Laser welding device and welding spot detection method

Abstract

The invention belongs to the technical field of laser welding, and particularly relates to a laser welding device and a welding spot detection method.The laser welding device comprises a laser welding robot and a connecting mechanism installed at the operation end of the laser welding robot, the laser welding robot is movably connected with a laser welding module in a coupling mode through the connecting mechanism, and the laser welding module comprises a laser welding head; the camera devices and the infrared detection positioning device are installed on the two sides of the laser welding head, the connecting mechanism comprises a first coupling end and a second coupling end which are movably connected in a coupling mode, and the first coupling end on one side is hinged to the laser welding robot through a hinge connecting end fixedly installed on the first coupling end. And the second coupling end on the other side is detachably mounted with the laser welding module through a connecting bracket. According to the invention, timely feedback repair welding can be realized, rapid repair of the defect position can be realized through the welding head capable of being rapidly replaced, and the integrity of a welding seam is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of laser welding, and in particular relates to a laser welding device and a welding point detection method. Background Art

[0002] Laser welding is an efficient and precise welding method that uses a high-energy-density laser beam as a heat source. Laser welding can be achieved using a continuous or pulsed laser beam and is divided into heat conduction welding and laser deep penetration welding. Heat conduction welding is mainly for thin-walled materials. By controlling the laser parameters, the workpiece is melted to form a molten pool. Laser deep penetration welding is suitable for thick plate materials and achieves fast and deep penetration welding through the pinhole effect.

[0003] Problems with existing technologies: The welding quality of laser welding is limited by various external or internal factors, such as changes in ambient temperature, voltage, and uniformity of welding material density, which will affect the welding quality at a certain point in time. In particular, some special material connection positions require high-precision welding methods, and minimize welding defects and reduce loss costs during the welding process. Welding defects that occur during the welding process can be repaired during the heat process to achieve better welding results, achieve a high degree of fit in one-time welding, and effectively improve the integrity of welding. Summary of the invention

[0004] The purpose of the present invention is to provide a laser welding device and a welding spot detection method, which can realize timely feedback repair welding, and realize rapid repair of defective positions through a quickly replaceable welding head, and improve the integrity of the weld.

[0005] The technical solution adopted by the present invention is as follows: A laser welding device comprises a laser welding robot and a connecting mechanism installed at the operating end of the laser welding robot, and a laser welding module is coupled and movably connected through the connecting mechanism, wherein the laser welding module comprises a laser welding head, and a camera device installed at both sides of the laser welding head and an infrared detection positioning device; The connection mechanism includes two first coupling ends and second coupling ends that are respectively coupled and movably connected, wherein the first coupling end on one side is hingedly connected to the laser welding robot through a hinged connection end fixedly mounted thereon, and the second coupling end on the other side is detachably mounted on the laser welding module through a connecting bracket; The first coupling end and the second coupling end are provided with a first suction cup and a second suction cup that are coupled and adsorbed to each other. The first suction cup is fixedly connected to the first coupling end, and the second suction cup is fixedly connected to the top of the connecting bracket. The camera device, laser welding head and infrared detection and positioning device are all fixedly installed on the connecting bracket.

[0006] An elastic corrugated ring is also arranged inside the first coupling end, and a first suction ring is movably installed through the first coupling end, and a second suction ring coupled with the first suction ring is arranged inside the second coupling end corresponding to the first suction ring, and the first suction ring is coupled to the second suction ring; The first suction ring and the second suction ring clamp and connect the first suction cup and the second suction cup.

[0007] An annular sealing gasket is arranged at the relative position of the side edges of the first suction cup and the second suction cup, and the sealing gasket is tightly fitted to the opposite side of the first suction ring and the second suction ring.

[0008] An annular second coupling groove is provided inside the first coupling end, an annular third coupling groove is provided outside the first suction ring, and two sides of the elastic corrugated ring are respectively coupled and inserted into the second coupling groove and the third coupling groove.

[0009] The elastic bellows ring is elastic, the first suction ring is movably installed through the elastic bellows ring, and the first suction ring moves along the axis direction of the first coupling end.

[0010] The facing surfaces of the first suction ring and the second suction ring are magnetic, and the first suction ring and the second suction ring magnetically clamp the first suction cup and the second suction cup.

[0011] A raised limit block is arranged on the outside of the connecting bracket, a brake flange ring is arranged on the outside of the top of the connecting bracket, and the brake flange ring is movably hinged with a hinge lock connecting rod, and the hinge lock connecting rod is hinged by an annular hinge rod annularly inserted inside the second coupling end; The other end of the articulated lock link is provided with a movable connection block, and the inner side of the first coupling end is provided with an annular positioning slot, and the movable connection block drives the articulated lock link to be hinged by moving along the axis direction of the second coupling end through the connecting bracket, and the movable connection block is hinged by the articulated lock link, and the movable connection block is movably connected in the positioning slot; The number of the articulated lock links is at least two and the articulated lock links are arranged in a circular array along the axis of the second coupling end.

[0012] A tube connection end for connecting to a vacuum suction device is provided at the top of the second coupling end, and negative pressure is created inside the first suction cup and the second suction cup in a coupled state through the tube connection end, so that the first suction cup and the second suction cup are tightly adsorbed.

[0013] The first suction cup is connected to the second suction cup by adsorption, and the second suction cup is deformed to generate movement along the axis direction of the second coupling end, and drives the connecting bracket and the laser welding module to move synchronously; The brake flange ring at the top of the connecting bracket moves along the axis direction of the second coupling end, driving the movable connecting block at the top of the hinged lock connecting rod for hinged movement to be movably connected to the inside of the positioning slot.

[0014] A welding spot detection method for a laser welding device comprises the following steps: The weld data is obtained through the infrared detection and positioning device and fed back to the control system; The control system adjusts the welding path and power of the laser welding head according to the weld data; The camera device obtains image data and thermal imaging data after welding; and obtaining thermal imaging temperature change data after welding with time stamps through a camera device; According to the image data, thermal imaging data and thermal imaging temperature change data, the data is input into the data model analysis system to determine whether there are welding defects in the welding spot; When a welding defect occurs at the welding position, the welding power of the laser welding head is adjusted in time and the defective position is returned to repair the welding, or the laser welding module is quickly replaced through the first coupling end and the second coupling end, and repair welding is performed on the welding defective position when the weld point is not completely cooled.

[0015] The technical effects achieved by the present invention are: The present invention improves replacement efficiency by timely feedback of welding problems and welding defects and by rapid replacement between the first coupling end and the second coupling end, and achieves rapid repair when the welding position is not completely cooled. After the repair is completed, continuous welding can be achieved by replacing the welding head.

[0016] In the present invention, the first coupling end connected by the laser welding robot is hoisted to the top of the second coupling end, and is aligned and pressed. By squeezing or extracting the air between the first suction cup and the second suction cup, a negative pressure state is placed between the first suction cup and the second suction cup, so that a stable adsorption connection is formed between the first suction cup and the second suction cup, thereby realizing the connection between the first coupling end and the second coupling end.

[0017] According to the present invention, the first suction cup is adsorbed and connected with the second suction cup, and the deformation of the second suction cup generates movement along the axis direction of the second coupling end, and drives the connecting bracket and the laser welding module to move synchronously, and the braking flange ring at the top of the connecting bracket moves along the axis direction of the second coupling end, driving the hinged movement of the hinged lock connecting rod, and the movable connecting block at the top of the hinged lock connecting rod is movably connected inside the positioning slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structural installation of the present invention; Figure 2 It is a schematic diagram of the structure of the present invention; Figure 3 It is a structural schematic diagram of the connection mechanism and the laser welding module in the present invention; Figure 4It is a structural schematic diagram of the connecting mechanism in the present invention; Figure 5 It is a schematic diagram of the middle section structure of the connecting mechanism in the present invention; Figure 6 It is a schematic diagram of the structural connection between the hinged connection end and the first coupling end in the present invention; Figure 7 It is a schematic diagram of the structural disassembly of the connecting mechanism in the present invention; Figure 8 The present invention Figure 7 A magnified view of the structure at center A; Fig. 9 is a schematic diagram of the bottom structure of the first coupling end in the present invention; Fig.10 is a schematic structural diagram of the second coupling end in the present invention; Fig.11 It is a schematic diagram of the structural coordination between the first coupling end and the connecting bracket in the present invention; Fig.12 It is a flow chart of the method of the present invention.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Laser welding robot; 2. Connecting mechanism; 201. Articulated connecting end; 202. First coupling end; 2021. Second positioning groove; 2022. First coupling groove; 2023. Second coupling groove; 2024. Positioning card slot; 2025. Elastic corrugated ring; 203. Second coupling end; 2031. Second suction ring; 204. Fixed flange; 205. Embedded flange; 2051. First positioning groove; 206. Positioning baffle; 207. Pipe channel; 208. First suction cup; 2081. Limiting protrusion; 209. Second suction cup; 210. Articulated lock connecting rod; 2101. Active connection card block; 2102. Articulated ball; 211. Annular articulated rod; 212. First suction ring; 2121. Third coupling groove; 213. Sealing pad; 214. Pipe connecting end; 3. Laser welding module; 301. Camera device; 302. Laser welding head; 303. Infrared detection and positioning device; 304. Connecting bracket; 3041. Limit block; 3042. Braking flange ring. DETAILED DESCRIPTION

[0020] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0021] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatuses.

[0022] According to an embodiment of the present invention, a laser welding device and a weld spot detection method are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0023] The method embodiments associated therewith may also be executed in an electronic device comprising a memory and a processor, a similar control device or a cloud. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. Those of ordinary skill in the art may understand and know that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the laser welding module 3 may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0024] In the present application, the usable processor CPU may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligence, AI) type processor and the like. Among them, different processing units can be independent components or integrated in one or more processors. In some instances, the control end or the input module may also include one or more processors for use in, for example, identifying weld types, weld defect types or automated instructions.

[0025] The storage module can be used to store computer programs, such as storing computer programs corresponding to the control system in the embodiment of the present invention. The processor implements the application results of the above-mentioned control method and solder joint detection method by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0026] The transmission module is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the control end. In one example, the transmission module communication mode includes wired and wireless, and the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In this embodiment, such as using a remotely controlled robot, a robotic arm, or a laser welding device. In one example, the communication device may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is used to connect to the control end device, and instructions can be sent to the electronic device through a mobile device. In one example, the wired transmission method can be a direct connection of the wire, which is used for a laser welding module 3 produced in one piece or a laser welding module 3 controlled by wire transmission. In some embodiments of the present solution, the wired transmission method is used to connect to the control end device, and instructions can be sent to the electronic device through a mobile device.

[0027] The control terminal includes a control button or a display device with a control function. The display device may be a touch screen liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or a "touch display screen"). The display enables a user to interact with a user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (GUI), and a user may interact with the GUI by touching a finger release and / or gestures on a touch-sensitive surface. The executable instructions for executing the above-mentioned human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0028] like Figure 1-5As shown, a laser welding device includes a laser welding robot 1 and a connecting mechanism 2 installed at the operating end of the laser welding robot 1, and a laser welding module 3 is coupled and movably connected through the connecting mechanism 2. The laser welding module 3 includes a laser welding head 302, and a camera device 301 and an infrared detection positioning device 303 installed on both sides of the laser welding head 302, wherein the camera device 301 also has an infrared camera function; Furthermore, the connecting mechanism 2 includes two first coupling ends 202 and second coupling ends 203 which are respectively coupled and movably connected, wherein the first coupling end 202 on one side is hingedly connected to the laser welding robot 1 via a hinged connection end 201 fixedly mounted thereon, and the second coupling end 203 on the other side is detachably mounted on the laser welding module 3 via a connecting bracket 304.

[0029] Furthermore, the first coupling end 202 and the second coupling end 203 are provided with a first suction cup 208 and a second suction cup 209 which are coupled and adsorbed to each other. The first suction cup 208 is fixedly connected to the first coupling end 202, and the second suction cup 209 is fixedly connected to the top of the connecting bracket 304. The camera device 301, the laser welding head 302 and the infrared detection and positioning device 303 are all fixedly installed on the connecting bracket 304.

[0030] According to the above structure, its working principle is: First, during installation, the accessories installed on the first coupling end 202 and the second coupling end 203 are installed, and the first coupling end 202 is installed on the end of the laser welding robot 1 through the hinged connection end 201, and then the laser welding module 3 is combined and connected with the second coupling end 203 to achieve integrity in installation. The laser welding module 3 can be replaced with any combination of different camera devices 301, laser welding heads 302 or infrared detection and positioning devices 303 according to the welding head that needs to be replaced, or any one of the components can be replaced, so as to achieve expansion of functions.

[0031] Among them, through the quick-detachable combination between the first coupling end 202 and the second coupling end 203, rapid replacement during use can be achieved, thereby improving the replacement speed.

[0032] Due to the replaceability of the laser welding module 3 mentioned above, it is powered and uses an external power supply, that is, the external power supply is directly or indirectly connected to the laser welding module 3 through a wire, and its communication control system is connected to the power line through a wire or transmits control signals wirelessly.

[0033] Through the above structure, during the welding process, by timely feedback of welding problems and welding defects, the replacement efficiency can be improved through rapid replacement between the first coupling end 202 and the second coupling end 203, and rapid repair can be achieved when the welding position is not completely cooled. After the repair is completed, continuous welding can be achieved by replacing the welding head.

[0034] Among them, the working principle of the quick replacement laser welding module 3 is: The first coupling end 202 connected by the laser welding robot 1 is hoisted to the top of the second coupling end 203, aligned and pressed, and the air between the first suction cup 208 and the second suction cup 209 is squeezed or extracted so that the first suction cup 208 and the second suction cup 209 are in a negative pressure state, so that a stable adsorption connection is formed between the first suction cup 208 and the second suction cup 209, thereby realizing the connection between the first coupling end 202 and the second coupling end 203.

[0035] Since the movement and rotation of the connecting bracket 304 will produce a certain offset during use, causing its center of gravity to shift as well, a first coupling groove 2022 is provided on the outer side of the first coupling end 202, and is used to realize plug-in coupling connection on the side of the second coupling end 203. The connection limit between the first coupling groove 2022 and the second coupling end 203 can avoid the center of gravity offset when the second coupling end 203 is vertically stretched downward by the laser welding module 3, and the resulting reduction in the fit between the first suction cup 208 and the second suction cup 209 can avoid the laser welding module 3 from falling off due to air leakage between the first suction cup 208 and the second suction cup 209.

[0036] Please refer to Figure 7-9 An elastic corrugated ring 2025 is also arranged inside the first coupling end 202, and a first suction ring 212 is movably installed through the first coupling end 202. A second suction ring 2031 coupled with the first suction ring 212 is arranged inside the second coupling end 203, and the first suction ring 212 is coupled to the second suction ring 2031.

[0037] Furthermore, the first suction ring 212 and the second suction ring 2031 clamp and connect the first suction cup 208 and the second suction cup 209 .

[0038] Furthermore, an annular sealing gasket 213 is disposed at the opposite sides of the first suction cup 208 and the second suction cup 209 , and the sealing gasket 213 is tightly fitted to the opposite sides of the first suction ring 212 and the second suction ring 2031 .

[0039] According to the above structure, the corresponding first suction ring 212 and the second suction ring 2031 are used to clamp the edges of the first suction cup 208 and the second suction cup 209 to improve the tightness between the two. On the other hand, they can also realize the positioning of the first coupling end 202 and the second coupling end 203 during the installation and connection of the first coupling end 202 and the second coupling end 203, ensuring that the relative positions of the first coupling end 202 and the second coupling end 203 are fixed during the mutual coupling process.

[0040] In addition, in order to prevent the first suction cup 208 from shaking during the process of moving the first coupling end 202 or the second coupling end 203 alone, the first suction ring 212 is used to stabilize the first suction cup 208, and a limiting protrusion 2081 for coupling and clamping the two is provided between the first suction ring 212 and the first suction cup 208 to achieve further installation stability. In addition, a limiting protrusion 2081 is also provided at the connection position between the second suction ring 2031 and the second suction cup 209, which is used to prevent the side positions of the first suction cup 208 and the second suction cup 209 from shifting after the first suction cup 208 and the second suction cup 209 are connected, and when negative pressure is achieved inside the first suction cup 208 and the second suction cup 209.

[0041] It should also be noted that the material of the first suction cup 208 is of high hardness and can achieve stretch resistance. During the adsorption process between the first suction cup 208 and the second suction cup 209, it is the second suction cup 209 that is deformed. The first suction cup 208 is always used to achieve a fixed connection between the first coupling end 202 and the hinged connection end 201.

[0042] For example, the first suction cup 208 is made of metal or hard plastic material, which can achieve structural stability and avoid air leakage caused by deformation of the first suction cup 208 .

[0043] For example, the second suction cup 209 uses a metal material that can be deformed or a rubber material with strong tensile strength, which can increase the deformation to a certain extent and can also generate an axial force along the second coupling end 203 during the deformation process. It is not easy to be deformed and damaged during the use and lifting of the laser welding module 3, and combined with the coupling card between the first coupling groove 2022 and the second coupling end 203, it can achieve a stable connection between the first coupling end 202 and the second coupling end 203.

[0044] In addition, further reference Figure 8 A second annular coupling groove 2023 is provided inside the first coupling end 202, a third annular coupling groove 2121 is provided outside the first suction ring 212, and both sides of the elastic corrugated ring 2025 are coupled and inserted into the second coupling groove 2023 and the third coupling groove 2121 respectively.

[0045] According to the above structure, and in combination with the coupling relationship between the first suction ring 212 and the second suction ring 2031 in the embodiment, the coupling method between the first suction ring 212 and the second suction ring 2031 includes: For example, the first suction ring 212 is elastically squeezed by the elastic corrugated ring 2025 so that the first suction ring 212 and the top of the second suction ring 2031 are tightly fitted.

[0046] For example, the magnetic setting is achieved by fitting the first suction ring 212 and the second suction ring 2031 , and the opposing surfaces of the first suction ring 212 and the second suction ring 2031 are magnetic, and the first suction ring 212 and the second suction ring 2031 magnetically clamp the first suction cup 208 and the second suction cup 209 .

[0047] The magnetic connection can avoid misalignment between the first suction cup 208 and the second suction cup 209 by magnetically aligning the first suction ring 212 and the second suction ring 2031 during the alignment process between the first coupling end 202 and the second coupling end 203 .

[0048] Furthermore, the elastic bellows ring 2025 is elastic, the first suction ring 212 is movably installed through the elastic bellows ring 2025, and the first suction ring 212 moves along the axial direction of the first coupling end 202.

[0049] According to the above structure, the principle is that the elastic bellows ring 2025 is made of the same material as the elastic bellows, wherein an elastic metal wire is inserted inside the bending part of the elastic bellows ring 2025 to provide elastic supporting force during the vertical movement of the first suction ring 212.

[0050] Alternatively, when the elastic corrugated ring 2025 is made of elastic metal, the first suction ring 212 always extends toward the second suction ring 2031 , and during the connection process of the second suction ring 2031 , the first suction ring 212 and the second suction ring 2031 are closely fitted and extruded.

[0051] Please refer to Fig.10 and Fig.11 A raised limit block 3041 is provided on the outer side of the connecting bracket 304, and a brake flange ring 3042 is provided on the outer side of the top of the connecting bracket 304. The brake flange ring 3042 is movably hinged with a hinged lock link 210, and the hinged lock link 210 is hinged by an annular hinge rod 211 annularly inserted inside the second coupling end 203.

[0052] Furthermore, a movable connection block 2101 is provided at the other end of the articulated lock link 210, and an annular positioning slot 2024 is opened on the inner side of the first coupling end 202. The movable connection block 2101 drives the articulated lock link 210 to be articulated by moving along the axis direction of the second coupling end 203 through the connecting bracket 304. The movable connection block 2101 is articulated by the articulated lock link 210, and the movable connection block 2101 is movably connected inside the positioning slot 2024.

[0053] Furthermore, at least two articulated lock links 210 are provided, and the articulated lock links 210 are arranged in a circular array along the axis of the second coupling end 203 .

[0054] According to the above structure, the principle is: Among them, the connecting protrusion of the connecting bracket 304 and the bottom of the second suction cup 209 is fixedly set, or a threaded connection is set to achieve detachable installation. After the first coupling end 202 and the second coupling end 203 are connected, by sucking or squeezing the air between the first suction cup 208 and the second suction cup 209, when the first suction cup 208 is lifted or stretched, the second suction cup 209 will deform toward the side of the first suction cup 208, that is, it will make a linear motion along the central axis of the second coupling end 203. At this time, the second suction cup 209 drives the connecting bracket 304 to move as a whole, and drives the articulated lock link 210 to be articulated through the brake flange ring 3042. During the articulation process, the movable connecting block 2101 is movably connected to the inside of the positioning slot 2024. At this time, the first coupling end 202 and the second coupling end 203 can be further connected through the combination with the first suction cup 208 and the second suction cup 209, and during the connection process, the laser welding module 3 is prevented from falling off.

[0055] When the laser welding module 3 and the second coupling end 203 need to be removed, the laser welding module 3 and the second coupling end 203 are placed in a designated mounting mold frame, and the second suction cup 209 is separated by filling gas into the first suction cup 208 and the second suction cup 209. During the axial movement of the second suction cup 209 along the second coupling end 203, the push-connecting bracket 304 is moved. At this time, the brake flange ring 3042 drives the hinged lock link 210 to hinge, and the movable connecting block 2101 is disengaged from the positioning slot 2024, thereby realizing the disassembly of the first coupling end 202 and the second coupling end 203.

[0056] Among them, with the articulation movement of the articulated lock link 210, the articulation ball 2102 arranged at one end thereof realizes the articulation with the brake flange ring 3042, and drives the articulation movement of the articulated lock link 210 through the brake flange ring 3042, wherein the articulation ball 2102 can be embedded in the brake flange ring 3042 or be clamped on the outside of the brake flange ring 3042 through a connecting rod to realize the articulation connection.

[0057] Please refer to Figure 7 and Fig. 9 A tube channel 207 for plugging in a vacuum tube is provided inside the hinged connection end 201. A vacuum tube is provided inside the tube channel 207 and extends to the bottom of the hinged connection end 201 to connect to the tube connection end 214. The tube connection end 214 is used to connect a vacuum suction device through a vacuum tube and is connected to the top of the second coupling end 203. The connection method includes interference fit or threaded installation. However, due to the limited space size, the interference fit method is preferably used to facilitate the installation between the hinged connection end 201 and the first coupling end 202. The tube connection end 214 makes the first suction cup 208 and the second suction cup 209 in the coupled state have negative pressure inside, so that the first suction cup 208 and the second suction cup 209 are tightly adsorbed. By adopting the vacuum pumping method, the negative pressure state between the first suction cup 208 and the second suction cup 209 can be always achieved, thereby improving the adsorption stability and avoiding the falling off of the laser welding module 3.

[0058] When the first suction cup 208 and the second suction cup 209 are connected by suction by squeezing air, the tube connection end 214 is a gas valve that can be opened and closed electrically. The principle is the same as above and will not be repeated here.

[0059] Further explanation is needed, please refer to Figure 5 and Figure 6 An embedded flange 205 is provided on the bottom side of the hinged connection end 201, and a first positioning groove 2051 is opened on the side of the embedded flange 205, and a positioning baffle 206 is provided on the inner side of the top of the first coupling end 202, and second positioning grooves 2021 corresponding to the position and number of the first positioning groove 2051 are provided on the top of the positioning baffle 206 and the inner side of the top of the first coupling end 202. By installing and plugging the embedded flange 205 on the top of the first coupling end 202, by setting a fixed flange sheet 204 which is sleeved on the bottom of the hinged connection end 201 and installed on the top of the embedded flange 205 by bolt compression, the hinged connection end 201 and the first coupling end 202 can be detachably installed.

[0060] The working principle of this embodiment is as follows: the first suction cup 208 is adsorbed and connected with the second suction cup 209, and the second suction cup 209 is deformed to produce movement along the axis direction of the second coupling end 203, and drives the connecting bracket 304 and the laser welding module 3 to move synchronously; The brake flange ring 3042 at the top of the connecting bracket 304 moves along the axis direction of the second coupling end 203 , driving the movable connecting block 2101 at the top of the hinged lock link 210 to be hinged and movably connected to the inside of the positioning slot 2024 .

[0061] Reference Fig.12, a welding point detection method of a laser welding device comprises the following steps: S1: Obtain welding seam data through the infrared detection and positioning device 303 and feed it back to the control system; S2: The control system adjusts the welding path and power of the laser welding head 302 according to the weld data; S3: The camera device 301 obtains image data and thermal imaging data after welding; S4: and obtaining thermal imaging temperature change data after welding with the time stamp through the camera device 301; S5: inputting the image data, thermal imaging data and thermal imaging temperature change data into the data model analysis system to determine whether there is a welding defect at the welding point; S6: When a welding defect occurs at the welding position, the welding power of the laser welding head 302 is adjusted in time and the defective position is returned to repair the welding, or the laser welding module 3 is quickly replaced through the first coupling end 202 and the second coupling end 203, and the welding defective position is repaired by welding when the weld point is not completely cooled.

[0062] In step S1, the infrared detection and positioning device 303 is installed by bolts or bolt-nut assemblies to achieve fixed installation, and the camera device 301 is installed in the same manner as the infrared detection and positioning device 303. The infrared detection and positioning device 303 uses infrared sensors to measure the weld path and width, and obtains the path during the measurement process for feedback to the control system. The control system includes but is not limited to a motor control system, a laser welding power adjustment system, and a computer analysis and feedback system. The weld data of step S1 is used to adjust and control the welding path and power of the laser welding head 302 in step S2.

[0063] According to step S3 and step S4, the camera device 301 obtains image data and thermal imaging data of the welding path after welding is completed, wherein the image data is used to analyze whether there are welding defects such as leaking welds and pores at the welding position. In addition, the temperature change over time in a specific area on the welding path is used to judge the bonding degree of the weld during the welding process through the thermal imaging data, which is used to judge whether there are large pores, missing welds or cracks inside the weld. When the above problems occur, the temperature change of the weld will become uneven.

[0064] In step S5, according to the image data, thermal imaging data and thermal imaging temperature change data acquired in steps S1-S4, a data model is input for analyzing the above data. In addition to the data model analysis, weld defects can also be identified manually to input whether to enable the weld repair program.

[0065] Among them, the identification method is to establish the weld defect type through the data model, and compare the weld types in the database and identify the generated weld types, so as to perform repair welding through the corresponding welding repair welding joint.

[0066] According to step S6, when there is a welding defect, the weld repair program is started, and according to the weld type, a welding head suitable for weld repair is called and replaced. The weld repair welding head includes but is not limited to surfacing, laser cladding welding technology, cold welding, micro-area pulse spot welding, etc.

[0067] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A laser welding device, characterized in that: include: A laser welding robot (1) and a connecting mechanism (2) installed at an operating end of the laser welding robot (1), and a laser welding module (3) is coupled and movably connected via the connecting mechanism (2), wherein the laser welding module (3) comprises a laser welding head (302), and a camera device (301) and an infrared detection positioning device (303) installed on both sides of the laser welding head (302); The connection mechanism (2) comprises two first coupling ends (202) and second coupling ends (203) which are respectively coupled and movably connected, wherein the first coupling end (202) on one side is hingedly connected to the laser welding robot (1) via a hinged connection end (201) fixedly mounted thereto, and the second coupling end (203) on the other side is detachably mounted on the laser welding module (3) via a connecting bracket (304); A first suction cup (208) and a second suction cup (209) are provided inside the first coupling end (202) and the second coupling end (203) and are coupled and adsorbed to each other; the first suction cup (208) is fixedly connected to the first coupling end (202); the second suction cup (209) is fixedly connected to the top of a connecting bracket (304); and the camera device (301), the laser welding head (302) and the infrared detection and positioning device (303) are all fixedly mounted on the connecting bracket (304).

2. A laser welding device according to claim 1, characterized in that: An elastic corrugated ring (2025) is also arranged inside the first coupling end (202), and a first suction ring (212) is movably mounted through the first coupling end (202); a second suction ring (2031) coupled to the first suction ring (212) is arranged inside the second coupling end (203) and corresponds to the first suction ring (212); the first suction ring (212) and the second suction ring (2031) are coupled and connected; The first suction ring (212) and the second suction ring (2031) clamp and connect the first suction cup (208) and the second suction cup (209).

3. A laser welding device according to claim 1, characterized in that: An annular sealing gasket (213) is provided at the opposite side of the first suction cup (208) and the second suction cup (209), and the sealing gasket (213) is tightly fitted to the opposite side of the first suction ring (212) and the second suction ring (2031).

4. A laser welding device according to claim 1, characterized in that: An annular second coupling groove (2023) is provided on the inner side of the first coupling end (202), an annular third coupling groove (2121) is provided on the outer side of the first suction ring (212), and two sides of the elastic corrugated ring (2025) are respectively coupled and inserted into the second coupling groove (2023) and the third coupling groove (2121).

5. A laser welding device according to claim 4, characterized in that: The elastic corrugated ring (2025) is elastic, the first suction ring (212) is movably mounted via the elastic corrugated ring (2025), and the first suction ring (212) moves along the axial direction of the first coupling end (202).

6. A laser welding device according to claim 2, characterized in that: The opposing surfaces of the first suction ring (212) and the second suction ring (2031) are magnetic, and the first suction ring (212) and the second suction ring (2031) magnetically clamp the first suction cup (208) and the second suction cup (209).

7. A laser welding device according to claim 1, characterized in that: A raised limit block (3041) is arranged on the outside of the connecting bracket (304), a brake flange ring (3042) is arranged on the outside of the top of the connecting bracket (304), and a hinged locking rod (210) is movably hinged on the brake flange ring (3042), and the hinged locking rod (210) is hinged by means of a ring-shaped hinged rod (211) annularly inserted in the second coupling end (203); The other end of the articulated lock link (210) is provided with a movable connection block (2101); an annular positioning slot (2024) is provided inside the first coupling end (202); the movable connection block (2101) moves along the axis of the second coupling end (203) via the connecting bracket (304) to drive the articulated lock link (210) to be articulated; the movable connection block (2101) is articulated by the articulated lock link (210); and the movable connection block (2101) is movably engaged in the positioning slot (2024); At least two of the hinged lock links (210) are provided, and the hinged lock links (210) are arranged in a ring array along the axis of the second coupling end (203).

8. A laser welding device according to any one of claims 1 to 7, characterized in that: A tube connection end (214) for connecting to a vacuum suction device is provided at the top of the second coupling end (203), and negative pressure is created inside the first suction cup (208) and the second suction cup (209) in a coupled state through the tube connection end (214), so that the first suction cup (208) and the second suction cup (209) are tightly adsorbed.

9. A laser welding device according to claim 8, characterized in that: The first suction cup (208) is connected to the second suction cup (209) by adsorption, and the second suction cup (209) is deformed to generate movement along the axis direction of the second coupling end (203), thereby driving the connecting bracket (304) and the laser welding module (3) to move synchronously; The brake flange ring (3042) at the top of the connecting bracket (304) moves along the axis of the second coupling end (203), driving the movable connecting block (2101) at the top of the hinged lock link (210) to be hingedly engaged in the positioning slot (2024).

10. A method for detecting welding points of a laser welding device, using the laser welding device as claimed in any one of claims 1 to 9, characterized in that: The steps include: Acquiring weld seam data through an infrared detection and positioning device (303) and feeding it back to a control system; The control system adjusts the welding path and power of the laser welding head (302) according to the welding seam data; The camera device (301) acquires image data and thermal imaging data after welding; and obtaining thermal imaging temperature change data after welding with a time stamp through a camera device (301); According to the image data, thermal imaging data and thermal imaging temperature change data, the data is input into the data model analysis system to determine whether there are welding defects in the welding spot; When a welding defect occurs at a welding position, the welding power of the laser welding head (302) is adjusted in time and the laser welding head (302) is returned to the defective position for repair welding, or the laser welding module (3) is quickly replaced through the first coupling end (202) and the second coupling end (203), so that repair welding can be performed on the welding defective position when the welding point is not completely cooled.

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