Welding methods, devices, media and equipment for improving welding quality

Abstract

The present invention relates to a welding method, device, medium and equipment for improving welding quality, including obtaining parameters such as the strength of the welding object to be welded, the width of the weld, the depth of the weld and the moving speed of the laser equipment along the weld, so as to accurately calculate the target position information of each welding focus on the spiral path during laser welding. Subsequently, based on these target position information, the target angle required by the wedge mirror in the laser equipment (i.e., the minimum angle between the hypotenuse of the wedge mirror and the right-angle side where the laser is incident) is determined, and the corresponding wedge mirror is replaced accordingly. Finally, after replacing the wedge mirror with a wedge angle that meets the required wedge angle, the laser equipment is controlled to emit laser and laser weld the weld along a preset spiral path. Not only the accuracy and efficiency of welding are improved, but also the welding parameters can be automatically adjusted according to different welding objects to achieve adaptive welding.

Description

Technical Field

[0001] The present disclosure relates to the field of laser welding technology, and in particular to a welding method, device, medium and equipment for improving welding quality. Background Art

[0002] When laser equipment is used for butt welding, a wider weld can make the butt welding molten zone wider, so that it can have a higher welding strength, and when performing laser cladding, a coarser focus can quickly complete the butt welding, thereby improving work efficiency and cladding strength. However, a wider weld and a coarser focus mean that each focus is larger during butt welding. When the laser power of the laser equipment is constant, it will cause the power density of the focus to decrease, which will easily cause the quality of laser welding and laser cladding to decrease. Summary of the invention

[0003] The purpose of the present invention is to provide a welding method, device, medium and equipment for improving welding quality, aiming to solve the technical problem that wider welds and coarser focal points in related scenarios lead to reduced power density of the focal point, which easily causes a decrease in laser welding quality and laser cladding quality.

[0004] In order to achieve the above-mentioned object, a first aspect of an embodiment of the present disclosure provides a welding method for improving welding quality, the method comprising:

[0005] Acquire the strength of the welding object to be butt-welded, the width of the weld to be butt-welded formed by the welding object, the depth of the weld to be butt-welded, and the moving speed of the laser device along the weld to be butt-welded;

[0006] Determine target position information of each welding focus on the spiral path of the laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, the depth of the weld to be welded, and the moving speed of the laser device along the weld to be welded;

[0007] Determine the required wedge angle of the target angle of the wedge mirror in the laser device according to the target position information between adjacent welding focal points in the spiral path, and replace the wedge mirror in the laser device with the required wedge angle as the target, wherein the target angle is the minimum angle between the hypotenuse of the wedge mirror and the right-angle side of the wedge mirror where the laser is incident;

[0008] When the wedge mirror is replaced with one whose wedge angle meets the required wedge angle, the laser device is controlled to emit laser to the replaced wedge mirror and move along the weld to be welded, so that the replaced wedge mirror transmits the laser to the focusing mirror of the laser device. During the movement, the laser light passing through the focusing mirror performs laser welding on the weld to be welded according to the spiral path.

[0009] In a possible implementation, determining the required wedge angle of the target angle of the wedge mirror in the laser device according to the target position information between adjacent welding focal points in the spiral path includes:

[0010] Determine the radius of the rotation trajectory circle of the laser focused by the focusing mirror in the laser device and the focusing point of the focusing mirror according to the target position information between adjacent welding focal points in the spiral path;

[0011] Determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle;

[0012] The included angle is used as a required wedge angle of a target angle of the wedge mirror in the laser device.

[0013] In a possible implementation, determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle includes:

[0014] Determining a first angle between the laser incident on the focusing mirror and the vertical direction according to a ratio of a focal length of the focusing mirror in the laser device and a radius of the rotating trajectory circle;

[0015] The angle between the laser light incident on the wedge mirror and the hypotenuse of the wedge mirror in the laser device is determined according to the first angle and the preset refractive index of the wedge mirror.

[0016] In a possible implementation, determining the target position of each welding focus on the spiral path of the laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, and the depth of the weld to be welded includes:

[0017] Determine, according to the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding;

[0018] Determine the lateral displacement of the welding focus along the weld to be welded relative to the initial welding focus during the k+1th welding according to the lateral position of the welding focus along the weld to be welded corresponding to the kth welding and the moving speed of the laser device along the weld to be welded;

[0019] Determine the longitudinal offset of the welding focus corresponding to the k+1th welding according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus;

[0020] According to the longitudinal offset of the welding focus during each welding and the corresponding lateral displacement, the target position of each welding focus on the spiral path of the laser used by the laser equipment to weld the weld to be welded is determined.

[0021] In a possible implementation, determining, based on the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding includes:

[0022] Determine, according to the strength and the width of the weld to be butt-welded, a width change of the width of the weld to be butt-welded corresponding to the k+1th welding relative to the width of the weld to be butt-welded corresponding to the kth welding;

[0023] According to the width variation, determining a target variation range from a plurality of preset variation ranges;

[0024] The preset position offset corresponding to the target variation range is determined as the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, wherein each variation range is correspondingly provided with a preset position offset.

[0025] In a possible implementation, the determining the longitudinal offset of the welding focus corresponding to the k+1th welding according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus, includes:

[0026] Taking the target position corresponding to the target position information of the welding focus corresponding to the kth welding as the center and the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding as the radius, determine the candidate position range of the welding focus corresponding to the k+1th welding;

[0027] According to the target position corresponding to the target position information of the welding focus corresponding to the kth welding and the depth of the weld to be welded, a range to be eliminated that does not meet the depth is screened out from the candidate position range corresponding to the k+1th welding;

[0028] Eliminate the position range that does not meet the depth requirement from the candidate position range corresponding to the k+1th welding to obtain a candidate position range;

[0029] The longitudinal offset of the welding focus corresponding to the k+1th welding is determined according to the candidate position range corresponding to the k+1th welding and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus.

[0030] According to a second aspect of the embodiments of the present disclosure, there is provided a welding device for improving welding quality, the device comprising:

[0031] An acquisition module is configured to acquire the strength of the welding object to be butt-welded, the width of the weld to be butt-welded formed by the welding object, the depth of the weld to be butt-welded, and the moving speed of the laser device along the weld to be welded;

[0032] A first determination module is configured to determine target position information of each welding focus on a spiral path of a laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, the depth of the weld to be welded, and a moving speed of the laser device along the weld to be welded;

[0033] A second determination module is configured to determine a required wedge angle of a target angle of a wedge mirror in the laser device according to target position information between adjacent welding focal points in the spiral path, and replace the wedge mirror in the laser device with the required wedge angle as a target, wherein the target angle is a minimum angle between a hypotenuse of the wedge mirror and a right-angle side of the wedge mirror where the laser is incident;

[0034] The control module is configured to control the laser device to emit laser light to the replaced wedge mirror and move along the weld to be welded when the wedge mirror is replaced with one whose wedge angle meets the required wedge angle, so that the replaced wedge mirror transmits the laser light to the focusing mirror of the laser device, and the laser light passing through the focusing mirror during the movement performs laser welding on the weld to be welded according to the spiral path.

[0035] In a possible implementation manner, the second determining module is configured to:

[0036] Determine the radius of the rotation trajectory circle of the laser focused by the focusing mirror in the laser device and the focusing point of the focusing mirror according to the target position information between adjacent welding focal points in the spiral path;

[0037] Determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle;

[0038] The included angle is used as a required wedge angle of a target angle of the wedge mirror in the laser device.

[0039] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0040] According to a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, including:

[0041] Microcontroller;

[0042] a memory for storing instructions executable by the microcontroller;

[0043] The microcontroller is configured to execute executable instructions stored in the memory to perform the method described in any one of the first aspects.

[0044] The present invention provides a welding method, device, medium and equipment for improving welding quality. Compared with the prior art, it has the following beneficial effects:

[0045] By accurately calculating the target position information of each welding focus on the spiral path, the system can ensure that the laser is accurately focused on the weld, thereby improving the accuracy of welding. The laser wedge mirror angle is automatically adjusted according to the characteristics of the welding object, which reduces the time and error of manual adjustment and significantly improves the welding efficiency. It can automatically adjust welding parameters such as laser power and moving speed according to different welding objects to achieve adaptive welding, which is suitable for the welding needs of various complex materials and structures. Due to the precise welding focus position and uniform laser energy distribution, this method can effectively reduce welding defects such as pores and slag inclusions, and improve welding quality. The high degree of automation reduces the difficulty of operation, reduces the requirements for operator skills, and improves the stability and reliability of the welding process.

[0046] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0048] Figure 1 It is a flow chart of a welding method for improving welding quality according to an embodiment of the specification.

[0049] Figure 2 It is a schematic diagram of the arrangement of a wedge mirror and a focusing mirror according to an embodiment of the specification.

[0050] Figure 3 It is a block diagram of a welding device for improving welding quality according to an embodiment of the specification. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0053] In order to achieve the above object, the present disclosure provides a welding method for improving welding quality. Figure 1 1 is a flow chart of a welding method for improving welding quality according to an embodiment. The method comprises:

[0054] In step S11, the strength of the welding object to be butt-welded, the width of the weld to be butt-welded formed by the welding object, the depth of the weld to be butt-welded, and the moving speed of the laser device along the weld to be butt-welded are obtained;

[0055] The laser device may be a fiber laser for cutting or a carbon dioxide laser.

[0056] Among them, the strength of the welding object is the ability of the welding material to resist damage by external forces (such as stretching, compression, bending, etc.), which is usually measured by indicators such as yield strength and tensile strength. The weld width is the width of the fusion zone formed during welding, which is usually related to the welding process parameters and welding materials. The weld depth is the vertical distance from the surface to the inside of the fusion zone formed during welding. The moving speed of the laser is the rate at which the laser equipment moves along the weld during the welding process.

[0057] In the disclosed embodiments, it is accomplished through measurement and calculation. First, the strength of the welding object is obtained by physical testing or by consulting the material specification sheet. Then, the width and depth of the weld are measured using measuring tools (such as calipers, depth gauges, etc.). Finally, the moving speed of the laser is set according to the welding process requirements and equipment performance. For example: Assume that the welding object is a carbon steel plate with a yield strength of 350MPa. The caliper is used to measure the weld width to be 5mm and the depth to be 3mm. Set the moving speed of the laser to 5mm / s.

[0058] In step S12, according to the intensity, the width of the weld to be welded, the depth of the weld to be welded, and the moving speed of the laser device along the weld to be welded, the target position information of each welding focus on the spiral path of the laser used by the laser device to weld the weld to be welded is determined;

[0059] The spiral path is when the laser focus moves along a specific trajectory during the welding process to form a spiral welding path. The welding focus is the focal point of the laser beam during the welding process and is also the area where the energy is concentrated. The target position information is the precise position that each welding focus should reach on the spiral path.

[0060] In the disclosed embodiment, the target position of each welding focus on the spiral path is calculated. Such position information generally includes the horizontal coordinate and the vertical coordinate, as well as the time the laser focus stays at each position. For example: Assuming that the weld length is 100 mm, according to the parameters in step 1 and the set spiral path parameters (such as pitch, number of turns, etc.), the software calculates the target position of each welding focus on the spiral path and generates corresponding control instructions.

[0061] In step S13, the required wedge angle of the target angle of the wedge mirror in the laser device is determined according to the target position information between adjacent welding focal points in the spiral path, and the wedge mirror in the laser device is replaced with the required wedge angle as the target.

[0062] Wherein, the target angle is the minimum angle between the hypotenuse of the wedge mirror and the right-angle side of the wedge mirror where the laser is incident;

[0063] Among them, the wedge mirror is an optical element with an inclined surface, which is used to change the direction of the light beam. The target angle is the inclination angle of the wedge mirror set in the laser welding system to make the laser beam propagate along a predetermined path. The required wedge angle is the angle of the wedge mirror calculated based on the position information of the welding focus on the spiral path.

[0064] In the disclosed embodiment, the required wedge angle of the wedge mirror is calculated using optical design software or an algorithm based on the calculated spiral path and the position information of the welding focus. Then, the wedge mirror in the laser is replaced with a wedge mirror that meets the required wedge angle. For example: Assume that according to the calculation, the required wedge angle is 10°. Remove the original wedge mirror in the laser device and install a new wedge mirror with a wedge angle of 10°.

[0065] In step S14, when the wedge mirror is replaced with one whose wedge angle meets the required wedge angle, the laser device is controlled to emit laser to the replaced wedge mirror and move along the weld to be welded, so that the replaced wedge mirror transmits the laser to the focusing mirror of the laser device. During the movement, the laser light passing through the focusing mirror performs laser welding on the weld to be welded according to the spiral path.

[0066] The focusing lens is an optical element used to focus the laser beam to a very small point. Laser welding is a method of welding using a high-energy laser beam as a heat source.

[0067] In the disclosed embodiment, after the wedge mirror is replaced, the laser device is started, and the laser is controlled to emit laser through the control system. After the laser is reflected by the wedge mirror and focused by the focusing mirror, a high-energy laser beam is formed. The control system accurately controls the laser beam to move along a spiral path to weld the weld. For example: After the laser is started, the laser beam is reflected by a wedge mirror with a wedge angle of 10° and focused by the focusing mirror to form a high-energy laser beam. The control system controls the laser beam to move along the spiral path calculated in step 2 to weld a 100 mm long weld.

[0068] The above technical solution accurately calculates the target position information of each welding focus on the spiral path, and the system can ensure that the laser is accurately focused on the weld, thereby improving the accuracy of welding. The laser wedge mirror angle is automatically adjusted according to the characteristics of the welding object, which reduces the time and error of manual adjustment and significantly improves the welding efficiency. It can automatically adjust welding parameters such as laser power and moving speed according to different welding objects to achieve adaptive welding, which is suitable for welding needs of various complex materials and structures. Due to the precise welding focus position and uniform laser energy distribution, this method can effectively reduce welding defects such as pores and slag inclusions, and improve welding quality. The high degree of automation reduces the difficulty of operation, reduces the requirements for operator skills, and improves the stability and reliability of the welding process.

[0069] In a possible implementation, in step S13, determining the required wedge angle of the target angle of the wedge mirror in the laser device according to the target position information between adjacent welding focal points in the spiral path includes:

[0070] In step S131, according to the target position information between adjacent welding focal points in the spiral path, the radius of the rotation trajectory circle of the laser focused by the focusing mirror in the laser device and the focusing point of the focusing mirror is determined;

[0071] Among them, according to the target position information of the adjacent welding focus on the spiral path, the rotation angular velocity or rotation period of the laser beam at the focus point of the focusing mirror can be calculated. Using this rotation information, combined with the geometric characteristics of the focusing mirror, the radius of the rotation trajectory circle of the laser beam focus point around its rotation center can be further calculated. This ensures that the laser beam can accurately move along the predetermined spiral path during the welding process, thereby greatly improving the accuracy and reliability of welding.

[0072] In step S132, the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror is determined according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle;

[0073] Among them, the focal length of the focusing mirror and the radius of the rotating trajectory circle formed by the focal point of the laser beam are known. The optical and geometric principles can be applied to calculate the angle between the laser beam and the optical axis of the focusing mirror before it enters the wedge mirror. Then, since the function of the wedge mirror is to change the direction of the laser beam, this angle is combined with the geometric characteristics of the wedge mirror to calculate the angle of the laser beam when it enters the hypotenuse of the wedge mirror. The angle between the laser incident on the wedge mirror and the hypotenuse of the wedge mirror is accurately determined. This step ensures that the laser beam can be refracted at a predetermined angle when passing through the wedge mirror, thereby achieving precise control of the laser beam transmission path.

[0074] In step S133, the included angle is used as a required wedge angle of a target angle of the wedge mirror in the laser device.

[0075] For example, assume that the calculated radius R of the rotating trajectory circle is 10mm. Determine the angle between the laser and the hypotenuse of the wedge mirror: Assuming that the focal length f of the focusing mirror is 50-100mm, according to the principles of optics and geometry, the angle θ between the laser beam and the optical axis of the focusing mirror before it is incident on the wedge mirror can be calculated. Assume that the calculated θ is 1°. Since the function of the wedge mirror is to change the direction of the laser beam, it is necessary to find a suitable wedge angle so that the laser beam can propagate along a predetermined spiral path after passing through the wedge mirror. Determine the required wedge angle: After calculation, find a wedge angle α. When the laser beam is incident on the hypotenuse of the wedge mirror at an angle of θ, it can propagate along a predetermined spiral path after being reflected by the wedge mirror. Assume that this α is 2°. Therefore, 2° is used as the required wedge angle of the target angle of the wedge mirror in the laser device, and the wedge mirror is replaced to match this required wedge angle.

[0076] With precise laser beam control and transmission technology, energy loss and heat distribution during welding are effectively controlled, thus improving welding efficiency. At the same time, it reduces material waste and repair costs caused by poor welding, further reducing overall costs.

[0077] In a possible implementation, in step S132, determining the angle between the laser incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle includes:

[0078] In step S1321, a first angle between the laser incident on the focusing mirror and the vertical direction is determined according to the ratio of the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle;

[0079] Among them, the radius R of the rotating trajectory circle represents the radius of the circular trajectory formed by the laser beam at the focus of the focusing lens, and the focal length f determines the degree of convergence of the laser beam under the action of the focusing lens. Through optical and geometric analysis, the ratio of R and f can be used to determine the angle between the laser incident on the focusing lens and the vertical direction.

[0080] In step S1322, the angle between the laser light incident on the wedge mirror and the hypotenuse of the wedge mirror in the laser device is determined according to the first angle and the preset refractive index of the wedge mirror.

[0081] The calculated first angle α and the preset refractive index n of the wedge mirror determine the angle (β) between the laser incident on the wedge mirror and the hypotenuse of the wedge mirror. The refraction law (Snell's Law) is applied here, that is, when light enters from one medium into another medium, the relationship between its incident angle and refraction angle is determined by the refractive indexes of the two media.

[0082] It can be explained that, see Figure 2 As shown in the figure, after the laser beam passes through the wedge mirror, the direction of the outgoing beam and the incident light path are offset. When the wedge offset angle is approximately equal to the angle of the wedge mirror, the vertex angle of the wedge mirror is α, and the laser beam is perpendicular to the right angle surface of the wedge mirror and incident on the inclined surface of the wedge mirror. The outgoing angle after passing through the wedge mirror is θ, then Figure 2 The angle β between the outgoing laser beam and the incident laser beam shown in the figure can be obtained from geometric optics:

[0083] β=θ≈(n-1)α

[0084] When the wedge mirror rotates with the incident light beam as the axis, the outgoing light beam after passing through the wedge mirror also rotates with the incident light beam as the axis, and the angle between the incident light beam and the outgoing light beam always remains at β.

[0085] When the incident light is incident on the focusing mirror at an angle φ, the distance d that the focus point deviates from the center is: d = f*tgφ; when the incident angle is small enough, the above formula can be changed to: d≈f*φ.

[0086] For a laser beam, it is incident on the focusing mirror at an angle of 0 degrees. Before the focusing mirror, a wedge mirror with a vertex angle of α is inserted into the optical path. Then, the incident angle φ of the beam incident on the focusing mirror is (n-1)α, and the distance d that the focus deviates from the center is: d≈f*(n-1)α.

[0087] For a system composed of a wedge mirror and a focusing mirror, the wedge mirror is in front of the focusing mirror. When the wedge mirror rotates with the incident light beam as the axis, the focus point passing through this system also rotates with the incident light beam as the axis, and the radius of the rotation trajectory circle is d. While the wedge mirror rotates, the above system moves horizontally, and a spiral trajectory of the laser focus can be obtained. This trajectory can solve the problem of the contradiction between the high power density focusing spot and the rough laser trajectory. It can be applied to the field of laser welding to expand the weld width of the workpiece and improve the welding strength.

[0088] The above technical solution can accurately calculate the angle between the laser incident on the wedge mirror in the laser equipment and the hypotenuse of the wedge mirror, so as to ensure that the laser beam can perform welding according to the predetermined spiral path, thereby improving the welding quality.

[0089] In a possible implementation, in step S12, determining the target position of each welding focus on the spiral path of the laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, and the depth of the weld to be welded, includes:

[0090] In step S121, according to the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding is determined;

[0091] Among them, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding is determined according to the welding intensity (i.e., laser power) and the width of the weld to be welded. This offset can be calculated by an empirical formula, a welding model, or real-time sensor data. Generally speaking, the greater the welding intensity and the wider the weld width, the greater the position offset between two adjacent welds. For example: Assume that the welding intensity is set to medium and the width of the weld to be welded is 5mm. According to the empirical formula or preset parameters, it can be determined that the focus position should be offset by 1mm along the weld width direction after each welding. Therefore, the welding focus corresponding to the k+1th welding will be offset by 1mm relative to the focus position during the kth welding.

[0092] In step S122, according to the lateral position of the welding focus along the weld to be welded corresponding to the kth welding and the moving speed of the laser device along the weld to be welded, the lateral displacement of the welding focus along the weld to be welded relative to the initial welding focus during the k+1th welding is determined;

[0093] Among them, the lateral displacement of the welding focus corresponding to the k+1th welding is determined according to the lateral position of the welding focus corresponding to the kth welding along the weld to be welded (i.e., along the length of the weld) and the moving speed of the laser equipment along the weld to be welded. This lateral displacement is determined by the moving speed of the laser and the welding frequency. For example: Assume that the moving speed of the laser equipment is 5mm / s and the welding frequency is 1Hz (i.e., welding once per second). If the focus is at the starting position of the weld during the kth welding, then during the k+1th welding, the focus will move 5mm along the length of the weld, that is, the lateral displacement is 5mm.

[0094] In step S123, the longitudinal offset of the welding focus corresponding to the k+1th welding is determined according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus;

[0095] Among them, the longitudinal offset of the welding focus corresponding to the k+1 welding is determined according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1 welding relative to the welding focus corresponding to the k welding, and the lateral displacement of the welding focus corresponding to the k+1 welding relative to the initial welding focus. This longitudinal offset determines the position of the laser focus in the depth direction of the weld to ensure sufficient fusion of the weld. For example: Assume that the depth of the weld to be welded is 3mm. In the k+1 welding, in addition to considering the lateral displacement and position offset, the longitudinal offset also needs to be determined according to the weld depth. For example, if the goal is to increase the laser focus layer by layer in the depth direction of the weld, then the focus can be set to increase by 1mm in the depth direction each time welding. Therefore, the longitudinal offset of the welding focus corresponding to the k+1 welding will be 1mm.

[0096] In step S124, the target position of each welding focus on the spiral path of the laser used by the laser equipment to weld the weld to be welded is determined according to the longitudinal offset of the welding focus during each welding and the corresponding lateral displacement.

[0097] According to the longitudinal offset and the corresponding transverse displacement of the welding focus during each welding calculated in steps S121 to S123, the target position of each welding focus on the spiral path of the laser used by the laser equipment to weld the weld to be welded is determined. This process can be implemented by a programming algorithm to ensure that the laser focus moves accurately according to the predetermined spiral path.

[0098] For example: Combined with the previous example, assuming that the lateral displacement (such as 5mm) and longitudinal offset (such as 1mm) of each welding have been determined. Through the programming algorithm, the specific position (i.e., lateral coordinate and longitudinal coordinate) of each welding focus on the spiral path can be calculated, thereby guiding the laser equipment to weld according to these target positions.

[0099] The above technical solution can ensure a more accurate and reliable welding process and reduce welding defects and defective product rate by accurately calculating and controlling the position and movement path of the laser focus. By increasing the longitudinal offset layer by layer, uniform fusion of the weld can be achieved, and the welding quality and strength can be improved. It can meet the welding needs of welds of different widths, depths and strengths, and has strong flexibility and adaptability.

[0100] In a possible implementation, in step S121, determining, based on the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding includes:

[0101] In step S1211, according to the strength and the width of the weld to be butt-welded, a width change amount of the width of the weld to be butt-welded corresponding to the k+1th welding relative to the width of the weld to be butt-welded corresponding to the kth welding is determined;

[0102] The width of the weld to be welded corresponding to the k+1th welding is detected or measured, and compared with the width of the weld corresponding to the kth welding, so as to determine the width change. This can be achieved by a laser rangefinder, image recognition technology or other sensors. For example: Assume that the width of the weld to be welded during the kth welding is 5mm, and the width of the weld detected during the k+1th welding is 6mm. Then, the width change is 1mm.

[0103] In step S1212, according to the width variation, a target variation range is determined from a plurality of preset variation ranges;

[0104] According to the width variation calculated in step S1211, a target variation range is determined from a plurality of preset variation ranges. These preset variation ranges are usually set based on welding experience and experimental data to guide the position adjustment of the welding focus under different width variations.

[0105] For example: Assume that the following variation ranges and corresponding preset position offsets are preset: 0-0.5mm corresponds to 0.5mm position offset; 0.5-1.5mm corresponds to 1mm position offset; 1.5-2.5mm corresponds to 1.5mm position offset. According to the width variation of 1mm calculated in step S1211, the target variation range can be determined to be 0.5-1.5mm.

[0106] In step S1213, the preset position offset corresponding to the target variation range is determined as the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, wherein each variation range is correspondingly provided with a preset position offset.

[0107] The preset position offset corresponding to the target variation range determined in step S1212 is used as the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding. This preset position offset is set based on experiments and welding experience to ensure that the welding focus can accurately cover different width areas of the weld. For example: Continuing with the above example, since the target variation range is 0.5-1.5mm and the corresponding preset position offset is 1mm, it can be determined that the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding is 1mm.

[0108] By adopting the above technical content, the position offset of the welding focus can be automatically adjusted according to the real-time change of the weld width, ensuring that the welding focus can always accurately cover the different width areas of the weld, thereby improving the welding quality and efficiency. By presetting multiple variation ranges and corresponding preset position offsets, this technology can select appropriate welding parameters according to different weld width variations to optimize the welding process. Since the weld width can be detected in real time and the position offset of the welding focus can be automatically adjusted, this technology can greatly improve the accuracy and consistency of welding and reduce welding defects and defective product rates.

[0109] In a possible implementation, in step S123, determining the longitudinal offset of the welding focus corresponding to the k+1th welding according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus, includes:

[0110] In step S1231, taking the target position corresponding to the target position information of the welding focus corresponding to the kth welding as the center and taking the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding as the radius, the candidate position range of the welding focus corresponding to the k+1th welding is determined;

[0111] Among them, the target position information of the welding focus corresponding to the kth welding (i.e., the coordinates of the kth welding focus) is first determined. Then, with the target position as the center and the position offset of the welding focus corresponding to the k+1th welding relative to the kth welding focus as the radius, a circle or an area approximate to a circle is drawn, and the area is the candidate position range of the welding focus corresponding to the k+1th welding.

[0112] For example: Assume that the coordinates of the kth welding focus are (x_k, y_k, z_k), where z_k represents the position in the depth direction. If the position offset of the welding focus corresponding to the k+1th welding is Δd relative to the kth welding focus, the alternative position range can be a circular area (on a two-dimensional plane) with (x_k, y_k) as the center and Δd as the radius. All points in this circular area are possible positions of the welding focus in the k+1th welding.

[0113] In step S1232, based on the target position corresponding to the target position information of the welding focus corresponding to the kth welding and the depth of the weld to be welded, a range to be eliminated that does not meet the depth is screened out from the candidate position range corresponding to the k+1th welding;

[0114] According to the depth of the weld and the penetration capability of the laser focus in the depth direction, the range to be removed that does not meet the depth requirement can be screened out from the candidate position range determined in step S12, 31. This usually means removing those positions that are too high or too low in the depth direction.

[0115] For example: Assume that the depth of the weld to be welded is H, and the penetration capability of the laser focus in the depth direction is D (i.e., the depth of the material that the laser focus can melt). If the depth z' of a point (x', y', z') in the candidate position range exceeds the range of HD to H+D (i.e., the point is either too deep or too shallow), then this point should be eliminated.

[0116] In step S1233, the position range to be eliminated that does not meet the depth requirement is eliminated from the candidate position range corresponding to the k+1th welding to obtain a candidate position range;

[0117] Among them, the position range to be eliminated that does not meet the depth requirements screened out in step S1232 is eliminated from the candidate position range, and the remaining part is the candidate position range. This candidate position range includes all possible welding focus positions that meet the requirements in the depth direction.

[0118] For example: after the screening in step S1232, a smaller area is obtained, and all points in this area meet the requirements in the depth direction. This area is the candidate position range, which will serve as the basis for determining the specific welding focus position in the next step.

[0119] In step S1234, the longitudinal offset of the welding focus corresponding to the k+1th welding is determined based on the candidate position range corresponding to the k+1th welding and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus.

[0120] Among them, the specific longitudinal offset of the welding focus corresponding to the k+1th welding is determined according to the candidate position range corresponding to the k+1th welding and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus. This usually involves selecting an optimal point within the candidate position range as the welding focus, and this point needs to meet both the depth requirement and the lateral displacement requirement.

[0121] For example: Assume that the lateral displacement of the welding focus relative to the initial welding focus during the k+1th welding has been determined to be Δx. Within the candidate position range, a point (x_k+Δx, y_k, z_new) can be found, where z_new is the new position in the depth direction. This point meets the requirements for both the lateral displacement and the depth direction. Therefore, the difference between z_new and z_k can be used as the longitudinal offset of the welding focus corresponding to the k+1th welding.

[0122] By adopting the above technical content, by comprehensively considering the depth of the weld, the position offset of the welding focus and the lateral displacement, this technology can ensure the accurate position of the welding focus in the depth direction, thereby achieving more uniform and sufficient fusion and improving the welding quality. By accurately calculating and controlling the position of the welding focus, high-precision welding can be achieved, reducing welding defects and defective product rates. It can adapt to the welding needs of welds of different depths, different widths and different welding requirements, and has strong flexibility and adaptability. By automatically controlling the position and movement path of the welding focus, this technology can significantly improve welding efficiency and reduce manual intervention and operating difficulty.

[0123] The present disclosure also provides a welding device for improving welding quality. Figure 3 As shown, the device comprises:

[0124] An acquisition module 310 is configured to acquire the strength of the welding object to be butt-welded, the width of the weld to be butt-welded formed by the welding object, the depth of the weld to be butt-welded, and the moving speed of the laser device along the weld to be welded;

[0125] A first determination module 320 is configured to determine target position information of each welding focus on a spiral path of a laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, the depth of the weld to be welded, and the moving speed of the laser device along the weld to be welded;

[0126] The second determination module 330 is configured to determine a required wedge angle of a target angle of a wedge mirror in the laser device according to target position information between adjacent welding focal points in the spiral path, and replace the wedge mirror in the laser device with the required wedge angle as a target, wherein the target angle is a minimum angle between a hypotenuse of the wedge mirror and a right-angle side of the wedge mirror where the laser is incident;

[0127] The control module 340 is configured to control the laser device to emit laser to the replaced wedge mirror and move along the weld to be welded when the wedge mirror is replaced with one whose wedge angle meets the required wedge angle, so that the replaced wedge mirror transmits the laser to the focusing mirror of the laser device, and the laser passing through the focusing mirror during the movement performs laser welding on the weld to be welded according to the spiral path.

[0128] In a possible implementation, the second determining module 330 is configured to:

[0129] Determine the radius of the rotation trajectory circle of the laser focused by the focusing mirror in the laser device and the focusing point of the focusing mirror according to the target position information between adjacent welding focal points in the spiral path;

[0130] Determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle;

[0131] The included angle is used as a required wedge angle of a target angle of the wedge mirror in the laser device.

[0132] In a possible implementation, the second determining module 330 is configured to:

[0133] Determining a first angle between the laser incident on the focusing mirror and the vertical direction according to a ratio of a focal length of the focusing mirror in the laser device and a radius of the rotating trajectory circle;

[0134] The angle between the laser light incident on the wedge mirror and the hypotenuse of the wedge mirror in the laser device is determined according to the first angle and the preset refractive index of the wedge mirror.

[0135] In a possible implementation, the first determining module 320 is configured to:

[0136] Determine, according to the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding;

[0137] Determine the lateral displacement of the welding focus along the weld to be welded relative to the initial welding focus during the k+1th welding according to the lateral position of the welding focus along the weld to be welded corresponding to the kth welding and the moving speed of the laser device along the weld to be welded;

[0138] Determine the longitudinal offset of the welding focus corresponding to the k+1th welding according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus;

[0139] According to the longitudinal offset of the welding focus during each welding and the corresponding lateral displacement, the target position of each welding focus on the spiral path of the laser used by the laser equipment to weld the weld to be welded is determined.

[0140] In a possible implementation, the first determining module 320 is configured to:

[0141] Determine, according to the strength and the width of the weld to be butt-welded, a width change of the width of the weld to be butt-welded corresponding to the k+1th welding relative to the width of the weld to be butt-welded corresponding to the kth welding;

[0142] According to the width variation, determining a target variation range from a plurality of preset variation ranges;

[0143] The preset position offset corresponding to the target variation range is determined as the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, wherein each variation range is correspondingly provided with a preset position offset.

[0144] In a possible implementation, the first determining module 320 is configured to:

[0145] Taking the target position corresponding to the target position information of the welding focus corresponding to the kth welding as the center and the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding as the radius, determine the candidate position range of the welding focus corresponding to the k+1th welding;

[0146] According to the target position corresponding to the target position information of the welding focus corresponding to the kth welding and the depth of the weld to be welded, a range to be eliminated that does not meet the depth is screened out from the candidate position range corresponding to the k+1th welding;

[0147] Eliminate the position range that does not meet the depth requirement from the candidate position range corresponding to the k+1th welding to obtain a candidate position range;

[0148] The longitudinal offset of the welding focus corresponding to the k+1th welding is determined according to the candidate position range corresponding to the k+1th welding and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus.

[0149] The embodiments of the present disclosure further provide a computer-readable storage medium having computer program instructions stored thereon, which implement the steps of the method described in any one of the aforementioned embodiments when the program instructions are executed by a processor.

[0150] The present disclosure also provides an electronic device, including:

[0151] Microcontroller;

[0152] a memory for storing instructions executable by the microcontroller;

[0153] The microcontroller is configured to execute executable instructions stored in the memory to perform the method described in any one of the aforementioned embodiments.

[0154] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments; within the technical concept of the present disclosure, various changes, modifications, substitutions and variations may be made to these embodiments, and these changes, modifications, substitutions and variations all fall within the protection scope of the present disclosure.

[0155] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction, and they should also be regarded as the contents disclosed in this disclosure. In order to avoid unnecessary repetition, this disclosure will not further describe various possible combinations. The technical scope of this application is not limited to the contents in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A welding method for improving welding quality, characterized in that: The method comprises: Acquire the strength of the welding object to be butt-welded, the width of the weld to be butt-welded formed by the welding object, the depth of the weld to be butt-welded, and the moving speed of the laser device along the weld to be butt-welded; Determine target position information of each welding focus on the spiral path of the laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, the depth of the weld to be welded, and the moving speed of the laser device along the weld to be welded; Determine the required wedge angle of the target angle of the wedge mirror in the laser device according to the target position information between adjacent welding focal points in the spiral path, and replace the wedge mirror in the laser device with the required wedge angle as the target, wherein the target angle is the minimum angle between the hypotenuse of the wedge mirror and the right-angle side of the wedge mirror where the laser is incident; When the wedge mirror is replaced with one whose wedge angle meets the required wedge angle, the laser device is controlled to emit laser to the replaced wedge mirror and move along the weld to be welded, so that the replaced wedge mirror transmits the laser to the focusing mirror of the laser device. During the movement, the laser light passing through the focusing mirror performs laser welding on the weld to be welded according to the spiral path.

2. The welding method for improving welding quality according to claim 1, characterized in that: The step of determining the required wedge angle of the target angle of the wedge mirror in the laser device according to the target position information between adjacent welding focal points in the spiral path includes: Determine the radius of the rotation trajectory circle of the laser focused by the focusing mirror in the laser device and the focusing point of the focusing mirror according to the target position information between adjacent welding focal points in the spiral path; Determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle; The included angle is used as a required wedge angle of a target angle of the wedge mirror in the laser device.

3. The welding method for improving welding quality according to claim 2, characterized in that: The step of determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle comprises: Determining a first angle between the laser incident on the focusing mirror and the vertical direction according to a ratio of a focal length of the focusing mirror in the laser device and a radius of the rotating trajectory circle; The angle between the laser light incident on the wedge mirror and the hypotenuse of the wedge mirror in the laser device is determined according to the first angle and the preset refractive index of the wedge mirror.

4. The welding method for improving welding quality according to claim 1, characterized in that: Determining the target position of each welding focus on the spiral path of the laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, and the depth of the weld to be welded includes: Determine, according to the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding; Determine the lateral displacement of the welding focus along the weld to be welded relative to the initial welding focus during the k+1th welding according to the lateral position of the welding focus along the weld to be welded corresponding to the kth welding and the moving speed of the laser device along the weld to be welded; Determine the longitudinal offset of the welding focus corresponding to the k+1th welding according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus; According to the longitudinal offset of the welding focus during each welding and the corresponding lateral displacement, the target position of each welding focus on the spiral path of the laser used by the laser equipment to weld the weld to be welded is determined.

5. The welding method for improving welding quality according to claim 4, characterized in that: The determining, based on the strength and the width of the weld to be welded, a position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding comprises: Determine, according to the strength and the width of the weld to be butt-welded, a width change of the width of the weld to be butt-welded corresponding to the k+1th welding relative to the width of the weld to be butt-welded corresponding to the kth welding; According to the width variation, determining a target variation range from a plurality of preset variation ranges; The preset position offset corresponding to the target variation range is determined as the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, wherein each variation range is correspondingly provided with a preset position offset.

6. The welding method for improving welding quality according to claim 4, characterized in that: The method of determining the longitudinal offset of the welding focus corresponding to the k+1th welding according to the depth of the weld to be welded, the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding, and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus, comprises: Taking the target position corresponding to the target position information of the welding focus corresponding to the kth welding as the center and the position offset of the welding focus corresponding to the k+1th welding relative to the welding focus corresponding to the kth welding as the radius, determine the candidate position range of the welding focus corresponding to the k+1th welding; According to the target position corresponding to the target position information of the welding focus corresponding to the kth welding and the depth of the weld to be welded, a range to be eliminated that does not meet the depth is screened out from the candidate position range corresponding to the k+1th welding; Eliminate the position range that does not meet the depth requirement from the candidate position range corresponding to the k+1th welding to obtain a candidate position range; The longitudinal offset of the welding focus corresponding to the k+1th welding is determined according to the candidate position range corresponding to the k+1th welding and the lateral displacement of the welding focus corresponding to the k+1th welding relative to the initial welding focus.

7. A welding device for improving welding quality, characterized in that: The device comprises: An acquisition module is configured to acquire the strength of the welding object to be butt-welded, the width of the weld to be butt-welded formed by the welding object, the depth of the weld to be butt-welded, and the moving speed of the laser device along the weld to be welded; A first determination module is configured to determine target position information of each welding focus on a spiral path of a laser used by the laser device to weld the weld to be welded according to the intensity, the width of the weld to be welded, the depth of the weld to be welded, and a moving speed of the laser device along the weld to be welded; A second determination module is configured to determine a required wedge angle of a target angle of a wedge mirror in the laser device according to target position information between adjacent welding focal points in the spiral path, and replace the wedge mirror in the laser device with the required wedge angle as a target, wherein the target angle is a minimum angle between a hypotenuse of the wedge mirror and a right-angle side of the wedge mirror where the laser is incident; The control module is configured to control the laser device to emit laser light to the replaced wedge mirror and move along the weld to be welded when the wedge mirror is replaced with one whose wedge angle meets the required wedge angle, so that the replaced wedge mirror transmits the laser light to the focusing mirror of the laser device, and the laser light passing through the focusing mirror during the movement performs laser welding on the weld to be welded according to the spiral path.

8. The device according to claim 7, characterized in that The second determining module is configured to: Determine the radius of the rotation trajectory circle of the laser focused by the focusing mirror in the laser device and the focusing point of the focusing mirror according to the target position information between adjacent welding focal points in the spiral path; Determining the angle between the laser light incident on the wedge mirror in the laser device and the hypotenuse of the wedge mirror according to the focal length of the focusing mirror in the laser device and the radius of the rotating trajectory circle; The included angle is used as a required wedge angle of a target angle of the wedge mirror in the laser device.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. An electronic device, characterized in that: include: Microcontroller; a memory for storing instructions executable by the microcontroller; The microcontroller is configured to execute executable instructions stored in the memory to perform the method according to any one of claims 1 to 6.

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