Integrated device and method for controlling offset welding of welding through combination of programming software and laser scanning
By integrating the scanning module for parts to be welded, the welding programming module and the bias welding compensation module on the welding robot, the part characteristics are automatically acquired and the compensation motion trajectory is generated, which solves the deformation and depth-to-face ratio problems in welding of different metal composite materials, and achieves high-quality and low-cost automated welding.
Patent Information
- Application Number
- CN202411984756.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-02-25
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the welding process of different metal composite materials, it is difficult for the prior art to effectively control the welding deformation of parts and the depth-to-face ratio of the welding beads, resulting in poor welding quality, high cost and low efficiency.
By integrating the scanning module, welding programming module and bias welding compensation module of the parts to be welded into a welding robot with a laser scanning head, the characteristics at the bevel of the part are automatically obtained, the motion trajectory of the laser scanning head is generated, and offset compensation is performed, and the laser scanning and welding software program is generated to achieve automated and intelligent control.
It effectively solves the problems of severe deformation of different metal composite materials during welding and uncontrollable depth and width ratio of the weld bead, improves welding quality, reduces cost and time, and realizes automated and intelligent control.
Smart Images
Figure CN119501295A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of metal welding, and more specifically, to an integrated device and method for controlling bias welding by combining programming software with laser scanning. Background Art
[0002] Laser scanning cladding is a new welding method. Laser scanning cladding technology (also known as scanning laser layer cladding technology) is a type of laser advanced manufacturing technology. It uses control systems such as galvanometers and scanners to project laser spots of different shapes onto the plate according to a pre-programmed path for laser welding. Unlike traditional laser welding, laser scanning cladding technology can form laser cladding welds with controllable depth-to-width ratio, thereby applying laser cladding technology to more fields.
[0003] Laser scanning cladding technology is different from traditional welding methods. During welding, the arc does not contact the workpiece, there is no risk of electric shock, and the weld morphology is easy to control. However, laser welding is light welding, which has strict requirements on materials. Different materials require different pretreatment processes before welding to ensure good welding quality. When processing dissimilar metal composite materials, quality problems such as severe deformation and uncontrollable depth-to-width ratio of the weld often occur, which seriously affect the welding quality. In order to achieve reliable welding of dissimilar metal composite materials, a large number of welding tests are required for different processing methods, different grooves, and different processing positions, and the weld form, filler wire, and welding parameter optimization are studied, which are costly and inefficient. In addition, during welding, the deformation problem of processed parts is serious, and the method of increasing the margin is often used, which not only wastes materials, but also requires more processing time for subsequent processes, consumes labor, and increases production costs.
[0004] In the prior art, the programming software of laser scanning cladding technology has a good operation interface, is easy to use, and can realize scanning welding of complex curved surfaces. However, the programming software does not fully consider the welding deformation of parts, which often leads to serious deformation of parts and cannot realize automation and intelligent manufacturing. In view of this, we propose an integrated device and method for programming software and laser scanning to jointly control welding deviation. Summary of the invention
[0005] The technical problem to be solved by the present invention is to provide an integrated device and method for jointly controlling offset welding by programming software and laser scanning. By combining laser scanning cladding technology with programming software and adding the scanning and offset welding compensation process to the programming software, the technical problems of severe deformation and uncontrollable weld depth-to-width ratio in the laser scanning cladding technology in the prior art when welding dissimilar metal combination materials can be solved.
[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an integrated device for controlling bias welding by combining programming software with laser scanning, comprising a welding robot for motion control during welding operation, a laser scanning head, a scanning module for parts to be welded, a welding programming module and a bias welding compensation module; The laser scanning head is installed at the driving end of the welding robot and is used for scanning welding; The scanning module of the part to be welded is arranged on the driving end side of the welding robot, and is used to collect the contour, groove angle and penetration information of the groove of the part; The welding programming module generates the motion trajectory of the laser scanning head during welding according to the profile, groove angle and penetration information; The offset welding compensation module performs offset compensation on the motion trajectory of the laser scanning head generated by the laser scanning technology to generate a laser scanning cladding software program; Wherein, the laser scanning cladding software program is generated by optimizing the bias welding compensation of the laser scanning trajectory generated by the trajectory planner through the bias welding compensation module; Wherein, the welding programming module and the offset welding compensation module are both arranged on the welding robot, and the scanning module for the parts to be welded, the welding programming module and the offset welding compensation module are sequentially connected; Among them, the scanning module of the parts to be welded includes a laser scanning device, an image sensor and an image processor. The laser scanning device, the image sensor and the image processor are connected in sequence. The laser scanning device sends a laser beam to scan the surface of the part to generate an image. The image sensor is used to transmit the generated image to the image processor. The image processor is used to analyze the image to generate the contour, groove angle and penetration depth information at the groove of the scanned part.
[0007] The present invention integrates a scanning module for parts to be welded, a welding programming module and a bias welding compensation module on a welding robot equipped with a laser scanning head. The scanning module for parts to be welded, the welding programming module and the bias welding compensation module can automatically obtain the characteristics of the groove of the parts, generate the motion trajectory of the laser scanning head, and further perform offset compensation to generate a laser scanning cladding software program to control the welding conditions of the parts. The programming software and the laser scanning cladding software program are generated to automatically control the operation of the laser scanning head by the welding robot to form a closed-loop automated intelligent control, thereby effectively solving the problems of severe deformation and uncontrollable depth-to-width ratio of the weld bead that occur during welding of dissimilar metal combination materials.
[0008] Preferably, the welding programming module includes a visual window, a trajectory planner and a motion controller; The visual window is used to preview the trajectory and input the contour, groove angle, penetration information of the relevant features of the laser scanning device, as well as the part material and weld information; The trajectory planner is used to plan the motion trajectory of the laser scanning head, design the motion trajectory of the laser scanning device according to the part information generated by the image processor, and convert the trajectory into a position instruction of the laser scanning device; The motion controller is connected to the welding robot and is used to control the movement of the laser scanning head and to control the movement of the laser scanning head according to the position instructions transmitted by the trajectory planner.
[0009] Preferably, the laser scanning welding software program is generated in the following manner: first, the coordinates of the points on each laser scanning weld contour are generated by using a trajectory planner. , and then use the molten pool offset distance parameters generated by the offset welding compensation module , the coordinates of the points on the weld contour Outward offset along each weld contour based on the position of , at this time the coordinates of the point on the weld become , and then generate the laser scanning motion trajectory required by the laser scanning cladding technology software program in the welding programming module.
[0010] An integrated method for controlling bias welding by combining programming software with laser scanning comprises the following steps: S1: a laser scanning device is arranged at the groove of the part, a light beam is sent by the laser scanning device to scan the groove of the part, an image sensor collects light beam reflection information, and transmits the light beam reflection information to an image processor, which analyzes the image and generates the contour, groove angle, and fusion depth information of the groove of the part; S2: Open the planning software interface, select the contour of the part groove through the trajectory planner, obtain the spatial position of the part groove, and convert the spatial position information of the groove into actual coordinates; S3: The offset welding compensation module performs offset welding compensation on the groove, offsets the trajectory by inputting offset welding compensation parameters, and generates the motion trajectory of the laser scanning required by the laser scanning cladding software program.
[0011] Preferably, the image analysis uses the Sobel operator to calculate the image gradient. ,exist Directional gradient and Directional gradient They are: ; ; Then, the gradient amplitude and the gradient direction : ; ; Among them, contour information: Set the gradient amplitude threshold ,like , then the point belongs to the contour pixel, that is, the contour point set ; Among them, the groove angle information: set two points on the contour and Approximately represents the two sides of the groove, then the groove angle ; Among them, the melting depth information: According to the Beer-Lambert law, for the laser energy and initial energy , material absorption coefficient , penetration , then the formula for penetration depth is .
[0012] Preferably, the spatial position information includes information on the center position of the part groove, contour coordinates, groove angle, and penetration characteristics.
[0013] Preferably, the arrangement of the laser scanning device and the parts in step S1 includes an L-shaped arrangement, a straight-line arrangement or a plurality of straight-line arrangements; The L-shaped arrangement is that the laser scanning device is arranged at the edge of the first weld entrance end 1 / 2 away from the groove of the part, and the angle between the laser scanning device and the weld is 90°, and the laser beam is perpendicular to the groove angle; The linear arrangement is parallel to the edge of the first weld at the groove of the part, and the laser beam scans each weld at the groove.
[0014] Preferably, the installation step of the laser scanning device comprises the following steps: S101: At the first weld of the part, the laser scanning device generates a scanning path of the first weld contour of the part by using the welding robot in an L-shaped arrangement or a linear arrangement; S102: For all welds of the part, the laser scanning device is arranged in an L-shaped arrangement or a linear arrangement, and the path of the weld profile at each weld is similar to the scanning path of the first weld profile; S103: Generate a trajectory file for programming software recognition; S104: Based on the generated trajectory file, a laser scanning cladding program is generated for laser scanning cladding of parts.
[0015] Preferably, the method for compensating for the offset welding of the groove in step S3 comprises the following steps: S301: Obtain the offset welding compensation parameters of the parts, scan the offset welding position through the laser scanning device, and the offset welding compensation parameters of the parts include three parameters: molten pool offset distance , Molten pool position offset angle , offset angle ; S302: The offset welding compensation module performs offset welding compensation on the groove, offsets the trajectory by inputting three parameters, and generates a motion trajectory of the laser scanning required by the trajectory planner.
[0016] Preferably, the process of obtaining the offset welding compensation parameters in step S3 includes the following steps: S301a: Generate the position coordinates where the laser beam arrives , the position includes the starting point coordinates and the end point coordinates ; S301b: At the starting point coordinates Based on The angle to the end point coordinate Generate an offset point in the positive half-axis direction of the X-axis; S301c: Combined measurement error based on bias point and , calculate and obtain the position coordinates of the offset point after correction; S301d: Based on the corrected offset point position coordinates, Angle to end point coordinates Make an offset straight line; S301e: Based on the offset straight line, the position coordinates of the points on the scanning offset straight line are obtained; S301f: The point position coordinates on the scanning offset line obtained in step Se Based on this, enter the distance for offset welding compensation , get the offset coordinates of the molten pool position on the final scanning path ; S301g: Enter the starting point and end point Coordinate position, then input offset welding compensation parameters to get the position of the part groove.
[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention integrates a scanning module for parts to be welded, a welding programming module and a bias welding compensation module on a welding robot equipped with a laser scanning head. The scanning module for parts to be welded, the welding programming module and the bias welding compensation module can automatically obtain the characteristics of the groove of the parts, generate the motion trajectory of the laser scanning head, and further perform offset compensation, generate a laser scanning cladding software program, control the welding conditions of the parts, generate programming software and laser scanning cladding software programs, and automatically form a closed-loop automatic intelligent control by controlling the laser scanning head by the welding robot, thereby effectively solving the problems of severe deformation and uncontrollable depth-to-width ratio of the weld bead during welding of dissimilar metal composite materials. 2. The present invention also obtains the profile, groove angle, and penetration information through the laser scanning device of the scanning module of the part to be welded. The welding programming module generates the motion trajectory of the laser scanning head according to the characteristics of the groove. The offset welding compensation module realizes a certain degree of adaptive adjustment according to the automatically acquired part characteristics, generates programming software and laser scanning cladding software programs, and is controlled by the welding robot to solve the offset welding problem in the laser scanning cladding welding process and avoid offset welding; 3. The scanning trajectory of the scanning module of the parts to be welded of the present invention is obtained by an L-shaped or linearly arranged laser scanning device. The L-shaped or linearly arranged laser scanning device can be adjusted according to the characteristics of the dissimilar metal combination materials, and a scanning path is generated in the welding programming module. In the offset welding compensation module, the offset welding compensation parameters are determined by the trajectory scanned by the L-shaped or linearly arranged laser scanning device, and the part information is automatically obtained to avoid deformation of the laser scanning trajectory and ensure the correctness of the generated trajectory. The planning software interface designs the motion trajectory of the laser scanning device by the trajectory planner, and the motion controller controls the movement of the laser scanning head to scan and weld, thereby realizing the control of the offset welding problem and automatically controlling the laser scanning welding. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.
[0019] Description of the numbers in the figure: 1. Welding robot; 2. Laser scanning head; 3. Scanning module for parts to be welded; 4. Welding programming module; 5. Offset welding compensation module. DETAILED DESCRIPTION
[0020] Embodiment 1: Figure 1 As shown, the present invention relates to an integrated device for controlling bias welding by combining programming software with laser scanning, comprising a welding robot 1 for motion control during welding operation, a laser scanning head 2, a scanning module 3 for parts to be welded, a welding programming module 4 and a bias welding compensation module 5; The laser scanning head 2 is installed at the driving end of the welding robot 1 and is used for scanning welding. The laser beam is used to deposit the weld seam to achieve scanning welding. The scanning module 3 of the part to be welded is arranged on the driving end side of the welding robot 1, and is used to collect the contour, groove angle and penetration depth information of the groove of the part; The welding programming module 4 generates the motion trajectory of the laser scanning head 2 during welding according to the profile, groove angle and penetration information; The offset welding compensation module 5 performs offset compensation on the motion trajectory of the laser scanning head 2 generated by the laser scanning technology, and generates a laser scanning cladding software program; In the embodiment of the present invention, the welding programming module 4 and the offset welding compensation module 5 are both arranged on the welding robot 1, and the scanning module 3 of the parts to be welded, the welding programming module 4 and the offset welding compensation module 5 are connected in sequence; The present invention integrates a scanning module 3 for parts to be welded, a welding programming module 4 and a bias welding compensation module 5 on a welding robot 1 equipped with a laser scanning head 2. The scanning module 3 for parts to be welded, the welding programming module 4 and the bias welding compensation module 5 can automatically obtain the characteristics of the groove of the parts, generate the motion trajectory of the laser scanning head 2, and further perform offset compensation, generate a laser scanning cladding software program, control the welding conditions of the parts, generate programming software and laser scanning cladding software programs, and automatically form a closed-loop automated intelligent control in which the welding robot 1 controls the operation of the laser scanning head 2, thereby effectively solving the problems of severe deformation and uncontrollable depth-to-width ratio of the weld bead that occur during welding of dissimilar metal combination materials.
[0021] In an embodiment of the present invention, the scanning module 3 of the part to be welded includes a laser scanning device, an image sensor and an image processor, which are connected in sequence. The laser scanning device sends a laser beam to scan the surface of the part to generate an image. The image sensor is used to transmit the generated image to the image processor, and the image processor is used to analyze the image to generate the profile, groove angle and penetration information of the groove of the scanned part. In an embodiment of the present invention, the welding programming module 4 includes a visual window, a trajectory planner, and a motion controller; Visual window, used to preview the trajectory and input the contour, groove angle, penetration information of the relevant features of the laser scanning device, as well as the part material and weld information; A trajectory planner is used to plan the motion trajectory of the laser scanning head 2, design the motion trajectory of the laser scanning device according to the part information generated by the image processor, and convert the trajectory into a position instruction of the laser scanning device; A motion controller is connected to the welding robot 1 and is used to control the motion of the laser scanning head 2. The motion of the laser scanning head 2 is controlled according to the position command input by the trajectory planner. In the embodiment of the present invention, the laser scanning cladding software program is generated by optimizing the offset welding compensation of the laser scanning trajectory generated by the trajectory planner through the offset welding compensation module 5; The laser scanning welding software program is generated in the following way: first, the trajectory planner is used to generate the coordinates of each point on the laser scanning weld contour. , and then use the molten pool offset distance parameter generated by the offset welding compensation module 5 , the coordinates of the points on the weld contour Outward offset along each weld contour based on the position of , at this time the coordinates of the point on the weld become , and then generate the laser scanning motion trajectory required by the software program of the laser scanning cladding technology in the welding programming module 4.
[0022] The contour, groove angle and penetration information are obtained through the laser scanning device of the scanning module 3 of the part to be welded. The welding programming module 4 generates the motion trajectory of the laser scanning head according to the characteristics of the groove. The offset welding compensation module 5 realizes a certain degree of adaptive adjustment according to the automatically acquired part characteristics, generates programming software and laser scanning cladding software program, which are controlled by the welding robot 1 to solve the offset welding problem in the laser scanning cladding welding process and avoid offset welding.
[0023] Embodiment 2: An integrated method for controlling bias welding by combining programming software with laser scanning, comprising the following steps: S1: a laser scanning device is arranged at the groove of the part, a light beam is sent by the laser scanning device to scan the groove of the part, an image sensor collects light beam reflection information, and transmits the light beam reflection information to an image processor, which analyzes the image and generates the contour, groove angle, and fusion depth information of the groove of the part; As another embodiment of the present invention, image analysis uses the Sobel operator to calculate the image gradient. ,exist Directional gradient and Directional gradient They are: ; ; Then, the gradient amplitude and the gradient direction : ; ; Among them, contour information: Set the gradient amplitude threshold ,like , then the point belongs to the contour pixel, that is, the contour point set ; Among them, the groove angle information: set two points on the contour and Approximately represents the two sides of the groove, then the groove angle ; Among them, the melting depth information: According to the Beer-Lambert law, for the laser energy and initial energy , material absorption coefficient , penetration , then the formula for penetration depth is ; S2: Open the planning software interface, select the contour of the part groove through the trajectory planner, obtain the spatial position of the part groove, and convert the spatial position information of the groove into actual coordinates, wherein the spatial position information includes the center position of the part groove, contour coordinates, groove angle, and penetration characteristics; S3: The offset welding compensation module 5 performs offset welding compensation on the groove, offsets the trajectory by inputting offset welding compensation parameters, and generates the motion trajectory of the laser scanning required by the laser scanning cladding software program.
[0024] As another embodiment of the present invention, the arrangement of the laser scanning device and the parts in step S1 includes an L-shaped arrangement, a straight-line arrangement, or a plurality of straight-line arrangements.
[0025] Among them, the L-type arrangement is that the laser scanning device is arranged at the edge of the first weld entrance end 1 / 2 away from the groove of the part, and the angle between the laser scanning device and the weld is 90°, and the laser beam is perpendicular to the groove angle; The linear arrangement is parallel to the edge of the first weld at the groove of the part, and the laser beam scans each weld at the groove.
[0026] As another embodiment of the present invention, the steps of installing the laser scanning device include the following steps: S101: At the first weld of the part, the laser scanning device generates a scanning path of the first weld contour of the part through the welding robot 1 in an L-shaped arrangement or a linear arrangement; S102: For all welds of the part, the laser scanning device is arranged in an L-shaped arrangement or a linear arrangement, and the path of the weld profile at each weld is similar to the scanning path of the first weld profile; S103: Generate a trajectory file for programming software recognition; S104: Based on the generated trajectory file, a laser scanning cladding program is generated for laser scanning cladding of parts.
[0027] In the present invention, the scanning trajectory of the scanning module 3 of the part to be welded is obtained by a laser scanning device with an L-shaped arrangement or a linear arrangement. The laser scanning device with an L-shaped arrangement or a linear arrangement can be adjusted according to the characteristics of the dissimilar metal combination material, and a scanning path is generated in the welding programming module 4. In the offset welding compensation module 5, the offset welding compensation parameter is determined by the trajectory scanned by the laser scanning device with an L-shaped arrangement or a linear arrangement, and the part information is automatically obtained to avoid deformation of the laser scanning trajectory and ensure the correctness of the generated trajectory. The planning software interface designs the motion trajectory of the laser scanning device by the trajectory planner, and the motion controller controls the laser scanning head 2 to move and scan the welding, thereby realizing the control of the offset welding problem and automatically controlling the laser scanning welding.
[0028] As another embodiment of the present invention, the method for compensating for offset welding of the groove in step S3 includes the following steps: S301: Obtain the offset welding compensation parameters of the parts, scan the offset welding position through the laser scanning device, and the offset welding compensation parameters of the parts include three parameters: molten pool offset distance , Molten pool position offset angle , offset angle ; S302: The offset welding compensation module 5 performs offset welding compensation on the groove, offsets the trajectory by inputting three parameters, and generates a motion trajectory of the laser scanning required by the trajectory planner.
[0029] As another embodiment of the present invention, the process of obtaining offset welding compensation parameters includes the following steps: S301a: Generate the position coordinates where the laser beam arrives , the position includes the starting point coordinates and the end point coordinates ; S301b: At the starting point coordinates Based on The angle to the end point coordinate Generate an offset point in the positive half-axis direction of the X-axis; S301c: Combined measurement error based on bias point and , calculate and obtain the position coordinates of the offset point after correction; S301d: Based on the corrected offset point position coordinates, Angle to end point coordinates Make an offset straight line; S301e: Based on the offset straight line, the position coordinates of the points on the scanning offset straight line are obtained; S301f: The point position coordinates on the scanning offset line obtained in step S301e Based on this, enter the distance for offset welding compensation , get the offset coordinates of the molten pool position on the final scanning path ; S301g: Enter the starting point and end point Coordinate position, then input offset welding compensation parameters to get the position of the part groove.
[0030] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.
Claims
1. An integrated device for controlling bias welding by combining programming software and laser scanning, characterized in that: include: A welding robot (1) is used for motion control when performing welding operations; A laser scanning head (2), the laser scanning head (2) being mounted on a driving end of the welding robot (1) and being used for scanning welding; A scanning module (3) for parts to be welded, the scanning module (3) for parts to be welded being arranged on a driving end side of the welding robot (1) and being used to collect information on the contour, groove angle and penetration depth of the groove of the parts; A welding programming module (4) generates a motion trajectory of the laser scanning head (2) during welding according to the profile, groove angle, and penetration depth information; A bias welding compensation module (5) performs bias compensation on the motion trajectory of the laser scanning head (2) generated by the laser scanning technology to generate a laser scanning cladding software program; The welding programming module (4) and the offset welding compensation module (5) are both arranged on the welding robot (1), and the scanning module (3) for the part to be welded, the welding programming module (4) and the offset welding compensation module (5) are connected in sequence; The scanning module (3) for the part to be welded comprises a laser scanning device, an image sensor and an image processor, wherein the laser scanning device, the image sensor and the image processor are connected in sequence, the laser scanning device sends a laser beam to scan the surface of the part to generate an image, the image sensor is used to transmit the generated image to the image processor, and the image processor is used to analyze the image to generate the profile, groove angle and penetration depth information of the groove of the scanned part; The laser scanning cladding software program is generated by optimizing the offset welding compensation of the laser scanning trajectory generated by the trajectory planner through the offset welding compensation module (5).
2. The integrated device for controlling the welding offset by combining programming software and laser scanning according to claim 1 is characterized in that: The welding programming module (4) comprises a visual window, a trajectory planner and a motion controller; The visual window is used to preview the trajectory and input the contour, groove angle, penetration information of the relevant features of the laser scanning device, as well as the part material and weld information; The trajectory planner is used to plan the motion trajectory of the laser scanning head (2), design the motion trajectory of the laser scanning device according to the part information generated by the image processor, and convert the trajectory into a position instruction of the laser scanning device; The motion controller is connected to the welding robot (1) and is used to control the movement of the laser scanning head (2), and to control the movement of the laser scanning head (2) according to the position instruction input by the trajectory planner.
3. The integrated device for controlling the welding offset by combining programming software and laser scanning according to claim 2 is characterized in that: The laser scanning welding software program is generated in the following way: first, the coordinates of the points on each laser scanning weld contour are generated by using a trajectory planner. , and then use the molten pool offset distance parameter generated by the offset welding compensation module (5) , the coordinates of the points on the weld contour Outward offset along each weld contour based on the position of , at this time the coordinates of the point on the weld become , and then generate the laser scanning motion trajectory required by the software program of the laser scanning cladding technology in the welding programming module (4).
4. An integrated method for controlling bias welding by combining programming software and laser scanning, which is used in the integrated device for controlling bias welding by combining programming software and laser scanning as claimed in claim 3, characterized in that: The following steps are involved: S1: a laser scanning device is arranged at the groove of the part, a light beam is sent by the laser scanning device to scan the groove of the part, an image sensor collects light beam reflection information, and transmits the light beam reflection information to an image processor, which analyzes the image and generates the contour, groove angle, and fusion depth information of the groove of the part; S2: Open the planning software interface, select the contour of the part groove through the trajectory planner, obtain the spatial position of the part groove, and convert the spatial position information of the groove into actual coordinates; S3: The offset welding compensation module (5) performs offset welding compensation on the groove, offsets the trajectory by inputting offset welding compensation parameters, and generates the motion trajectory of the laser scanning required by the laser scanning cladding software program.
5. The integrated method of programming software and laser scanning combined control welding offset welding according to claim 4 is characterized in that: The image analysis uses the Sobel operator to calculate the image gradient. ,exist Directional gradient and Directional gradient They are: ; ； Then, the gradient amplitude and the gradient direction : ； ； Among them, contour information: Set the gradient amplitude threshold ,like , then the point belongs to the contour pixel, that is, the contour point set ; Among them, the groove angle information: set two points on the contour and Approximately represents the two sides of the groove, then the groove angle ; Among them, the melting depth information: According to the Beer-Lambert law, for the laser energy and initial energy , material absorption coefficient , penetration , then the formula for penetration depth is .
6. The integrated method of programming software and laser scanning combined control welding offset welding according to claim 5 is characterized in that: The spatial position information includes information on the center position of the groove of the part, contour coordinates, groove angle, and penetration characteristics.
7. The integrated method of programming software and laser scanning combined control welding offset welding according to claim 4 is characterized in that: In step S1, the arrangement of the laser scanning device and the part includes an L-shaped arrangement, a linear arrangement or multiple linear arrangements, wherein the L-shaped arrangement is that the laser scanning device is arranged at the 1 / 2 edge of the entrance end of the first weld at the groove of the part, and the angle between the laser scanning device and the weld is 90°, and the laser beam is perpendicular to the groove angle; wherein the linear arrangement is parallel to the edge of the first weld at the groove of the part, and the laser beam scans each weld at the groove, and scans each weld.
8. The integrated method of programming software and laser scanning combined control welding offset welding according to claim 7 is characterized in that: The steps of installing the laser scanning device include the following steps: S101: At the first weld of the part, the laser scanning device generates a scanning path of the first weld contour of the part by using the welding robot (1) in an L-shaped arrangement or a linear arrangement; S102: For all welds of the part, the laser scanning device is arranged in an L-shaped arrangement or a linear arrangement, and the path of the weld profile at each weld is similar to the scanning path of the first weld profile; S103: Generate a trajectory file for programming software recognition; S104: Based on the generated trajectory file, a laser scanning cladding program is generated for laser scanning cladding of parts.
9. The integrated method of programming software and laser scanning combined control welding offset welding according to claim 4 is characterized in that: The method for offset welding compensation of the groove in step S3 comprises the following steps: S301: Obtain the offset welding compensation parameters of the parts, scan the offset welding position through the laser scanning device, and the offset welding compensation parameters of the parts include three parameters: molten pool offset distance , Molten pool position offset angle , offset angle ; S302: The offset welding compensation module (5) performs offset welding compensation on the groove, offsets the trajectory by inputting three parameters, and generates a motion trajectory of the laser scanning required by the trajectory planner.
10. The integrated method of programming software and laser scanning combined control welding offset welding according to claim 9, characterized in that: The process of obtaining the offset welding compensation parameters in step S3 includes the following steps: S301a: Generate the position coordinates where the laser beam arrives , the position includes the starting point coordinates and the end point coordinates ; S301b: At the starting point coordinates Based on The angle to the end point coordinate Generate an offset point in the positive half-axis direction of the X-axis; S301c: Combined with measurement error based on bias point and , calculate and obtain the position coordinates of the offset point after correction; S301d: Based on the corrected offset point position coordinates, Angle to end point coordinates Make an offset straight line; S301e: Based on the offset straight line, the position coordinates of the points on the scanning offset straight line are obtained; S301f: The point position coordinates on the scanning offset line obtained in step S301e Based on this, enter the distance for offset welding compensation , get the offset coordinates of the molten pool position on the final scanning path ; S301g: Enter the starting point and end point Coordinate position, then input offset welding compensation parameters to get the position of the part groove.