A wire feeding speed adjustment method, laser welding system and storage medium

Abstract

The present invention relates to the field of laser welding technology, and discloses a wire feeding speed adjustment method, a laser welding system and a storage medium. The wire feeding speed adjustment method comprises: obtaining the current actual wire feeding speed in real time through a speed sensor; comparing the actual wire feeding speed with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed; calculating the speed difference through a preset algorithm to obtain the actual power-on time of the wire feeding motor within the power-on time period; within the power-on time period, adjusting the power-on time of the wire feeding motor with the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed. In this way, the wire feeding speed adjustment can be realized, so that the actual wire feeding speed is equal to or as close as possible to the set wire feeding speed, the stability of the wire feeding speed is improved, the welding effect is improved, and the welding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser welding, and in particular to a wire feeding speed adjustment method, a laser welding system and a storage medium. Background Art

[0002] At present, in the field of laser processing, compared with traditional electric welding, laser welding has the advantages of fast welding speed, small and smooth welds, high processing quality, and no need for polishing and grinding, which saves subsequent process processing links. Laser welding has been applied to many industries such as automobiles, ships, bridge steel structures, etc.

[0003] The laser welding system is a control system for realizing laser processing, including laser welding control equipment, laser, wire feeder, welding gun head and shielding gas equipment. The laser welding control equipment is connected with the laser, wire feeder, welding gun head and shielding gas equipment through the corresponding communication interface to control the normal operation of the laser, wire feeder, welding gun head and shielding gas equipment.

[0004] The wire feeder uses a wire feeding motor in conjunction with a wire feeding assembly to feed the wire. It receives the set wire feeding speed sent by the laser welding control device through the serial port. When the wire feeder receives a wire feeding signal, it feeds the wire at the set wire feeding speed. When it receives a stop wire feeding signal, it stops feeding the wire. When it receives a wire withdrawal signal, it withdraws the wire at the set wire withdrawal speed. At present, in the prior art, the wire feeding speed is usually stabilized by controlling parameters such as voltage, which controls the output speed of the wire feeding motor and the stability of the output speed. Under ideal conditions, the actual wire feeding speed of the wire feeder should be equal to the set wire feeding speed issued by the laser welding control device (for example, the wire feeding motor is connected to the welding wire receiving device through transmission, and the actual speed of the welding wire receiving device is equal to the set wire feeding speed). However, due to the existence of internal errors or resistances in the wire feeder (there is a large deviation between the actual speed of the wire feeding motor and the theoretical speed, there is friction in the transmission between the wire feeding motor and the welding wire receiving device, there is loss in the wire feeding wheel itself, bending or other errors and resistance at the rear end of the wire feeding, such as the wire feeding tube, etc.), the actual wire feeding speed is usually lower than the set wire feeding speed, resulting in a difference between the actual wire feeding speed and the set wire feeding speed, which in turn affects the accuracy of the wire feeding speed and the welding effect. Summary of the invention

[0005] The embodiments of the present invention aim to provide a wire feeding speed adjustment method, a laser welding system and a storage medium, which can solve the problem that in the current laser welding system, there is a difference between the actual wire feeding speed and the set wire feeding speed, which affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0006] In order to solve the above technical problems, a first aspect of the present invention provides a wire feeding speed adjustment method, comprising:

[0007] The current actual wire feeding speed is obtained in real time through the speed sensor;

[0008] Comparing the actual wire feeding speed with the set wire feeding speed to obtain a speed difference between the actual wire feeding speed and the set wire feeding speed;

[0009] The speed difference is calculated by a preset algorithm to obtain the actual power-on time of the wire feeding motor within the power-on time period;

[0010] During the power-on time period, the power-on time of the wire feeding motor is adjusted according to the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed.

[0011] Optionally, the speed sensor is any one of an encoder, a Hall sensor, a photoelectric sensor or a magnetoelectric sensor.

[0012] Optionally, the calculating the speed difference by a preset algorithm to obtain the actual power-on time of the wire feeding motor within the power-on time period includes:

[0013] The speed difference is calculated by a preset algorithm to obtain the wire feeding speed change required to adjust the wire feeding speed;

[0014] Based on the wire feeding speed variation, the power-on time variation is obtained according to a preset relationship between the wire feeding speed variation and the power-on time variation;

[0015] Based on the power-on time variation, the actual power-on time of the wire feeding motor within the power-on time period is obtained.

[0016] Optionally, the preset algorithm is a PID control algorithm, and the speed difference is calculated by the PID control algorithm to obtain the wire feeding speed change required to adjust the wire feeding speed.

[0017] Optionally, the setting relationship between the preset wire feeding speed change and the power-on time change includes: when the wire feeding speed change is greater than or equal to the preset wire feeding speed gradient adjustment threshold, the wire feeding speed change is equal to the power-on time change; when the wire feeding speed change is less than the preset wire feeding speed gradient adjustment threshold, the power-on time change is 0.

[0018] Optionally, the actual power-on time is the sum of the calibrated power-on time and the power-on time variation.

[0019] Optionally, the actual power-on time is less than or equal to the power-on time period.

[0020] Accordingly, the second aspect of the present invention provides a laser welding system, comprising: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program, when executed by the processor, implements the wire feeding speed adjustment method described in the first aspect of the present invention.

[0021] Optionally, the laser welding system also includes a wire feeding motor, a welding wire storage device, a wire guide tube and a speed sensor; wherein, the wire feeding motor drives the welding wire storage device to rotate and feed the wire, the wire guide tube has a wire outlet end and a wire inlet end relatively arranged, the wire inlet end is connected to the welding wire storage device, the wire outlet end is arranged at a predetermined angle to the light outlet port of the welding gun head, and the speed sensor is arranged at any one or more of the wire feeding motor, the welding wire storage device or the wire guide tube, for obtaining the current actual wire feeding speed in real time.

[0022] Correspondingly, the third aspect embodiment of the present invention provides a storage medium, on which a program of the wire feeding speed adjustment method is stored. When the program of the wire feeding speed adjustment method is executed by a processor, the wire feeding speed adjustment method described in the first aspect embodiment of the present invention is implemented.

[0023] Compared with the prior art, the present invention provides a wire feeding speed adjustment method, a laser welding system and a storage medium. The wire feeding speed adjustment method includes obtaining the current actual wire feeding speed in real time through a speed sensor; comparing the actual wire feeding speed with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed; calculating the speed difference through a preset algorithm to obtain the actual power-on time of the wire feeding motor that needs to be set within the power-on time period, wherein the actual power-on time is the sum of the calibrated power-on time and the power-on time change, and the actual power-on time is less than or equal to the power-on time period; within the power-on time period, adjusting the power-on time of the wire feeding motor according to the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed. Therefore, in the present invention, the current actual wire feeding speed is collected in real time, and the current actual power-on time of the wire feeding motor is adjusted according to the actual wire feeding speed to adjust the output speed of the wire feeding motor, so that the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed is adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close to (equal to or as close as possible to) the set wire feeding speed, thereby realizing adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that there is a difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system, which affects the accuracy of the wire feeding speed and thus affects the welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0025] Figure 1 It is a structural schematic diagram of a laser welding system provided by the present invention;

[0026] Figure 2 It is a flow chart of a wire feeding speed adjustment method provided by the present invention;

[0027] Figure 3 is another structural schematic diagram of a laser welding system provided by the present invention;

[0028] Figure 4 It is a detailed flow chart of a wire feeding speed adjustment method provided by the present invention. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" etc. used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0031] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] like Figure 1 and Figure 3As shown, the present invention provides a laser welding system, including: a laser welding control device 100, a laser 200, a wire feeder 300, a welding gun head 400 and a shielding gas device 500.

[0033] The laser 200 is a continuous fiber laser. When the laser 200 is connected to the laser welding control device 100, the laser welding control device 100 communicates with the laser 200 through the laser communication interface. For example, the laser communication interface is an RS232 interface. The laser welding control device 100 communicates with the laser 200 through the RS232 interface. The laser welding control device 100 adaptively identifies the model of the laser 200 through its internal software protocol, so that it can adapt and drive the laser 200. The laser welding control device 100 outputs a laser enable signal to the laser communication interface, so that the laser 200 connected to the laser communication interface executes the laser parameters in the welding process parameters.

[0034] Under the control of the laser welding control device 100, the wire feeder 300 can realize the wire feeding function, support continuous / pulse wire feeding, can weld fish scale patterns, and support automatic retraction and automatic wire filling functions. The wire feeder 300 includes a wire feeding motor 301, a welding wire receiving device 302 (such as a wire feeding wheel), a wire guide tube 303 and a serial port. The wire feeding motor 301 is connected to the welding wire receiving device 302 in a transmission manner, and the wire feeding motor 301 drives the welding wire receiving device 302 to realize wire feeding / wire withdrawal and adjust the wire feeding speed of the welding wire receiving device 302. The wire guide tube 303 has a wire outlet end and a wire inlet end that are relatively arranged, the wire inlet end is connected to the welding wire receiving device 302, and the wire outlet end is arranged at a predetermined angle at the light outlet port of the welding gun head 400. When the wire feeder 300 is connected to the laser welding control device 100, the laser welding control device 100 communicates with the wire feeder 300 through the wire feeder communication interface. For example, the wire feeder communication interface is an RS232 interface, and the laser welding control device 100 is connected to the wire feeder 300 through the RS232 interface. The laser welding control device 100 adaptively identifies the model of the wire feeder 300 through its internal software protocol, so that it can adapt and drive the wire feeder 300. The laser welding control device 100 outputs a wire feeding enable signal to the wire feeder communication interface, so that the wire feeder 300 connected to the wire feeder communication interface executes the wire feeding parameters and wire withdrawal parameters in the welding process parameters.

[0035] For example, the welding wire receiving device 302 may be a wire feeding wheel. In the present invention, the welding wire receiving device 302 is described below by taking the wire feeding wheel as an example.

[0036] Specifically, under ideal conditions, the rotation speed of the wire feeding wheel is equal to the product of the output speed of the wire feeding motor and the transmission ratio, and the transmission ratio is a factory preset value.

[0037] The wire feeder 300 utilizes a wire feeding motor 301 in cooperation with a wire feeding assembly to feed wire, and receives the set wire feeding speed issued by the laser welding control device 100 through a serial port. When the wire feeder 300 receives a wire feeding signal, it feeds the wire at the set wire feeding speed, and stops feeding the wire when it receives a stop wire feeding signal; when it receives a wire retracting signal, it retracts the wire at the set wire retracting speed.

[0038] The wire feeder 300 can adjust the wire feeding speed by using the wire feeding motor as needed. The principle of the adjustable wire feeding speed of the wire feeder 300 is: the speed of the wire feeding motor is controlled by controlling the power-on time of the wire feeding motor. During the power-on time period, the longer the power-on time is, the faster the speed of the wire feeding motor is, and the faster the wire feeding speed of the wire feeder 300 is; the shorter the power-on time is, the slower the speed of the wire feeding motor is, and the slower the wire feeding speed of the wire feeder 300 is. The corresponding relationship between the power-on time of the wire feeding motor and the speed of the wire feeding motor is the factory preset value of the wire feeding motor.

[0039] Under the control of the laser welding control device 100, the welding gun head 400 can realize automatic calibration and automatic wire breaking functions; at the same time, the welding gun head 400 and the laser welding control device 100 are provided with multiple safety alarm protection functions, which can realize autonomous safety power off and light off functions. The indicator light on the welding gun head 400 can present different working states. When the welding gun head 400 and the laser 200 communicate successfully and the working state is normal, the indicator light is yellow; when the safety lock and the welding nozzle are in contact with the material to be welded at the same time, the safety lock is turned on. At this time, hold the welding gun head 400 and press the laser trigger button to emit light, and the indicator light is green; when the welding gun head 400 or the laser 200 is abnormal, the indicator light is red. When the welding gun head 400 is connected to the laser welding control device 100, the laser welding control device 100 communicates with the welding gun head 400 through the welding gun head communication interface. For example, the welding gun head communication interface is an RS485 interface, and the laser welding control device 100 is connected to the welding gun head 400 through the RS485 interface. The laser welding control device 100 adaptively identifies the welding gun head 400 model through its internal software protocol, so that it can adapt and drive the welding gun head 400. The laser welding control device 100 outputs a welding gun head enable signal to the welding gun head communication interface, so that the welding gun head 400 connected to the welding gun head communication interface executes the welding process parameters and performs laser welding.

[0040] The shielding gas device 500 includes a gas circuit solenoid valve and a barometer, which are used to control the detection and control of the cooling gas. When the shielding gas device 500 is connected to the laser welding control device 100, the laser welding control device 100 communicates with the shielding gas device 500 through the gas valve pressure detection interface. Since the welding gun head 400 uses inert gas cooling, the gas purity and gas pressure must be ensured. Therefore, nitrogen and argon are generally used as shielding gases. The purity of the shielding gas must meet 99.99%, and the input gas pressure must be greater than 80Kpa and less than 500Kpa. In order to ensure the welding effect, a gas circuit solenoid valve and a barometer with flow control are required to accurately control the gas flow. Connect the gas pipe with an outer diameter of 6mm to the gas interface (Gasin port) of the laser and adjust the gas flow to 15-20L / min. The gas valve mode of the gas circuit solenoid valve and the barometer is selected to be normally open to adjust the gas flow. The laser welding control device 100 outputs a manual gas supply enable signal to the gas valve pressure detection interface, so that the protective gas device 500 connected to the gas valve pressure detection interface executes the gas supply parameters in the welding process parameters within the gas pressure threshold range.

[0041] At present, in the prior art, the wire feeding speed is usually controlled by controlling parameters such as voltage to achieve stable control of the wire feeding speed, and what is controlled is the output speed of the wire feeding motor and the stability of the output speed. Under ideal conditions, the actual wire feeding speed of the wire feeder should be equal to the set wire feeding speed issued by the laser welding control device (for example, the wire feeding motor is connected to the welding wire receiving device in a transmission manner, and the actual speed of the welding wire receiving device is equal to the set wire feeding speed). However, due to the existence of internal errors or resistances in the wire feeder (there is a large deviation between the actual speed of the wire feeding motor and the theoretical speed, there is friction in the transmission between the wire feeding motor and the welding wire receiving device, the wire feeding wheel itself is worn, the rear end of the wire feeding, such as the wire feeding tube, has bending or other errors, resistance, etc.), the actual wire feeding speed is usually less than the set wire feeding speed, which causes a difference between the actual wire feeding speed and the set wire feeding speed, thereby affecting the accuracy of the wire feeding speed and the welding effect.

[0042] To this end, the present invention provides a wire feeding speed adjustment method, which obtains the current actual wire feeding speed in real time; compares the actual wire feeding speed with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed; calculates the speed difference through a preset algorithm to obtain the actual power-on time of the wire feeding motor that needs to be set within the power-on time period; within the power-on time period, adjusts the power-on time of the wire feeding motor with the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed. In this way, the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed is adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close (equal to or as close as possible) to the set wire feeding speed, thereby realizing the adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that the difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0043] In order to facilitate understanding of the above inventive concept of the present invention, the above inventive concept of the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments.

[0044] In one embodiment, Figure 2 As shown, the present invention provides a wire feeding speed adjustment method, comprising:

[0045] S1, obtaining the current actual wire feeding speed in real time through the speed sensor;

[0046] S2, comparing the actual wire feeding speed with the set wire feeding speed to obtain a speed difference between the actual wire feeding speed and the set wire feeding speed;

[0047] S3, calculating the speed difference through a preset algorithm to obtain the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T, wherein the actual power-on time T3 is the sum of the calibrated power-on time T1 and the power-on time variation T2, and the actual power-on time T3 is less than or equal to the power-on time period T;

[0048] S4. Within the power-on time period T, the power-on time of the wire feeding motor is adjusted according to the actual power-on time T3, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed.

[0049] In the present embodiment, a wire feeding speed adjustment method is provided, including obtaining the current actual wire feeding speed in real time through a speed sensor; comparing the actual wire feeding speed with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed; calculating the speed difference through a preset algorithm to obtain the actual power-on time of the wire feeding motor that needs to be set within the power-on time period, wherein the actual power-on time is the sum of the calibrated power-on time and the power-on time change, and the actual power-on time is less than or equal to the power-on time period; within the power-on time period, adjusting the power-on time of the wire feeding motor according to the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed. Therefore, in the present invention, by real-time acquisition of the current actual wire feeding speed, adjusting the current actual power-on time of the wire feeding motor according to the actual wire feeding speed, and adjusting the output speed of the wire feeding motor, the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed can be adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close to (equal to or as close as possible to) the set wire feeding speed, thereby realizing adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that the difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0050] In one embodiment, in step S1, the current actual wire feeding speed is acquired in real time through a speed sensor.

[0051] The speed sensor is placed at any one or more locations of the wire feeding motor, the welding wire receiving device or the wire guide tube to obtain the current actual wire feeding speed in real time.

[0052] When the speed sensor is installed on the wire feeding motor, the speed sensor measures the output speed of the wire feeding motor, and the current actual wire feeding speed is the welding wire feeding speed output by the wire feeding motor. At this time, the main factor affecting the deviation of the actual wire feeding speed from the set wire feeding speed is the error of the output speed of the wire feeding motor itself.

[0053] When the speed sensor is installed in the welding wire receiving device, the speed sensor measures the output speed of the welding wire of the welding wire receiving device, and the current actual wire feeding speed is the wire feeding speed of the welding wire sent out by the welding wire receiving device. At this time, the main factors affecting the deviation of the actual wire feeding speed from the set wire feeding speed are the error of the output speed of the wire feeding motor itself and the error in the wire feeding transmission process between the wire feeding motor and the welding wire receiving device.

[0054] When the speed sensor is placed at the wire feeding end of the wire guide tube, the speed sensor measures the wire feeding speed when the wire receiving device feeds the wire to the wire feeding tube. At this time, the main factors affecting the deviation of the actual wire feeding speed from the set wire feeding speed are the error of the output speed of the wire feeding motor itself, the error of the wire feeding transmission process between the wire feeding motor and the wire receiving device, and the connection resistance between the wire receiving device and the wire guide tube.

[0055] When the speed sensor is placed at the wire outlet end of the wire guide tube, the speed sensor measures the wire feeding speed from the welding wire to the welding gun tip. At this time, the main factors affecting the deviation of the actual wire feeding speed from the set wire feeding speed are the error in the output speed of the wire feeding motor itself, the error in the wire feeding transmission process of the wire feeding motor and the welding wire receiving device, the connection resistance between the welding wire receiving device and the wire guide tube, and the friction resistance between the welding wire and the wire guide tube caused by the excessive length or bending of the wire guide tube.

[0056] It is understandable that the speed sensor may be a device for acquiring speed, such as an encoder, a Hall sensor, a photoelectric sensor or a magnetoelectric sensor. The wire feeding speed acquired by the speed sensor is the current actual wire feeding speed.

[0057] For example, the speed sensor may be an encoder, which can be used to detect and obtain the current actual wire feeding speed.

[0058] When the wire feeding motor rotates one circle, the encoder will generate n pulses. When the wire feeding motor rotates m circles, the wire feeding wheel rotates one circle. Therefore, when the wire feeding wheel rotates one circle, the number of pulses generated is a=m*n. At this time, the current actual wire feeding speed can be calculated by detecting the number of pulses.

[0059] For another example, the speed sensor may be a Hall sensor, and the Hall sensor may be used to detect and obtain the current actual wire feeding speed.

[0060] Install a radial magnetic ring at the end of the wire feeding motor shaft, and install the Hall sensor next to the radial magnetic ring. When the wire feeding motor rotates, the radial magnetic ring will generate a changing rotating magnetic field. Each rotation of the rotating magnetic field will cause the magnetic field to change once, causing the output voltage of the Hall sensor to change once, thus forming a pulse signal. At this time, a processing unit (such as a single-chip microcomputer) can be used to process the pulse signal using the frequency measurement method and the period measurement method to measure the speed of the wire feeding motor. The frequency measurement method counts the number of pulses per unit time, and is generally used to measure high-speed rotation. The period measurement method measures the length of a cycle, and is generally used to measure low-speed rotation.

[0061] In one embodiment, in step S2, the actual wire feeding speed is compared with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed.

[0062] Specifically, the set wire feeding speed of the wire feeding motor is calibrated before the wire feeding machine leaves the factory. After the set wire feeding speed is calibrated, the calibrated power-on time T1 of the wire feeding motor within the power-on time period T is also fixed.

[0063] The actual wire feeding speed obtained by the encoder in real time is compared with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed. The speed difference is an absolute value.

[0064] In one embodiment, in step S3, the speed difference is calculated by a preset algorithm to obtain the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T, wherein the actual power-on time T3 is the sum of the calibrated power-on time T1 and the power-on time variation T2, and the actual power-on time T3 is less than or equal to the power-on time period T. Specifically including:

[0065] S31. Calculate the speed difference using a preset algorithm to obtain a wire feeding speed change △d required to adjust the wire feeding speed.

[0066] Specifically, the preset algorithm is a PID control algorithm. The speed difference is calculated by the PID control algorithm to obtain the wire feeding speed change required to adjust the wire feeding speed.

[0067] The PID control algorithm uses the following PID formula to calculate the speed difference and obtain the wire feeding speed change △d required to adjust the wire feeding speed:

[0068] Δ(d)=P(d1-d2)+I(d1)+D(d1-2*d2+d3) (1) In the above formula (1), Δd is the change in wire feeding speed, d1 is the speed difference between the actual wire feeding speed and the set wire feeding speed, d2 is the speed difference between the actual wire feeding speed and the set wire feeding speed at the previous calculation cycle, and d3 is the speed difference between the actual wire feeding speed and the set wire feeding speed at the previous two calculation cycles.

[0069] The PID control algorithm includes three parts: P (proportional), I (integral) and D (differential), among which: P is the proportion, also known as the algorithm proportional coefficient, and its role in the present invention is to make the actual wire feeding speed approach the target wire feeding speed. I is the integral, also known as the error accumulation coefficient, and its role in the present invention is to eliminate the static error of the wire feeding speed. D is the differential, also known as the differential coefficient, and its role in the present invention is to suppress the overshoot of the wire feeding speed.

[0070] Through the proportional, integral and differential operations of the speed difference, the wire feeding speed change △d that needs to change the wire feeding speed is calculated, and then the output of the wire feeding speed is adjusted according to the wire feeding speed change △d. The PID control is performed by the processor. Therefore, the output speed of the wire feeding motor is increased by calculating and adjusting through the PID control algorithm to offset the speed loss caused by error or resistance, so that the actual wire feeding speed of the wire feeding wheel is infinitely close to the set wire feeding speed, so that the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed is adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close (equal to or as close as possible) to the set wire feeding speed, thereby realizing the adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that the difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0071] S32, based on the wire feeding speed change Δd, according to the preset relationship between the wire feeding speed change Δd and the power-on time change T2, obtain the power-on time change T2.

[0072] Among them, the setting relationship between the preset wire feeding speed change △d and the power-on time change T2 includes: when the wire feeding speed change △d is greater than or equal to the preset wire feeding speed gradient adjustment threshold, the wire feeding speed change △d is equal to the power-on time change T2; when the wire feeding speed change △d is less than the preset wire feeding speed gradient adjustment threshold, the power-on time change T2 is 0.

[0073] When the speed difference between the actual wire feeding speed and the set wire feeding speed is small enough, that is, the actual wire feeding speed is close to the set wire feeding speed, it is impossible to achieve the purpose of accurately adjusting the wire feeding speed by changing the power-on time period T. At this time, based on the actual wire feeding speed, it is necessary to calculate the speed difference through the PID control algorithm to obtain the wire feeding speed change △d required to adjust the wire feeding speed, and adjust the wire feeding speed based on the wire feeding speed change △d. The preset wire feeding speed gradient adjustment threshold is the minimum value of the gradient adjustment wire feeding speed.

[0074] When different speed differences are calculated through the PID control algorithm, the wire feeding speed change △d required to adjust the wire feeding speed is obtained. The wire feeding speed change △d will accumulate. When the accumulated value is greater than or equal to the preset wire feeding speed gradient adjustment threshold, it will trigger the power-on time change T2 adjustment, and then adjust the actual power-on time T3.

[0075] For example, the preset wire feeding speed gradient adjustment threshold is 0.5 mm / s. When the wire feeding speed change △d is greater than or equal to 0.5 mm / s, the wire feeding speed change △d is equal to the power-on time change T2; when the wire feeding speed change △d is less than 0.5 mm / s, the power-on time change T2 is 0.

[0076] Based on the setting relationship between the preset wire feeding speed change △d and the power-on time change T2, when the wire feeding speed change △d is greater than or equal to the preset wire feeding speed gradient adjustment threshold, the wire feeding speed change △d is equal to the power-on time change T2, and the larger the wire feeding speed change △d, the larger the absolute value of the power-on time change T2, and the smaller the wire feeding speed change △d, the smaller the absolute value of the power-on time change T2; when the wire feeding speed change △d is less than a certain threshold, the power-on time change T2 is equal to 0, and the actual power-on time T3 of the wire feeding motor remains unchanged at the calibrated power-on time T1.

[0077] S33. Based on the power-on time change T2, obtain the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T, wherein the actual power-on time T3 is the sum of the calibrated power-on time T1 and the power-on time change T2, and the actual power-on time T3 is less than or equal to the power-on time period T, that is: T3=T1+T2<=T.

[0078] Generally speaking, after the wire feeding speed is set and calibrated, the calibrated power-on time T1 of the wire feeding motor within the power-on time period T is also fixed. The calibrated power-on time T1 can be obtained by looking up a calibration table of the set wire feeding speed and the calibrated power-on time.

[0079] By real-time acquisition of the current actual wire feeding speed, the speed difference with the set wire feeding speed is obtained, and the speed difference is calculated based on the PID control algorithm to obtain the wire feeding speed change △d, and then based on the preset relationship between the wire feeding speed change △d and the power-on time change T2, the power-on time change T2 can be obtained, and then the actual power-on time T3 is obtained based on the actual power-on time T3 as the sum of the calibrated power-on time T1 and the power-on time change T2. Therefore, the current actual wire feeding speed can be acquired in real time, and the current actual power-on time of the wire feeding motor can be adjusted according to the actual wire feeding speed to adjust the output speed of the wire feeding motor, and then the actual wire feeding speed can be adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close (equal to or as close as possible) to the set wire feeding speed, thereby realizing the adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that the difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0080] The present invention provides a wire feeding speed adjustment method, and the specific implementation process is as follows:

[0081] When the wire feeding motor starts to rotate, the encoder generates pulses, and the current actual wire feeding speed is obtained by detecting the number of pulses. The actual wire feeding speed is compared with the set wire feeding speed to obtain the speed difference d1 between the actual wire feeding speed and the set wire feeding speed. The speed difference d1 is calculated according to the above formula (1) to obtain the wire feeding speed change △d required to adjust the wire feeding speed. The power-on time change T2 is obtained based on the wire feeding speed change △d and the preset relationship between the wire feeding speed change △d and the power-on time change T2. Then, according to the power-on time change T2, the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T is obtained. Within the power-on time period T, the power-on time of the wire feeding motor is adjusted according to the actual power-on time T3 to adjust the output speed of the wire feeding motor, thereby adjusting the wire feeding speed once. Continue to wait for the next pulse signal to come and repeat the previous step, so that the effect of real-time adjustment of the wire feeding speed can be achieved, and the wire feeding speed can be adaptively adjusted. Therefore, the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed can be adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close (equal to or as close as possible) to the set wire feeding speed, thereby realizing adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that the difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system affects the accuracy of the wire feeding speed and thus affects the welding effect. After the laser welding system adds the adaptive adjustment function of the wire feeding speed, the stability of the wire feeding speed during the welding process has been greatly improved. Regardless of how many turns or fewer turns the wire feeding tube has, or the resistance of the wire outlet gun tip has increased, the wire feeding speed can be adjusted to the target wire feeding speed relatively quickly. During the welding process, there will be no problem of slowing down the wire feeding speed due to increased resistance, which greatly improves the welding effect.

[0082] Based on the same concept, the present invention also provides a laser welding system, such as Figure 3 As shown, the laser welding system 900 includes: a memory 902, a processor 901, and one or more computer programs stored in the memory 902 and executable on the processor 901. The memory 902 and the processor 901 are coupled together via a bus system 903. When the one or more computer programs are executed by the processor 901, the following steps of a wire feeding speed adjustment method provided in an embodiment of the present invention are implemented:

[0083] S1, obtaining the actual wire feeding speed in real time through the speed sensor;

[0084] S2, comparing the actual wire feeding speed with the set wire feeding speed to obtain a speed difference between the actual wire feeding speed and the set wire feeding speed;

[0085] S3, calculating the speed difference through a preset algorithm to obtain the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T, wherein the actual power-on time T3 is the sum of the calibrated power-on time T1 and the power-on time variation T2, and the actual power-on time T3 is less than or equal to the power-on time period T;

[0086] S4. Within the power-on time period T, the power-on time of the wire feeding motor is adjusted according to the actual power-on time T3, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed.

[0087] The method disclosed in the above embodiment of the present invention can be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 901 or an instruction in the form of software. The processor 901 can be a general-purpose processor, a DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 901 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 902. The processor 901 reads the information in the memory 902 and completes the steps of the above method in combination with its hardware.

[0088] It can be understood that the memory 902 in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory or other memory technology, a compact disk read-only memory (CD-ROM), a digital versatile disk (DVD) or other optical disk storage, a magnetic cassette, a magnetic tape, a magnetic disk storage or other magnetic storage device; the volatile memory can be a random access memory (RAM), and by way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM Memory), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0089] like Figure 3 As shown, the laser welding system 900 further includes a wire feeder 300 and a speed sensor 904 , wherein the wire feeder 300 includes a wire feeding motor 301 , a welding wire receiving device 302 and a wire guide tube 303 ;

[0090] Among them, the wire feeding motor 301 drives the welding wire storage device 302 to rotate and feed the wire, and the wire guide tube 303 has a wire outlet end and a wire inlet end arranged relatively, the wire inlet end is connected to the welding wire storage device 302, and the wire outlet end is arranged at a predetermined angle at the light outlet port of the welding gun head 400.

[0091] The speed sensor 904 is disposed at any one or more locations of the wire feeding motor 301, the welding wire receiving device 302 or the wire guide tube 303, and is used to obtain the current actual wire feeding speed in real time.

[0092] In this embodiment, a laser welding system is provided, including a speed sensor to obtain the current actual wire feeding speed in real time; compare the actual wire feeding speed with the set wire feeding speed to obtain the speed difference between the actual wire feeding speed and the set wire feeding speed, calculate the speed difference through a preset algorithm, obtain the actual power-on time of the wire feeding motor that needs to be set within the power-on time period, and adjust the power-on time of the wire feeding motor with the actual power-on time within the power-on time period, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed. Therefore, in the present invention, by real-time acquisition of the current actual wire feeding speed, adjusting the current actual power-on time of the wire feeding motor according to the actual wire feeding speed, and adjusting the output speed of the wire feeding motor, the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed is adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close (equal to or as close as possible) to the set wire feeding speed, thereby realizing the adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that the difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0093] It should be noted that the above-mentioned laser welding system embodiment and method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the laser welding system embodiment, which will not be repeated here.

[0094] In addition, in an exemplary embodiment, an embodiment of the present invention further provides a computer storage medium, specifically a computer-readable storage medium, for example, including a memory 902 storing a computer program, and one or more programs of a wire feeding speed adjustment method are stored on the computer storage medium. When the one or more programs of the wire feeding speed adjustment method are executed by the processor 901, the following steps of a wire feeding speed adjustment method provided in an embodiment of the present invention are implemented:

[0095] S1, obtaining the current actual wire feeding speed in real time through the speed sensor;

[0096] S2, comparing the actual wire feeding speed with the set wire feeding speed to obtain a speed difference between the actual wire feeding speed and the set wire feeding speed;

[0097] S3, calculating the speed difference through a preset algorithm to obtain the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T, wherein the actual power-on time T3 is the sum of the calibrated power-on time T1 and the power-on time variation T2, and the actual power-on time T3 is less than or equal to the power-on time period T;

[0098] S4. Within the power-on time period T, the power-on time of the wire feeding motor is adjusted according to the actual power-on time T3, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed.

[0099] It should be noted that the wire feeding speed adjustment method program embodiment on the above-mentioned computer-readable storage medium and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the embodiment of the above-mentioned computer-readable storage medium, which will not be repeated here.

[0100] In order to facilitate understanding of the above inventive concept of the present invention, the above inventive concept of the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments.

[0101] like Figure 4 As shown, the present invention provides a wire feeding speed adjustment method, comprising:

[0102] S601. Start.

[0103] S602, the wire feeder receives the set wire feeding speed and wire feeding start signal sent by the laser welding control device through the serial port.

[0104] S603, searching for the calibrated power-on time T1 within the power-on time period T corresponding to the received set wire feeding speed according to the calibration table of the set wire feeding speed and the calibrated power-on time.

[0105] S604, obtaining the current actual wire feeding speed in real time through the encoder.

[0106] S605: Compare the actual wire feeding speed with the set wire feeding speed to obtain a speed difference between the actual wire feeding speed and the set wire feeding speed.

[0107] S606, calculating the speed difference through a PID control algorithm to obtain a wire feeding speed variation Δd required for adjusting the wire feeding speed.

[0108] S607 , based on the wire feeding speed change Δd and based on a preset relationship between the wire feeding speed change Δd and the power-on time change T2 , obtain the power-on time change T2 .

[0109] S608. Based on the power-on time variation T2, obtain the actual power-on time T3 of the wire feeding motor that needs to be set within the power-on time period T, wherein the actual power-on time T3 is the sum of the calibrated power-on time T1 and the power-on time variation T2.

[0110] S609, within the power-on time period T, adjusting the power-on time of the wire feeding motor according to the actual power-on time T3, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed.

[0111] S610: Does the wire feeder receive a wire feeding stop signal sent by the laser welding control device through the serial port? If yes, proceed to step S611; if not, proceed to step S604.

[0112] S611. Stop energizing the wire feeding motor.

[0113] S612, end.

[0114] In this embodiment, by receiving the set wire feeding speed sent by the laser welding control device, the calibrated power-on time within the power-on time period corresponding to the received set wire feeding speed is searched in the calibration table of the set wire feeding speed and the calibrated power-on time, the current actual wire feeding speed is obtained in real time through the encoder, the actual wire feeding speed is compared with the set wire feeding speed, and the speed difference between the actual wire feeding speed and the set wire feeding speed is obtained. The speed difference is calculated through a preset algorithm to obtain the actual power-on time of the wire feeding motor within the power-on time period, and within the power-on time period, the power-on time of the wire feeding motor is adjusted according to the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed. Therefore, by collecting the current actual wire feeding speed in real time, adjusting the current actual power-on time of the wire feeding motor according to the actual wire feeding speed, and adjusting the output speed of the wire feeding motor, the output speed of the wire feeding motor can be accurately adjusted, and then the actual wire feeding speed can be adjusted to the target wire feeding speed, wherein the target wire feeding speed is infinitely close to (equal to or as close as possible) to the set wire feeding speed, thereby realizing adaptive adjustment of the wire feeding speed, improving the stability of the wire feeding speed, improving the welding effect, and solving the problem that there is a difference between the actual wire feeding speed and the set wire feeding speed in the current laser welding system, which affects the accuracy of the wire feeding speed and thus affects the welding effect.

[0115] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0116] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wire feeding speed adjustment method, characterized in that: include: The current actual wire feeding speed is obtained in real time through the speed sensor; Comparing the actual wire feeding speed with the set wire feeding speed to obtain a speed difference between the actual wire feeding speed and the set wire feeding speed; The speed difference is calculated by a preset algorithm to obtain the actual power-on time of the wire feeding motor within the power-on time period; During the power-on time period, the power-on time of the wire feeding motor is adjusted according to the actual power-on time, so that the wire feeding motor adjusts the wire feeding speed to the target wire feeding speed.

2. The wire feeding speed adjustment method according to claim 1, characterized in that: The speed sensor is any one of an encoder, a Hall sensor, a photoelectric sensor or a magnetoelectric sensor.

3. The wire feeding speed adjustment method according to claim 1, characterized in that: The calculating the speed difference by a preset algorithm to obtain the actual power-on time of the wire feeding motor within the power-on time period includes: The speed difference is calculated by a preset algorithm to obtain the wire feeding speed change required to adjust the wire feeding speed; Based on the wire feeding speed variation, the power-on time variation is obtained according to a preset relationship between the wire feeding speed variation and the power-on time variation; Based on the power-on time variation, the actual power-on time of the wire feeding motor within the power-on time period is obtained.

4. The wire feeding speed adjustment method according to claim 3, characterized in that: The preset algorithm is a PID control algorithm, and the speed difference is calculated by the PID control algorithm to obtain the wire feeding speed change required to adjust the wire feeding speed.

5. The wire feeding speed adjustment method according to claim 3, characterized in that: The setting relationship between the preset wire feeding speed change and the power-on time change includes: when the wire feeding speed change is greater than or equal to the preset wire feeding speed gradient adjustment threshold, the wire feeding speed change is equal to the power-on time change; when the wire feeding speed change is less than the preset wire feeding speed gradient adjustment threshold, the power-on time change is 0.

6. The wire feeding speed adjustment method according to claim 3, characterized in that: The actual power-on time is the sum of the calibrated power-on time and the power-on time variation.

7. The wire feeding speed adjustment method according to claim 6, characterized in that: The actual power-on time is less than or equal to the power-on time period.

8. A laser welding system, characterized in that: include: A memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program, when executed by the processor, implements the wire feeding speed adjustment method according to any one of claims 1 to 7.

9. The laser welding system according to claim 8, characterized in that: The laser welding system also includes a wire feeding motor, a welding wire receiving device, a wire guide tube and a speed sensor; Among them, the wire feeding motor drives the welding wire storage device to rotate and feed the wire, the wire guide tube has a wire outlet end and a wire inlet end arranged relatively to each other, the wire inlet end is connected to the welding wire storage device, and the wire outlet end is arranged at a predetermined angle to the light outlet port of the welding gun head, and the speed sensor is arranged at any one or more places of the wire feeding motor, the welding wire storage device or the wire guide tube, for obtaining the current actual wire feeding speed in real time.

10. A storage medium, characterized in that: The storage medium stores a program of the wire feeding speed adjustment method, and when the program of the wire feeding speed adjustment method is executed by the processor, the wire feeding speed adjustment method according to any one of claims 1 to 7 is implemented.

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