A short-pulse laser-assisted continuous laser welding apparatus and method

Abstract

The application discloses a kind of short pulse laser assisted continuous laser welding device and method, comprising, material is laid;The welding area is divided, the whole welding area is divided into small area;Small area is extracted;According to the different features extracted, construct speed mapping table;According to the speed mapping table, laser scanning path is planned.Its beneficial effect is that the short pulse laser assisted continuous laser welding device and method, near-infrared wavelength laser (such as 1064nm) is selected in whole welding process, the high reflectivity of titanium alloy to the wavelength, the high absorption rate of thermoplastic resin and the relatively low absorption of resin part in thermosetting composite and the poor absorption of carbon fiber to the wavelength are used Characteristics, so that laser energy is mainly concentrated in thermoplastic resin layer, local heating is realized.Small area is divided by region, feature extraction and speed mapping table construction, control laser energy input, reduce the heat affected zone of titanium alloy and thermosetting composite.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of laser welding, and particularly relates to a short-pulse laser-assisted continuous laser welding device and method. BACKGROUND

[0002] With the development of modern industry, high-performance materials are increasingly used in various fields, such as aerospace, automotive manufacturing, shipbuilding, sports equipment, and electronic products. These fields require not only strength and durability but also lightweight, corrosion resistance, and high-temperature resistance.

[0003] Traditional welding techniques often fail to meet the welding requirements of these high-performance materials, especially when dealing with dissimilar materials, such as the welding between metals and composites.

[0004] For example, titanium alloys have high reflectivity to near-infrared wavelengths (such as 1064 nm) of laser light, meaning that most of the laser energy is reflected, and only a small amount is absorbed by the titanium alloy. While this helps to reduce the heat-affected zone of the titanium alloy, avoiding excessive heating and deformation, it also increases the difficulty of welding.

[0005] On the other hand, thermoplastic resins have high absorption rates for near-infrared wavelengths (such as 1064 nm) of laser light, and laser energy can be effectively absorbed by the thermoplastic resin layer, causing it to rapidly heat up and melt. However, if the laser energy is not properly controlled, it can easily cause the resin to overheat and burn.

[0006] In addition, the resin part of thermoset composites also has some absorption ability for near-infrared wavelengths of laser light, but the absorption rate is lower compared to thermoplastic resins. Carbon fibers have good absorption for ultraviolet wavelengths (such as 355 nm) of laser light, but poor absorption for near-infrared wavelengths (such as 1064 nm). SUMMARY SUMMARY

[0008] To solve the problems raised in the background art, the present application provides a short-pulse laser-assisted continuous laser welding device and method.

[0009] To achieve the above-mentioned purpose, the present application provides the following technical solution: a short-pulse laser-assisted continuous laser welding method, comprising the following steps:

[0010] A short-pulse laser-assisted continuous laser welding method, comprising the following steps:

[0011] S1, laying the material; the laying method is: placing the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate on a tool so that the lap joint surfaces are completely aligned, then uniformly laying a PA6 thermoplastic resin film on the lap joint surfaces, and using a resin laying device to level the resin layer; the laid lap joint area is a welding area;

[0012] S2, dividing the welding area, dividing the entire welding area into small areas;

[0013] S3, extracting features of the small areas;

[0014] The feature extraction method is: using a three-dimensional scanner to scan each small area to extract features including flatness, thickness and curvature;

[0015] S4, constructing a speed mapping table according to the different features extracted;

[0016] S5, planning a laser scanning path according to the speed mapping table;

[0017] Further, the size of the small area is a square with a side length of 10-50 mm or a circle with a diameter of 10-50 mm;

[0018] Further, the flatness calculation method is: calculating the standard deviation of the surface height data of each small area, and the calculation formula is: ;

[0019] represents the height value measured by the first measurement point when the small area is three-dimensionally scanned. In the welding process, the height value reflects the relative height of the titanium alloy plate, the carbon fiber reinforced epoxy resin composite plate and the PA6 thermoplastic resin film laid on the surface as a whole, is related to the flatness of the laid resin layer, and is used to accurately describe the micro undulation degree of the surface of the welding area;

[0020] represents the average height, i.e. the arithmetic mean of the height values of all measurement points in the small area. is a reference value for measuring the surface height of the entire small area, which is compared with each measurement point height value to calculate the degree of dispersion of the height, and then determine the flatness;

[0021] is the number of measurement points. The more the number of measurement points, the more accurate the evaluation of the flatness of the surface of the small area. In feature extraction, the number depends on the sampling density setting of the three-dimensional scanner used, and high-density sampling can capture the surface features of the welding area more meticulously, providing sufficient data support for accurate calculation of flatness.​

[0022] represents the discrete degree of the surface height of the small area relative to the average height The greater the standard deviation, the greater the variation in surface height, i.e. the worse the flatness; the smaller the standard deviation, the flatter the surface.

[0023] The thickness calculation method is to calculate the average thickness of each small area, and the calculation formula is ;

[0024] represents the thickness value measured by the first measuring point when measuring the thickness of the small area. Here, the thickness refers to the vertical distance from the lapping surface of the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate to its surface, reflecting the actual thickness of different positions in the welding area.

[0025] represents the number of measuring points, which has the same meaning as in the flatness calculation formula, and depends on the sampling settings of the measuring equipment. More measuring points help to obtain more accurate average thickness values, so as to fully understand the thickness distribution of the welding area.

[0026] represents the average thickness calculated, which represents the average thickness of the material as a whole in the small area.

[0027] The curvature calculation method is to calculate the maximum curvature of each small area, and the calculation formula is ;

[0028] represents the surface height, which is one dimension in the three-dimensional coordinate system describing the shape of the surface of the welding area, and is associated with the height measurement in the flatness calculation. It is used to describe the bending degree of the surface, and the change of its value reflects the ups and downs of the surface of the welding area in the vertical direction.

[0029] represents the horizontal coordinate, which is another dimension in the three-dimensional coordinate system, and together determine the position of each point on the surface of the welding area. By calculating the curvature with respect to the second-order partial derivative of about , the bending change of the surface in the horizontal direction can be accurately described, so as to fully grasp the shape characteristics of the welding area, so that the laser scanning path and welding speed and other parameters can be adjusted according to the curvature during the welding process, to ensure that the laser energy can be uniformly distributed in the area with larger curvature, and to ensure the consistency of the welding quality.

[0030] represents the calculated maximum curvature, which represents the maximum value of the bending degree of the surface in the small area. In welding, the change of curvature will cause the change of the incident angle and energy distribution of the laser on the surface, affecting the melting of the resin and the bonding effect with other materials. Accurate calculation of curvature is conducive to optimizing the welding process parameters and ensuring the welding quality.

[0031] Further: wherein the speed mapping table construction method is:

[0032] For flatness adjustment welding speed, according to the pre-established welding speed database, the welding speed corresponding to the flatness is selected; when , ; when , ;

[0033] represents the threshold value of flatness; represents the welding speed of high flatness; represents the welding speed corresponding to low flatness; represents the welding speed corresponding to flatness;

[0034] For thickness adjustment welding speed, according to the thickness and welding speed relationship model, the welding speed corresponding to the thickness is selected; when , ; when , ;

[0035] represents the threshold value of thickness; represents the welding speed corresponding to thin thickness; represents the welding speed corresponding to thick thickness; represents the welding speed corresponding to thickness;

[0036] For curvature adjustment welding speed, according to the curvature and welding speed change curve, the welding speed corresponding to the curvature is selected; when , ; , ;

[0037] represents the threshold value of curvature; represents the welding speed of large curvature; represents the welding speed of small curvature; represents the welding speed corresponding to curvature;

[0038] For each small area, by comparing , , The size of the welding speed is selected as the final welding speed, and a speed mapping table is created by using a database management system to record the number, feature data and final welding speed of each small area one by one, so as to ensure the integrity and accuracy of the data.

[0039] Further, the laser scanning path planning method is:

[0040] A grid method or Dijkstra algorithm is used to generate a preliminary scanning path for each small area, ensuring that the path covers the entire small area and reduces the path length as much as possible.

[0041] A path optimization algorithm (such as genetic algorithm, particle swarm optimization algorithm, etc.) is used to optimize the generated path, ensuring that the path is the shortest and uniformly distributed, and the laser beam can uniformly cover the area with large curvature.

[0042] A connection algorithm (such as Traveling Salesman Problem TSP algorithm) is used to connect the paths of each small area into a complete path, ensuring the continuity and integrity of the path, and optimizing the path connection to ensure the shortest total length of the path.

[0043] Further: Short pulse laser and continuous laser are used in cooperation to enable the laser energy to be accurately focused on the PA6 thermoplastic resin film according to the plan, so as to rapidly heat and melt the film and realize stable connection of the material, while strictly controlling the heat affected zone and ensuring high-precision welding, fully utilizing the advantages of different materials and improving the comprehensive performance and durability of the product. The selected laser can be a laser with a wavelength in the near-infrared range (such as 1064nm).

[0044] Further: The division of the welding area into small areas is achieved by using numerical control cutting or laser marking technology to make the area boundary clear and smooth, and the entire welding area is divided without omission or overlap.

[0045] Further: The resolution of the three-dimensional scanner is not less than 0.01mm, the measurement accuracy error is within ±0.005mm, and the scanning process follows the predetermined scanning path and sampling density to ensure that comprehensive and accurate data is obtained.

[0046] Further: A short pulse laser assisted continuous laser welding device is used to implement the above method, comprising:

[0047] A tool is used to fix the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate to ensure that the overlap surfaces are aligned.

[0048] A resin laying device is used to uniformly lay the PA6 thermoplastic resin film on the overlap surface and smooth the resin layer.

[0049] A three-dimensional scanner with a resolution of no less than 0.01 mm and a measurement accuracy error of within ±0.005 mm, used for scanning small areas of the welding region to extract features including flatness, thickness, and curvature;

[0050] A database management system for storing a welding speed database and generating a speed mapping table, and performing computing tasks such as feature extraction, speed mapping table construction, and laser scanning path planning;

[0051] A numerical control cutting or laser marking device for precisely dividing the welding region into multiple small areas, ensuring clear and explicit region boundaries, smooth transitions between adjacent regions, and no missed or overlapping division of the entire welding region;

[0052] A laser welding device including a short pulse laser source and a continuous laser source, as well as laser beam guiding and control devices, capable of efficiently welding the welding region according to the planned laser scanning path.

[0053] The present invention solves the defects in the background art and has the following beneficial effects:

[0054] The short pulse laser-assisted continuous laser welding device and method select near-infrared wavelength laser (such as 1064 nm) throughout the welding process, utilize the high reflectivity of titanium alloy to this wavelength, the high absorption rate of thermoplastic resin, and the relatively low absorption of the resin part in the thermosetting composite material, and the poor absorption of carbon fiber to this wavelength, so that the laser energy is mainly concentrated in the thermoplastic resin layer, achieving local heating. By dividing the region into small areas, extracting features, and constructing a speed mapping table, the laser energy input is more accurately controlled, further ensuring that the laser energy is distributed as expected, and reducing the heat-affected zone of titanium alloy and thermosetting composite material.

[0055] The short pulse laser-assisted continuous laser welding device and method are based on the high absorption rate of thermoplastic resin to near-infrared wavelength laser, and select appropriate PA6 thermoplastic resin film during material preparation, and ensure uniform laying and flatness during the laying step, so that the resin layer can fully absorb laser energy and rapidly heat up and melt during welding. During the welding process, the laser energy input is adjusted according to the characteristics of the resin layer (such as thickness, flatness, etc.), such as adjusting the welding speed for different resin layer thicknesses during the construction of the speed mapping table, to ensure that the resin layer can be completely melted and well combined with other materials, while not being adversely affected by excessive energy.

[0056] The short pulse laser assisted continuous laser welding device and method selects a laser with a wavelength in the near infrared range (such as 1064 nm), utilizes the characteristics that the resin part in the thermosetting composite material has a certain absorption capacity but is relatively low to the near infrared wavelength laser, and the carbon fiber has poor absorption to the wavelength, reduces the damage to the carbon fiber during the welding process. In the feature extraction step, the features of the composite material region are accurately obtained, and in the speed mapping table construction, the overall situation of the composite material is considered to adjust the welding speed, so that the laser energy mainly acts on the resin part to promote connection, while protecting the structural integrity of the carbon fiber and maintaining the high performance of the composite material. Through this composite technology, the advantages of different materials can be effectively combined to improve the overall performance and durability of the product. BRIEF DESCRIPTION OF DRAWINGS

[0057] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used to explain the application together with the embodiments of the application, and do not constitute a limitation on the application. In the drawings:

[0058] Figure 1 The flowchart of the present application is shown; DETAILED DESCRIPTION

[0059] The application will now be described in further detail in conjunction with the drawings and embodiments, which are all simplified schematic diagrams, and only illustrate the basic structure of the application in a schematic manner, and therefore only show the components related to the application.

[0060] As Figure 1 shown, a short pulse laser assisted continuous laser welding method includes the following steps:

[0061] S1, laying the material; the laying method is: placing the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate on the tool so that the lap joint surface is completely aligned, then uniformly laying the PA6 thermoplastic resin film on the lap joint surface, and flattening the resin layer by using a resin laying device; the laid lap joint area is the welding area;

[0062] S2, dividing the welding area, dividing the entire welding area into small areas;

[0063] S3, extracting features from the small areas;

[0064] The feature extraction method is: using a three-dimensional scanner to scan each small area, and extracting features including flatness, thickness and curvature;

[0065] S4, constructing a speed mapping table according to the extracted different features;

[0066] S5, planning a laser scanning path according to the speed mapping table;

[0067] Further: wherein the small area size is a square with a side length of 10mm to 50mm or a circle with a diameter of 10mm to 50mm;

[0068] Further: wherein the flatness calculation method is to calculate the standard deviation according to the surface height data of each small area, and the calculation formula is: ;

[0069] represents the height value measured by the first measurement point when the small area is three-dimensionally scanned. In the welding process, the height value reflects the relative height of the titanium alloy plate, the carbon fiber reinforced epoxy resin composite plate and the PA6 thermoplastic resin film laid on the surface as a whole at the measurement point, and is related to the flatness of the laid resin layer, and is used to accurately describe the micro relief degree of the surface of the welding area;

[0070] represents the average height, that is, the arithmetic mean of the height values of all measurement points in the small area. is a reference value for measuring the surface height of the whole small area, which is compared with the height value of each measurement point to calculate the dispersion degree of the height and determine the flatness;

[0071] is the number of measurement points. The more the number of measurement points, the more accurate the evaluation of the flatness of the small area surface. In feature extraction, the number depends on the sampling density setting of the three-dimensional scanner used. High-density sampling can capture the surface features of the welding area in more detail and provide sufficient data support for accurate calculation of flatness.

[0072] represents the dispersion degree of the surface height of the small area relative to the average height . The larger the standard deviation, the greater the change in surface height, that is, the worse the flatness; the smaller the standard deviation, the more flat the surface.

[0073] The thickness calculation method is to calculate the average thickness of each small area, and the calculation formula is ;

[0074] represents the thickness value measured by the first measurement point when the thickness of the small area is measured. The thickness here refers to the vertical distance from the lap surface of the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate to the surface, which reflects the actual thickness of the welding area at different positions.

[0075] ​​represents the number of measurement points, which has the same meaning as in the flatness calculation formula, and depends on the sampling settings of the measurement equipment. More measurement points help to obtain more accurate average thickness values, thus comprehensively understanding the thickness distribution of the welding area.

[0076] represents the calculated average thickness, which represents the average thickness of the entire material in the small area.

[0077] The curvature calculation method is to calculate the maximum curvature of each small area, and the calculation formula is ;

[0078] represents the surface height, which is one dimension in the three-dimensional coordinate system that describes the shape of the welding area surface, and is related to the height measurement in the flatness calculation. It is used to describe the bending degree of the surface, and the change of its value reflects the ups and downs of the welding area surface in the vertical direction.

[0079] represents the horizontal coordinate, which is another dimension in the three-dimensional coordinate system, and together with determines the position of each point on the surface of the welding area. By calculating the second-order partial derivative of about , the curvature can be calculated, which can accurately describe the bending change of the surface in the horizontal direction, thus comprehensively mastering the shape characteristics of the welding area. In the welding process, the laser scanning path and welding speed and other parameters can be adjusted according to the curvature to ensure that the laser energy can be uniformly distributed in the area with larger curvature, and the consistency of the welding quality is ensured.

[0080] represents the calculated maximum curvature, which represents the maximum value of the bending degree of the surface in the small area. In welding, the change of curvature will cause the change of the incident angle and energy distribution of the laser on the surface, affecting the melting of the resin and the combination effect with other materials. Accurate calculation of curvature is beneficial to optimize the welding process parameters and ensure the welding quality.

[0081] Further: wherein the speed mapping table construction method is:

[0082] The welding speed is adjusted according to the flatness. According to the pre-established welding speed database, the welding speed corresponding to the flatness is selected; when , ; when , ;

[0083] represents the threshold value of the flatness; represents the welding speed of high flatness; represents the welding speed corresponding to low flatness; represents the welding speed corresponding to the flatness;

[0084] For thickness adjustment welding speed, according to the thickness and welding speed relationship model, select the welding speed corresponding to the thickness; when , ; when , ;

[0085] represents the threshold for thickness; represents the welding speed corresponding to the thin thickness; represents the welding speed corresponding to the thick thickness; represents the welding speed corresponding to the thickness;

[0086] For curvature adjustment welding speed, according to the curvature and welding speed change curve, select the welding speed corresponding to the curvature; when , ; , ;

[0087] represents the threshold for curvature; represents the welding speed corresponding to the large curvature; represents the welding speed corresponding to the small curvature; represents the speed corresponding to the curvature;

[0088] For each small area, by comparing , , the size of the welding speed, select the minimum value as the final welding speed; and use the database management system to create a speed mapping table, record the number, feature data and final welding speed of each small area one by one, to ensure the integrity and accuracy of the data.

[0089] Further: wherein the laser scanning path planning method is:

[0090] Use grid method or Dijkstra algorithm to generate the preliminary scanning path of each small area, ensure that the path covers the entire small area and reduces the path length as much as possible;

[0091] Use path optimization algorithm (such as genetic algorithm, particle swarm optimization algorithm, etc.) to optimize the generated path, ensure the shortest and uniform distribution of the path, and the laser beam can uniformly cover the area with larger curvature;

[0092] Use connection algorithm (such as Traveling Salesman Problem TSP algorithm) to connect the paths of each small area into a complete path, ensure the continuity and integrity of the path, and optimize the path connection to ensure the shortest total length of the path.

[0093] Further, the division of the welding area into small areas is achieved by using numerical control cutting or laser marking technology to ensure clear and distinct area boundaries, smooth transition between adjacent areas, and no omission or overlapping division of the entire welding area.

[0094] Further, short pulse laser is used in cooperation with continuous laser to precisely focus the laser energy on the PA6 thermoplastic resin film according to the plan, which promotes rapid heating and melting of the film to achieve stable connection of the material, while strictly controlling the heat affected zone to ensure high-precision welding, fully utilizing the advantages of different materials to improve the comprehensive performance and durability of the product. The selected laser can be a laser with a wavelength in the near-infrared range (e.g., 1064 nm).

[0095] Further, the resolution of the three-dimensional scanner is not less than 0.01 mm, the measurement accuracy error is within ±0.005 mm, and the scanning process follows a predetermined scanning path and sampling density to ensure comprehensive and accurate data acquisition.

[0096] Further, a short pulse laser assisted continuous laser welding device is used to implement the above method, which includes:

[0097] A tool is used to fix the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate to ensure the alignment of the lap joint surface.

[0098] A resin laying device is used to uniformly lay the PA6 thermoplastic resin film on the lap joint surface and level the resin layer.

[0099] A three-dimensional scanner with a resolution not less than 0.01 mm and a measurement accuracy error within ±0.005 mm is used to scan the small areas of the welding area and extract features including flatness, thickness, and curvature.

[0100] A database management system is used to store the welding speed database and generate the speed mapping table, as well as perform feature extraction, speed mapping table construction, and laser scanning path planning calculations.

[0101] A numerical control cutting or laser marking device is used to accurately divide the welding area into multiple small areas to ensure clear and distinct area boundaries, smooth transition between adjacent areas, and no omission or overlapping division of the entire welding area.

[0102] A laser welding device includes a short pulse laser source and a continuous laser source, as well as a laser beam guiding and control device, which can efficiently weld the welding area according to the planned laser scanning path.

[0103] In the description of the application, it is to be understood that the terms "first", "second", "third" and the like, merely identify features belonging to distinct categories and do not imply a relative importance or a specific order of sequence. Hence, a feature defined with the term "first" can imply or be implicitly understood as a "second" or "third" feature, and vice versa. In the description of the application, the term "a plurality" means two or more, unless expressly specified otherwise.

[0104] In the description of the application, the terms "one embodiment", "some embodiments", "an embodiment", "example", "specific example" or "some examples" and the like, mean that the particular features, structures, materials or characteristics being described are included in at least one embodiment or example of the application. The illustrative appearances of the above terms in various places in the specification are not necessarily intended to refer to the same embodiment or example.

[0105] Although embodiments of the application have been shown and described above, it is to be understood that the above embodiments are merely exemplary, and are not intended to limit the scope of the application. Embodiments of the application can be modified, altered, replaced and varied within the scope of the application.

Claims

1. A short-pulse laser-assisted continuous wave laser welding method, characterized by, The method comprises the following steps: S1, laying the material; the laying method is: placing the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate on the tool, making the lap joint surface completely aligned, then uniformly laying the PA6 thermoplastic resin film on the lap joint surface, and leveling the resin layer by using a resin laying device; the laid lap joint area is a welding area; S2, dividing the welding area, dividing the whole welding area into small areas; S3, extracting features of the small areas; The feature extraction method is that a three-dimensional scanner is used to scan each small area to extract the features including flatness, thickness and curvature. ; represents the height value measured by the first measurement point when a small area is three-dimensionally scanned; represents the average height, i.e. the arithmetic mean of the height values of all measurement points within the small area; is the number of measurement points; represents the degree of dispersion of the surface height of the small area relative to the average height ; The thickness calculation method is to calculate the average thickness of each small area, and the calculation formula is ; represents the thickness value measured at the first measurement point when measuring the thickness of a small area; represents the number of measurement points; represents the average thickness calculated; The curvature calculation method is to calculate the maximum curvature of each small region, and the calculation formula is ; represents a surface height; represents a horizontal coordinate; represents a calculated maximum curvature; S4, constructing a speed mapping table according to the extracted different features; wherein the speed mapping table construction method is: For flatness adjustment welding speed, according to the pre-established welding speed database, the welding speed corresponding to the flatness is selected; when , ; when , ; For the thickness adjustment welding speed, according to the thickness and welding speed relationship model, the welding speed corresponding to the thickness is selected; when , ; when , ; To adjust the welding speed based on curvature, select a welding speed corresponding to the curvature based on the curve of curvature versus welding speed; when hour, ; hour, ; For each sub-region, the minimum value is selected as the final welding speed by comparing the sizes of the welding speeds of , , ; and the database management system is used to create a speed mapping table to record the number, characteristic data and final welding speed of each sub-region one by one. S5, planning a laser scanning path according to the speed mapping table.

2. The short pulse laser assisted continuous laser welding method according to claim 1, characterized in that: wherein The size of the small area is a square with a side length of 10-50 mm or a circle with a diameter of 10-50 mm.

3. A short-pulse laser-assisted continuous wave laser welding method according to claim 1, characterized in that: The laser scanning path planning method is: Using the grid method, a preliminary scanning path of each small area is generated to ensure that the path covers the whole small area and reduces the path length as much as possible; Using a path optimization algorithm, the generated path is optimized to ensure that the path is the shortest and uniformly distributed, and the laser beam can uniformly cover the area with large curvature; Using a connection algorithm, the paths of each small area are connected into a complete path to ensure the continuity and integrity of the path.

4. The short pulse laser assisted continuous laser welding method according to claim 1, characterized in that: wherein The division method of dividing the welding area into small areas is to use numerical control cutting or laser marking technology to make the area boundary clear and explicit, the transition between adjacent areas smooth, and the whole welding area without omission and overlapping division.

5. The short pulse laser assisted continuous laser welding method according to claim 1, characterized in that: wherein The resolution of the three-dimensional scanner is not less than 0.01 mm, the measurement accuracy error is within ±0.005 mm, the scanning process follows a predetermined scanning path and sampling density to ensure that comprehensive and accurate data are obtained.

6. A short-pulse laser-assisted continuous laser welding apparatus for carrying out the method according to any one of claims 1 to 5, characterized in that: It comprises: The tool is used to fix the titanium alloy plate and the carbon fiber reinforced epoxy resin composite plate to ensure that the lap joint surface is aligned; The resin laying device is used to uniformly lay the PA6 thermoplastic resin film on the lap joint surface and level the resin layer; The three-dimensional scanner has a resolution of not less than 0.01 mm and a measurement accuracy error of within ±0.005 mm, and is used to scan the small areas of the welding area and extract features including flatness, thickness and curvature; The database management system is used to store the welding speed database and generate the speed mapping table, and perform the tasks of feature extraction, speed mapping table construction and laser scanning path planning calculation; The numerical control cutting or laser marking device is used to accurately divide the welding area into multiple small areas to ensure that the area boundary is clear and explicit, the transition between adjacent areas is smooth, and the whole welding area is without omission and overlapping division; The laser welding device comprises a short pulse laser source and a continuous laser source, and a laser beam guiding and control device, and can efficiently weld the welding area according to the planned laser scanning path.

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