion tracks 64. The motion drive 62 is located below the worktable 10, and there are two motion tracks 64. The two motion tracks 64 are located on both sides of the second hole 14 and move along the Z-axis direction. Figure 5 Extending along the X-axis, the base 22 is slidably mounted on the motion track 64, and the output end of the motion drive 62 passes through the second hole 14 to connect with the base 22. Both the transfer drive 32 and the motion drive 62 can be linear modules.

[0167] The working process of the transfer assembly 30 and the motion assembly 60 working together to provide a sealed cavity 20 is roughly as follows: the motion drive 62 drives the base 22 to move away from the cover 24 for loading. After placing the two workpieces to be welded on the base 22, the motion drive 62 drives the base 22 to move below the cover 24. The transfer drive 32 drives the cover 24 toward the base 22 through the transfer connector 34 and connects the first opening 242 with the base 22, thereby forming a sealed cavity 20.

[0168] In this embodiment, a second opening (not shown) is provided on the cover 24. The laser welding device 100 also includes an inflation device (not shown) and an extraction device (not shown). The inflation device is connected to the second opening and is communicatively connected to the controller. The inflation device inflates the cavity 20 through the second opening to create a protective environment in the cavity 20. The extraction device is connected to the second opening and is communicatively connected to the controller. The extraction device extracts air from the cavity 20 through the second opening to create a vacuum environment in the cavity 20. Thus, by providing an inflation device and an extraction device, it is possible to inflate or extract air into the cavity 20, thereby creating a protective environment or a vacuum environment inside the cavity 20.

[0169] In this embodiment, the laser welding device 100 further includes a connecting component 80, and the second opening of the cover 24 is connected to the air extraction device and the air inflation device through the connecting component 80. Specifically, the worktable 10 also has a third hole 16, along which... Figure 5 In the X-axis direction shown, the third hole 16 is located to one side of the second hole 14, and the third hole 16 is approximately circular. The connecting assembly 80 includes an air pipe 81, a connecting drive component 82, a connecting plate 84, a connecting tube 86, and an electromagnetic switch 88. The air pipe 81 is approximately a 90° bent tube, and one end of the air pipe 81 is connected to the second opening of the cover 24. The air pipe 81 can move with the cover 24. There are two connecting drive components 82, which are located on both sides of the third hole 16. The connecting plate 84 is positioned opposite to the worktable 10 and connected to the two connecting drive components 82. The connecting tube 86 passes through the third hole 16 and is fixedly connected to the connecting plate 84. The electromagnetic switch 88 is located on the connecting tube 86, and the end of the connecting tube 86 away from the connecting plate 84 is used to connect the air extraction device and the air filling device. Among them, the connecting drive component 82 can be a linear cylinder, and the electromagnetic switch 88 can be a solenoid valve. The electromagnetic switch 88 is coupled to the controller and is used to receive signals from the controller to open or close.

[0170] The working process of the second opening of the cover 24 being connected to the suction device and the inflation device through the connecting assembly 80 is roughly as follows: When the transfer drive 32 drives the cover 24 toward the base 22 and connects with the base 22 through the transfer connector 34, the air pipe 81 moves with the cover 24 and toward the connecting pipe 86. The connecting drive 82 drives the connecting plate 84 to move toward the air pipe 81. The connecting pipe 86 and the electromagnetic switch 88 move together with the connecting plate 84 and dock with the air pipe 81, thereby connecting the air pipe 81 and the connecting pipe 86, thus achieving the effect of connecting the second opening of the cover 24 to the suction device and the inflation device through the connecting assembly 80. A sealing element may be provided on the air pipe 81 and / or the connecting pipe 86 to provide a seal when the air pipe 81 and the connecting pipe 86 are connected, preventing air leakage during the connection.

[0171] In this embodiment, the laser welding apparatus 100 further includes a pressure sensor 90 and a gas concentration sensor (not shown). The pressure sensor 90 and the gas concentration sensor are connected inside the cavity 20. The pressure sensor 90 is used to sense the pressure value inside the cavity 20, for example, to sense the vacuum value inside the cavity 20. The gas concentration sensor is used to sense the concentration value of the protective gas inside the cavity. In some embodiments, the pressure sensor 90 and the gas concentration sensor can also be disposed outside the cavity, for example, disposed on a connecting pipe 86 that is always connected to the cavity 20, and the pressure value inside the cavity 20 is obtained by sensing the pressure value inside the connecting pipe 86.

[0172] Accordingly, in vacuum welding mode, the pressure sensor 90 monitors the pressure value of the cavity 20; based on the pressure value reaching the preset vacuum value, the laser component 40 welds the two workpieces in the vacuum environment; after the two workpieces in the vacuum environment are welded, the vacuum in the cavity 20 is broken; the pressure sensor 90 monitors the pressure value of the cavity 20; based on the pressure value reaching the preset pressure value, the cavity 20 is opened and the two welded workpieces are removed from the cavity 20. This ensures that the workpieces are processed in an optimal vacuum environment.

[0173] In shielded gas welding mode, a gas concentration sensor monitors the gas concentration value in chamber 20; based on the gas concentration value reaching a preset value, the laser assembly 40 welds the two workpieces in the shielded environment; after welding the two workpieces in the shielded environment is completed, the gas in chamber 20 is released; a pressure sensor 90 monitors the pressure value in chamber 20; based on the pressure value reaching a preset value, chamber 20 is opened and the two welded workpieces are removed from chamber 20. This ensures that the workpieces are processed in an optimal shielded environment.

[0174] In this embodiment, the laser welding device 100 further includes a moving component 70, which is disposed on the worktable 10 and connected to the vision component 50 and the laser component 40. The moving component 70 is also communicatively connected to the controller and is used to drive the vision component 50 and the laser component 40 to move.

[0175] Specifically, the moving assembly 70 includes a support frame 71, a moving guide rail 72, a first linear module 73, a first moving plate 74, a second linear module 75, a second moving plate 76, a third linear module 77, and a third moving plate 78. The support frame 71 is mounted on the worktable 10 and is generally formed by two gantry frames spaced apart on the worktable 10. The moving guide rail 72... Figure 5 The X-axis direction is shown and is positioned on one of the gantry frames, while the first linear module 73 is positioned on the other gantry frame. The first moving plate 74 is along... Figure 5The Y-axis, as shown, spans across the moving guide rail 72 and the first linear module 73. The first moving plate 74 is used to move along the moving guide rail 72 under the drive of the first linear module 73. The second linear module 75 is mounted on the first moving plate 74, and the second moving plate 76 is connected to the output end of the second linear module 75. The second moving plate 76 is used to move along the moving guide rail 72 under the drive of the second linear module 75. Figure 5 The movement is along the Y-axis direction as shown. The third linear module 77 is mounted on the second moving plate 76, and the third moving plate 78 is connected to the output end of the third linear module 77. The third moving plate 78 is used to move along the Y-axis direction under the drive of the third linear module 77. Figure 5 The movement is along the Z-axis as shown. The vision component 50 and laser component 40 are spaced apart on the third moving plate 78. Thus, through the coordinated operation of the support frame 71, the moving guide rail 72, the first linear module 73, the first moving plate 74, the second linear module 75, the second moving plate 76, the third linear module 77, and the third moving plate 78, the vision component 50 and laser component 40 are moved in the Z-axis direction. Figure 5 The laser component moves in the XYZ coordinate system shown, and the vision component 50 and the laser component 40 move coaxially to ensure the quality of laser welding.

[0176] For ease of understanding and explanation, a welding station is defined by cavity 20, transfer assembly 30, motion assembly 60, connection assembly 80, and pressure sensor 90. In this embodiment, there are two welding stations, spaced apart on the worktable 10. The two welding stations share a vision assembly 50, a motion assembly 70, a height sensor, an air extraction device, and an air inflation device. Thus, for example, while one welding station is welding, the other welding station can perform operations such as loading, sealing, air extraction, or air inflation. This allows for immediate welding of the two workpieces requiring welding at the other welding station after welding at one station is completed, optimizing processing time and improving welding efficiency. It is understood that the number of welding stations can be more than one, depending on the actual situation; this embodiment does not limit this.

[0177] The laser welding apparatus 100 provided in this embodiment enables the workpiece to be selectively processed in the optimal processing environment, which is beneficial to improve weld pool cracks and porosity defects, reduce appearance slag and welding fume defects, and improve the quality of welding processing.

[0178] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A laser welding method, characterized in that, include: A sealed cavity is provided for accommodating two workpieces that need to be welded; The characteristics of the two workpieces inside the cavity are obtained through a vision component. The characteristics of the workpieces include the positional relationship between the two workpieces to be welded and the material characteristics of the two workpieces to be welded. The positional relationship between the two workpieces to be welded includes stacking and butt jointing. Based on the characteristics of the workpiece, a corresponding welding mode is selected, including vacuum welding and shielded gas welding. The two workpieces are welded using a laser assembly in the selected welding mode; The procedure further includes, prior to the step of welding the two workpieces using a laser assembly in the selected welding mode: The welding positions of the two workpieces inside the cavity are obtained through the vision component; The vision component and height sensor acquire three-dimensional features of the welding positions on the two workpieces inside the cavity, including the step difference and gap between the two workpieces to be welded. Based on the welding position and the three-dimensional features, the two workpieces are welded by the laser assembly in the selected welding mode.

2. The laser welding method as described in claim 1, characterized in that, The step of obtaining the positional relationship between the two workpieces to be welded using a vision component includes: Obtain the boundary features of the welding positions of the two workpieces in the image obtained by the vision component; If the spacing between the two boundary features meets the preset conditions, then the positional relationship between the two workpieces to be welded is determined to be stacked. If not, then the positional relationship between the two workpieces to be welded is determined to be a butt joint.

3. The laser welding method as described in claim 1, characterized in that, The step of obtaining the material properties of the two workpieces to be welded using a vision component includes: Obtain the grayscale values ​​of the two workpieces in the image obtained by the vision component; The material of the two workpieces is determined by the grayscale values.

4. The laser welding method as described in claim 1, characterized in that, The vacuum welding includes: The cavity is evacuated to create a vacuum environment. The laser assembly is used to weld two workpieces in the vacuum environment. The shielding gas welding includes: The cavity is inflated to create a protective environment within it. The laser assembly is used to weld the two workpieces that are in the protected environment.

5. The laser welding method as described in claim 4, characterized in that, The vacuum welding also includes: Monitor the air pressure value of the cavity; Based on the air pressure reaching a preset vacuum value, the laser component is used to weld the two workpieces in the vacuum environment.

6. The laser welding method as described in claim 5, characterized in that, The vacuum welding also includes: After welding the two workpieces in the vacuum environment is completed, the vacuum in the cavity is broken. Monitor the air pressure value of the cavity; Once the air pressure reaches the preset air pressure value, the cavity is opened and the two welded workpieces are removed from the cavity.

7. The laser welding method as described in claim 4, characterized in that, The shielding gas welding also includes: Monitor the gas concentration value of the cavity; Based on the gas concentration reaching a preset concentration value, the laser component is used to weld the two workpieces in the protected environment.

8. The laser welding method as described in claim 7, characterized in that, The shielding gas welding also includes: After welding is completed on the two workpieces under the protective environment, the cavity is vented. Monitor the air pressure value of the cavity; Once the air pressure reaches the preset air pressure value, the cavity is opened and the two welded workpieces are removed from the cavity.

9. The laser welding method as described in claim 4, characterized in that, The protective gas used to fill the cavity is nitrogen.

10. A laser welding apparatus, comprising a worktable, characterized in that, Also includes: A cavity is provided on the worktable, and the cavity is used to accommodate two workpieces that need to be welded. A vision component, disposed on the worktable, is used to acquire the characteristics of two workpieces within the cavity, wherein the characteristics of the workpieces include the positional relationship of the two workpieces to be welded and the material characteristics of the two workpieces to be welded, and the positional relationship of the two workpieces to be welded includes stacking and butt jointing. A controller, connected to the vision component, is used to select a corresponding welding mode based on the characteristics of the workpiece, the welding mode including vacuum welding and shielded gas welding; A laser assembly, mounted on the worktable, is communicatively connected to the controller and welds the two workpieces in the selected welding mode; A height sensor, mounted on the worktable and connected to the controller, is used to acquire the height characteristics of the two workpieces inside the cavity; The vision component is also used to acquire the welding positions of the two workpieces within the cavity; The controller is also configured to acquire three-dimensional features of the welding positions on the two workpieces inside the cavity based on the vision component and the height sensor, the three-dimensional features including the step difference and gap between the two workpieces to be welded; and control the laser component to weld the two workpieces in the selected welding mode according to the welding positions and the three-dimensional features.

11. The laser welding apparatus as described in claim 10, characterized in that, The controller is further configured to: acquire boundary features of the welding positions of the two workpieces in the image obtained by the vision component; if the distance between the two boundary features meets the preset conditions, then determine that the positional relationship of the two workpieces to be welded is stacked; otherwise, determine that the positional relationship of the two workpieces to be welded is butt joint.

12. The laser welding apparatus as described in claim 10, characterized in that, The controller is also configured to acquire the grayscale values ​​of the two workpieces in the image obtained by the vision component; and to determine the material of the two workpieces through the grayscale values.

13. The laser welding apparatus as described in claim 11, characterized in that, The cavity includes a base and a cover. The cover has a first opening and a light-transmitting area. The base is used to support the two workpieces to be welded. The laser welding device also includes: A transfer assembly, mounted on the workbench and communicatively connected to the controller, is used to connect the cover. A motion component, disposed on the workbench and communicatively connected to the controller, is used to connect to the base. The motion component is used to move the base to the cover. The transfer component is used to connect the first opening of the cover to the base to form a sealed cavity.

14. The laser welding apparatus as described in claim 13, characterized in that, The welding modes include vacuum welding and shielded gas welding, and a second opening is also provided on the cover. The laser welding device also includes: An inflation device is connected to the second opening and communicates with the controller. The inflation device inflates the cavity through the second opening to create a protective environment in the cavity. An air extraction device is connected to the second opening and communicates with the controller. The air extraction device extracts air into the cavity through the second opening to create a vacuum environment in the cavity.

15. The laser welding apparatus as described in claim 14, characterized in that, The laser welding device also includes a pressure sensor and a gas concentration sensor, which are connected to the cavity and communicate with the controller to sense the pressure value and gas concentration value inside the cavity.

16. The laser welding apparatus as described in claim 10, characterized in that, The laser welding device further includes a moving component, which is disposed on the worktable and connected to the vision component and the laser component. The moving component is also communicatively connected to the controller and is used to drive the vision component and the laser component to move.

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