Laser self-fluxing welding system and method

Abstract

The invention discloses a laser self-fluxing welding system and method, and relates to the field of welding, the system comprises a laser welding execution module, a detection module, a database module and an intelligent control module, the laser welding execution module is used for welding a to-be-welded workpiece; the detection module is connected to the laser welding execution module and used for collecting interference spectrums in real time. The database module is used for storing a preset threshold value; the intelligent control module is electrically connected with the detection module, the database module and the laser welding execution module and used for analyzing the interference spectrum to obtain welding seam information and judging the post-welding welding seam quality based on the comparison result of the welding seam information and a preset threshold value. The weld information comprises the weld pool keyhole depth obtained through weld pool keyhole bottom signal interference spectrum analysis, and the post-welding weld seam width and the post-welding weld reinforcement obtained through weld seam morphology interference spectrum analysis. By means of the method, post-welding weld quality evaluation can be rapidly completed, repair welding can be conveniently conducted at the corresponding position, and the welding efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of welding technology, and particularly to a laser autogenous welding system and method. Background Art

[0002] Laser autogenous welding has the advantages of high energy density, concentrated heating, small thermal damage to materials, large weld depth-to-width ratio, low residual stress in the welded joint, and high welding accuracy. In recent years, it has been more and more widely used in the field of aviation titanium alloy processing. For example, in this field, the laser autogenous welding process is often used to process titanium alloy frame beam structure parts of aircraft.

[0003] The value of a single titanium alloy structural part is extremely high, and the requirement for the finished product rate is extremely strict. However, the titanium alloy itself has the characteristic of being easy to reflect laser, and in addition, the plasma generated during welding will also reduce the laser power, resulting in defects being more likely to occur during the welding process. Therefore, it is necessary to evaluate the weld quality after welding in order to take timely repair welding measures for potential defect points. However, the existing laser welding equipment cannot quickly evaluate the weld quality, and the working efficiency is low. Summary of the Invention

[0004] The main purpose of this application is to provide a laser autogenous welding system and method, aiming to solve the problem that the existing laser welding equipment cannot quickly evaluate the weld quality and has low working efficiency.

[0005] To achieve the above object, this application provides a laser autogenous welding system, which includes a laser welding execution module, a detection module, a database module, and an intelligent control module. The laser welding execution module is used to weld the workpiece to be welded; the detection module is connected to the laser welding execution module, and the detection module is used to collect interference spectra in real time, where the interference spectra include the interference spectrum of the bottom signal of the molten pool keyhole and the interference spectrum of the weld appearance; the database module is used to store preset thresholds, where the preset thresholds include the plate thickness value of the workpiece to be welded, the range of the weld width after welding, and the range of the weld reinforcement after welding; the intelligent control module is electrically connected to the detection module, the database module, and the laser welding execution module. The intelligent control module is used to analyze the interference spectra to obtain weld information, and judge the weld quality after welding based on the comparison result between the weld information and the preset thresholds. The weld information includes the depth of the molten pool keyhole analyzed from the interference spectrum of the bottom signal of the molten pool keyhole, and the weld width after welding and the weld reinforcement after welding analyzed from the interference spectrum of the weld appearance.

[0006] Optionally, the database module is further configured to store welding process information, and the preset threshold further includes a pre-welding weld width range and a pre-welding weld step difference range; the weld information further includes the pre-welding weld width and the pre-welding weld step difference obtained by analyzing the weld morphology interference spectrum; the intelligent control module is further configured to match corresponding welding process information based on the comparison results of the pre-welding weld width, the pre-welding weld step difference and the preset threshold, and output a first control signal to the laser welding execution module, where the first control signal is used to instruct the laser welding execution module to perform welding based on the corresponding welding process information.

[0007] Optionally, the preset threshold further includes the center position of the weld track; the weld information further includes the center position of the weld obtained by analyzing the weld morphology interference spectrum; the intelligent control module is further configured to determine a track deviation value based on the center position of the weld and the center position of the weld track, and output a second control signal to the laser welding execution module, where the second control signal is used to instruct the laser welding execution module to realize the welding track offset.

[0008] Optionally, the laser welding execution module includes a laser welding head and an actuator, the laser welding head is connected to the detection module; the actuator is connected to the laser welding head, and the actuator is electrically connected to the intelligent control module; wherein, the actuator is used to drive the laser welding head to perform welding.

[0009] Optionally, the detection module includes a light source, an optical detection module and an optical measurement module. The outer periphery of the optical detection module is provided with a first measurement optical fiber interface, a second measurement optical fiber interface and a reference optical fiber interface. The first measurement optical fiber interface is connected to the light source through a measurement optical fiber, and the reference optical fiber interface is connected to the light source through a reference optical fiber; the outer periphery of the optical measurement module is provided with a third measurement optical fiber interface, and the third measurement optical fiber interface is connected to the second measurement optical fiber interface through the measurement optical fiber, where the optical measurement module is connected to the laser welding head.

[0010] Optionally, the first measurement optical fiber interface is perpendicular to the second measurement optical fiber interface, and the second measurement optical fiber interface is parallel to the reference optical fiber interface; the optical detection module includes a first cavity, a first dichroic mirror, a grating, a focusing lens, and a camera. The first dichroic mirror is disposed in the first cavity and is located on the measurement optical path direction of the first measurement optical fiber interface; in the measurement optical path direction of the second measurement optical fiber interface and the reference optical path direction of the reference optical fiber interface, a grating, a focusing lens, and a camera are sequentially disposed inside the first cavity away from the first dichroic mirror; wherein, both the first measurement optical fiber interface and the second measurement optical fiber interface are located on the side of the first dichroic mirror away from the grating.

[0011] Optionally, the optical measurement module includes a second cavity, a second dichroic mirror, and a swinging galvanometer. The second cavity is connected to the laser welding head, and the third measurement optical fiber interface is located on the side of the second cavity away from the laser welding head; in the measurement optical path direction of the third measurement optical fiber interface, a second dichroic mirror and a swinging galvanometer are sequentially disposed inside the second cavity away from the third measurement optical fiber interface, wherein a channel is provided on the laser welding head for the optical path reflected by the swinging galvanometer to intersect with the workpiece to be welded; a plane reflecting mirror is disposed on one side of the second dichroic mirror in a first direction, and the first direction is perpendicular to the measurement optical path direction of the third measurement optical fiber interface.

[0012] In addition, to achieve the above object, an embodiment of the present application further provides a laser autogenous welding method, which is applied to the above laser autogenous welding system, and the method is executed by an intelligent control module. The method includes obtaining an interference spectrum in real time, wherein the interference spectrum includes an interference spectrum of the bottom signal of the molten pool keyhole and an interference spectrum of the weld appearance; determining weld information based on the interference spectrum, wherein the weld information includes the depth of the molten pool keyhole analyzed from the interference spectrum of the bottom signal of the molten pool keyhole, and the weld width and weld reinforcement after welding analyzed from the interference spectrum of the weld appearance; obtaining a preset threshold, wherein the preset threshold includes the thickness value of the workpiece to be welded, the range of the weld width after welding, and the range of the weld reinforcement after welding; and judging the quality of the weld after welding based on the comparison result between the weld information and the preset threshold.

[0013] Optionally, before determining the weld information based on the interference spectrum, the method further includes analyzing the pre-weld seam width and the pre-weld seam step difference from the weld profile interference spectrum; obtaining the pre-weld seam width range, the pre-weld seam step difference range, and the welding process information; comparing the pre-weld seam width with the pre-weld seam width range; comparing the pre-weld seam step difference with the pre-weld seam step difference range; if the pre-weld seam width is within the pre-weld seam width range and the pre-weld seam step difference is within the pre-weld seam step difference range, then matching the corresponding welding process information and outputting a first control signal to the laser welding execution module, where the first control signal is used to instruct the laser welding execution module to perform welding based on the corresponding welding process information.

[0014] Optionally, before determining the weld information based on the interference spectrum, the method further includes obtaining the center position of the weld track; analyzing the center position of the weld from the weld profile interference spectrum; determining the track deviation value based on the center position of the weld track and the center position of the weld, and outputting a second control signal to the laser welding execution module, where the second control signal is used to instruct the laser welding execution module to achieve welding track offset.

[0015] Optionally, determining the weld information based on the interference spectrum includes determining whether the interference spectrum of the bottom signal of the molten pool keyhole is obtained; if the interference spectrum of the bottom signal of the molten pool keyhole is not obtained, then the post-weld seam is fully penetrated, the depth of the molten pool keyhole is a fixed value and less than the thickness value of the workpiece to be welded; if the interference spectrum of the bottom signal of the molten pool keyhole is obtained, then determining the depth of the molten pool keyhole based on the interference spectrum of the bottom signal of the molten pool keyhole, and determining the post-weld seam width and the post-weld seam reinforcement based on the weld profile interference spectrum.

[0016] Optionally, judging the quality of the post-weld seam based on the comparison result between the weld information and the preset threshold includes judging whether the post-weld seam is fully penetrated based on the comparison result between the depth of the molten pool keyhole and the thickness value of the workpiece to be welded; judging whether the width of the post-weld seam is qualified based on the comparison result between the width of the post-weld seam and the post-weld seam width range; judging whether the reinforcement of the post-weld seam is qualified based on the comparison result between the reinforcement of the weld and the reinforcement range of the weld; if the post-weld seam is fully penetrated, the width of the post-weld seam is qualified, and the reinforcement of the post-weld seam is qualified, then the quality of the post-weld seam is qualified; if the post-weld seam is not fully penetrated, or the width of the post-weld seam is unqualified, or the reinforcement of the post-weld seam is unqualified, then the quality of the post-weld seam is unqualified.

[0017] Optionally, determining whether the post-weld seam is penetrated based on the comparison result between the depth of the molten pool keyhole and the thickness value of the workpiece to be welded includes comparing the depth of the molten pool keyhole with the thickness value of the workpiece to be welded; if the depth of the molten pool keyhole is greater than or equal to the thickness value of the workpiece to be welded, the post-weld seam is penetrated; if the depth of the molten pool keyhole is less than the thickness value of the workpiece to be welded, the seam is not penetrated.

[0018] Optionally, determining whether the width of the post-weld seam is qualified based on the comparison result between the width of the post-weld seam and the width range of the post-weld seam includes comparing the width of the post-weld seam with the width range of the post-weld seam; if the width of the post-weld seam is within the width range of the post-weld seam, the width of the post-weld seam is qualified; if the width of the post-weld seam is outside the width range of the post-weld seam, the width of the post-weld seam is unqualified.

[0019] Optionally, determining whether the reinforcement of the weld is qualified based on the comparison result between the reinforcement of the weld and the reinforcement range of the weld includes comparing the reinforcement of the weld with the reinforcement range of the weld; if the reinforcement of the weld is within the reinforcement range of the weld, the reinforcement of the weld is qualified; if the reinforcement of the weld is outside the reinforcement range of the weld, the reinforcement of the weld is unqualified.

[0020] A laser autogenous welding system proposed in an embodiment of the present application, during the welding of a workpiece by a laser welding execution module, a detection module acquires in real time the interference spectrum of the signal at the bottom of the molten pool keyhole and the interference spectrum of the weld appearance, and an intelligent control module analyzes the interference spectrum of the signal at the bottom of the molten pool keyhole and the interference spectrum of the weld appearance to obtain the depth of the molten pool keyhole, the width of the post-weld seam, and the reinforcement of the post-weld seam, and compares the depth of the molten pool keyhole, the width of the post-weld seam, and the reinforcement of the post-weld seam with the corresponding preset thresholds stored in the database module. If the post-weld seam is penetrated, the width of the post-weld seam is qualified, and the reinforcement of the post-weld seam is qualified, then the quality of the post-weld seam is qualified; if the post-weld seam is not penetrated, or the width of the post-weld seam is unqualified, or the reinforcement of the post-weld seam is unqualified, then the quality of the post-weld seam is unqualified; thus, the quality assessment of the post-weld seam can be quickly completed, so as to perform repair welding at the corresponding position in a timely manner, greatly improving the welding efficiency. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of a laser autogenous welding system provided in an embodiment of the present application; Figure 2 It is a schematic diagram of the structure at the optical detection module in an embodiment of the present application; Figure 3 It is a schematic diagram of the structure at the optical measurement module in an embodiment of the present application; Figure 4 It is a flowchart of a laser autogenous welding method provided in an embodiment of the present application; Figure 5 It is the process adaptive matching flow chart implemented in the embodiments of the present application; Figure 6 It is the flow chart for pre-welding position finding and weld seam tracking implemented in the embodiments of the present application; Figure 7 It is the flow chart for weld penetration determination in the embodiments of the present application; Figure 8 It is the flow chart for determining the width of the post-weld seam and the quality of the post-weld seam reinforcement in the embodiments of the present application.

[0022] In the figure: 11. Light source; 12. Optical detection module; 121. First measurement optical fiber interface; 122. First dichroic mirror; 123. Grating; 124. Focusing lens; 125. Second measurement optical fiber interface; 126. Reference optical fiber interface; 127. First cavity; 128. Camera; 129. First water-cooling joint; 13. Optical measurement module; 131. Plane reflecting lens; 132. Swing galvanometer; 133. Second dichroic mirror; 134. Second cavity; 135. Third measurement optical fiber interface; 136. Second water-cooling joint; 14. Measurement optical fiber; 15. Reference optical fiber; 2. Database module; 3. Intelligent control module; 31. Optical signal cable; 41. Laser welding head; 42. Actuator.

[0023] The realization, functional features and advantages of the objectives of the present application will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0025] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0026] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] Reference Figures 1 to 3 , an embodiment of the present application provides a laser autogenous welding system, which may include a laser welding execution module, a detection module, a database module 2, and an intelligent control module 3. The laser welding execution module is used for welding a workpiece to be welded; the detection module is connected to the laser welding execution module, and the detection module is used for collecting interference spectra in real time, where the interference spectra may include the interference spectrum of the bottom signal of the molten pool keyhole and the interference spectrum of the weld appearance; the database module 2 is used for storing preset thresholds, where the preset thresholds may include the thickness value of the workpiece to be welded, the range of the weld width after welding, and the range of the weld reinforcement after welding; the intelligent control module 3 is electrically connected to the detection module, the database module 2, and the laser welding execution module. The intelligent control module 3 is used for analyzing the interference spectra to obtain weld information, and judging the quality of the weld after welding based on the comparison result between the weld information and the preset thresholds. The weld information may include the depth of the molten pool keyhole obtained by analyzing the interference spectrum of the bottom signal of the molten pool keyhole, and the weld width after welding and the weld reinforcement after welding obtained by analyzing the interference spectrum of the weld appearance.

[0029] A laser self-fusion welding system proposed in an embodiment of the present application. During the welding process of workpieces by the laser welding execution module, the detection module acquires in real time the interference spectrum of the signal at the bottom of the molten pool keyhole and the interference spectrum of the weld appearance. The intelligent control module 3 analyzes the interference spectrum of the signal at the bottom of the molten pool keyhole and the interference spectrum of the weld appearance to obtain the depth of the molten pool keyhole, the width of the post-weld seam, and the reinforcement of the post-weld seam, and compares the depth of the molten pool keyhole, the width of the post-weld seam, and the reinforcement of the post-weld seam with the corresponding preset thresholds stored in the database module 2. If the post-weld seam is fully penetrated, the width of the post-weld seam is qualified, and the reinforcement of the post-weld seam is qualified, then the quality of the post-weld seam is qualified; if the post-weld seam is not fully penetrated, or the width of the post-weld seam is unqualified, or the reinforcement of the post-weld seam is unqualified, then the quality of the post-weld seam is unqualified; in this way, the quality assessment of the post-weld seam can be quickly completed, so as to perform repair welding at the corresponding position in time, greatly improving the welding efficiency.

[0030] Among them, the intelligent control module 3 automatically acquires the interference spectrum detected by the detection module and the preset thresholds in the database module 2.

[0031] It should be noted that when the post-weld seam is fully penetrated, the molten pool keyhole may completely penetrate the workpiece, which will cause the detection module to be unable to acquire the interference spectrum of the signal at the bottom of the molten pool keyhole. At this time, the intelligent control module 3 can determine that the post-weld seam is fully penetrated.

[0032] It should be understood that the intelligent control module 3 includes an industrial computer and a set of intelligent welding software. The intelligent control module 3 is electrically connected to the detection module through an optical signal cable 31. The industrial computer is configured with a CPU and a GPU. The CPU is used for system feature algorithm calculation, and the GPU is used for parallel calculation of the algorithm to realize high-speed real-time processing of interference signals.

[0033] In an exemplary embodiment, the database module 2 is further used to store welding process information. The preset thresholds may further include the pre-weld seam width range and the pre-weld seam step difference range; the weld information may further include the pre-weld seam width and the pre-weld seam step difference obtained by analyzing the interference spectrum of the weld appearance; the intelligent control module 3 is further used to match the corresponding welding process information based on the comparison results of the pre-weld seam width, the pre-weld seam step difference and the preset thresholds and output a first control signal to the laser welding execution module, where the first control signal is used to instruct the laser welding execution module to perform welding based on the corresponding welding process information.

[0034] Specifically, before starting welding, the detection module acquires the interference spectrum of the weld seam morphology, and then the intelligent control module 3 analyzes the interference spectrum of the weld seam morphology to obtain the pre-welding weld seam width and the pre-welding weld seam step difference; the intelligent control module 3 determines whether the pre-welding weld seam width and the pre-welding weld seam step difference are qualified based on the pre-welding weld seam width range and the pre-welding weld seam step difference range. If both the pre-welding weld seam width and the pre-welding weld seam step difference are qualified, it matches the appropriate welding process information and outputs a first control signal to the laser welding execution module; if the pre-welding weld seam width is unqualified or the pre-welding weld seam step difference is unqualified, it should prompt to re-assemble the workpiece to be welded.

[0035] Among them, if the pre-welding weld seam width is within the pre-welding weld seam width range, the pre-welding weld seam width is qualified, otherwise it is unqualified; if the pre-welding weld seam step difference is within the pre-welding weld seam step difference range, the pre-welding weld seam step difference is qualified, otherwise it is unqualified.

[0036] It should be understood that when the workpiece to be welded is assembled qualified, the intelligent control module 3 can send the corresponding welding process information to the laser welding execution module based on the pre-welding weld seam width and the pre-welding weld seam step difference of the workpiece to be welded, so as to instruct the laser welding execution module to perform automatic welding; in this way, for different workpieces to be welded, it realizes the automatic measurement of the weld seam width and the pre-welding weld seam step difference, and automatically matches the welding process parameters, reducing the time required for manual measurement and judgment, improving the processing efficiency, and combining the above scheme to automatically judge the welding quality after welding, which can further improve the welding work efficiency.

[0037] For example, after automatic welding is completed, welding quality judgment is carried out. If the post-welding weld bead height is unqualified, the intelligent control module 3 can match the corresponding process information to control the laser welding execution module to repair weld the weld seam so that the post-welding weld bead height is qualified. In this way, the rapid judgment of the weld seam quality can be completed, and the repair welding measures can be taken for potential defect points in time to ensure the processing reliability.

[0038] In addition, the database storage module is mainly used to store welding process information such as laser power, welding speed, oscillation mode, oscillation frequency, etc.

[0039] In the exemplary embodiment, the preset threshold may further include the center position of the weld seam trajectory; the weld seam information may further include the center position of the weld seam analyzed from the interference spectrum of the weld seam morphology; the intelligent control module 3 is further used to determine the trajectory deviation value based on the center position of the weld seam and the center position of the weld seam trajectory and output a second control signal to the laser welding execution module, where the second control signal is used to instruct the laser welding execution module to realize the welding trajectory offset.

[0040] Specifically, after the intelligent control module 3 compares the weld center position with the weld track center position, the track deviation value can be obtained, and the track deviation value is converted into an analog signal and output to the laser welding execution module to control the laser welding execution module to achieve track offset, realizing the functions of pre-welding position finding and in-welding tracking for conventional welds or long-distance narrow welds. It has strong versatility and can adapt to complex parts and jigs of different shapes.

[0041] Reference Figure 1 , in an exemplary embodiment, the laser welding execution module may include a laser welding head 41 and an actuator 42. The laser welding head 41 is connected to the detection module; the actuator 42 is connected to the laser welding head 41, and the actuator 42 is electrically connected to the intelligent control module 3; wherein, the actuator 42 is used to drive the laser welding head 41 to perform welding.

[0042] Specifically, the laser welding head 41 may be a swinging galvanometer welding laser head, and the actuator 42 may be a six-axis robot. The laser welding head 41 is connected to the actuator 42 through a mounting flange, so that the actuator 42 can drive the laser welding head 41 to perform welding operations.

[0043] Reference Figure 1 With Figure 2 , in an exemplary embodiment, the detection module may include a light source 11, an optical detection module 12, and an optical measurement module 13. The outer periphery of the optical detection module 12 is provided with a first measurement optical fiber interface 121, a second measurement optical fiber interface 125, and a reference optical fiber interface 126. The first measurement optical fiber interface 121 is connected to the light source 11 through a measurement optical fiber 14, and the reference optical fiber interface 126 is connected to the light source 11 through a reference optical fiber 15; the outer periphery of the optical measurement module 13 is provided with a third measurement optical fiber interface 135, and the third measurement optical fiber interface 135 is connected to the second measurement optical fiber interface 125 through a measurement optical fiber 14. Among them, the optical measurement module 13 is connected to the laser welding head 41.

[0044] It should be noted that the light source 11 may be a laser, and the spectral range of the light source 11 is 600 - 700 nm, and the central wavelength is 650 ± 100 nm; the measurement optical fiber 14 and the reference optical fiber 15 are respectively led out from the light source 11 and connected to the optical detection module 12, and the optical detection module 12 and the optical measurement module 13 are also connected through the measurement optical fiber 14.

[0045] Reference Figure 2In an exemplary embodiment, the first measuring light fiber interface 121 is perpendicular to the second measuring light fiber interface 125, and the second measuring light fiber interface 125 is parallel to the reference light fiber interface 126; the optical detection module 12 may include a first cavity 127, a first dichroic mirror 122, a grating 123, a focusing mirror 124 and a camera 128, the first dichroic mirror 122 is arranged in the first cavity 127 and is located in the measuring light path direction of the first measuring light fiber interface 121; in the measuring light path direction of the second measuring light fiber interface 125 and the reference light path direction of the reference light fiber interface 126, the grating 123, the focusing mirror 124 and the camera 128 are arranged inside the first cavity 127 and are away from the first dichroic mirror 122 in sequence; wherein the first measuring light fiber interface 121 and the second measuring light fiber interface 125 are both located on the side of the first dichroic mirror 122 away from the grating 123.

[0046] The camera 128 is a linear array CCD camera.

[0047] It should be noted that the first dichroic mirror 122 and the focusing mirror 124 are respectively installed through a mounting bracket, the mounting bracket has a built-in water cooling channel, and each lens is cooled by circulating cooling water. A first water cooling joint 129 is provided outside the cavity, and the first water cooling joint 129 is connected to a water cooling pipe with an outer diameter of Φ6 through a quick connector, and the focal length of the focusing mirror is 150mm. The measurement range of the linear array CCD camera is 600-700nm, and the sampling frequency is ≥250kHz.

[0048] refer to Figure 3 In an exemplary embodiment, the optical measurement module 13 may include a second cavity 134, a second dichroic mirror 133 and a swinging galvanometer 132, the second cavity 134 is connected to the laser welding head 41, and the third measuring light fiber interface 135 is located on the side of the second cavity 134 away from the laser welding head 41; in the direction of the measuring light path of the third measuring light fiber interface 135, the second cavity 134 is provided with a second dichroic mirror 133 and a swinging galvanometer 132 that are sequentially away from the third measuring light fiber interface 135, wherein the laser welding head 41 is provided with a channel for the light path reflected by the swinging galvanometer 132 to intersect with the workpiece to be welded; a plane reflective lens 131 is provided on one side of the second dichroic mirror 133 in the first direction, and the first direction is perpendicular to the direction of the measuring light path of the third measuring light fiber interface 135.

[0049] The first measuring light fiber interface 121 , the second measuring light fiber interface 125 , the reference light fiber interface 126 and the third measuring light fiber interface 135 are all FC interfaces; wherein the second cavity 134 can be connected to the laser welding head 41 by bolts.

[0050] It should be noted that the second dichroic mirror 133, the swinging galvanometer 132, and the planar reflecting lens 131 are all installed in the second cavity 134 through mounting brackets. The mounting brackets are internally provided with water-cooling channels, and the cooling of each lens is completed by circulating cooling water. A second water-cooling joint 136 is arranged outside the second cavity 134, and the second water-cooling joint 136 is connected to a water-cooling pipe with an outer diameter of Φ6 through a quick-connect joint.

[0051] Specifically, when the system is running, first, the detection laser with a wavelength of 650 nm is emitted by the laser. The detection laser travels along the measurement optical fiber 14 to the optical detection module 12. After being reflected by the first dichroic mirror 122, it reaches the optical measurement module 13 via the measurement optical fiber 14. The detection laser transmitted through the second dichroic mirror 133 passes through the swinging galvanometer 132 and then irradiates the surface of the welding object through the optical path of the laser welding head 41. After reflection, it returns along the original optical path and passes through the first dichroic mirror 122 to reach the grating 123; the detection laser reflected by the second dichroic mirror 133 irradiates the planar reflecting lens 131 and then is reflected, returning along the original optical path and passing through the first dichroic mirror 122 to reach the grating 123. The laser emits a reference laser similar in composition to the detection laser, which reaches the grating 123 via the reference optical fiber 15. The reflected detection laser and the reference laser interfere at the grating 123 and are expanded by wavelength to form an interference light spectrum. After passing through the focusing lens 124, the camera 128 samples to obtain a one-dimensional interference spectrum, which is finally transmitted to the intelligent control module 3 in the form of an interference spectrum.

[0052] Before welding starts, the detection laser scans the surface of the workpiece to be welded. Through the detection module, the interference spectrum of the weld seam morphology is obtained. After the intelligent control module 3 analyzes the interference spectrum, the height information of different positions on the workpiece surface can be obtained, and thus the weld width before welding and the step difference of the weld seam before welding can be obtained, so as to judge whether the assembly is qualified.

[0053] Before welding starts and during the welding process, the detection laser scans the weld seam in real time. Through the detection module, the interference spectrum of the weld seam morphology is obtained. After the intelligent control module 3 analyzes the interference spectrum, the center position of the weld seam is calculated. The center position of the weld seam is compared with the center position of the weld seam trajectory set in the database module 2, and the trajectory deviation value is calculated. After converting the deviation value into an analog signal, it is output to the laser welding execution module, so that the laser welding execution module realizes the offset of the trajectory, realizes the functions of pre-welding position finding and in-welding tracking for conventional weld seams or long-distance narrow weld seams, has strong versatility, and can adapt to complex parts and jigs of different shapes.

[0054] In the existing off-axis tracking system, when the distance between the titanium alloy butt weld and the workpiece exceeds 300 mm, the weld recognition accuracy is > 0.2 mm, which does not meet the welding requirements of complex titanium alloy structural parts. To ensure the recognition accuracy, it can only be installed at the front end of the welding head, occupying a large installation space and being extremely likely to interfere with the parts. If there is interference, the off-axis tracking system can only be removed and the welding is completed by manual teaching, reducing the processing efficiency. As Figure 3 shown, the measurement end, i.e., the optical measurement module 13, is installed on the laser welding head 41, so that the measurement optical path of this system can be coaxial with the welding laser optical path, that is, the detection laser and the welding laser finally both emit from the channels on the laser welding head 41 to the workpiece to be welded and the detection laser and the welding laser overlap with each other. In this way, the detection module occupies less space and can largely avoid the interference of this system with the workpiece to be welded or the clamping fixture of the workpiece to be welded during the welding process. In addition, with the above-mentioned pre-welding position finding and in-welding tracking functions, when the distance from the workpiece is 300 mm - 400 mm, the recognition accuracy can reach 0.1 mm, meeting the welding requirements of complex titanium alloy structural parts.

[0055] During the welding process, the detection laser scans the welding molten pool keyhole in real time, and the interference spectrum of the signal at the bottom of the molten pool keyhole is obtained through the detection module. After the intelligent control module 3 analyzes the interference spectrum, the real-time depth of the molten pool keyhole is calculated. If no effective depth signal is returned, that is, the detection module does not obtain the interference spectrum of the signal at the bottom of the molten pool keyhole, it is judged that the keyhole completely penetrates the workpiece and the weld has penetrated. If an effective depth signal is returned, comparing the depth of the molten pool keyhole with the thickness of the workpiece plate, if the depth of the molten pool keyhole is greater than the thickness of the workpiece plate, it is judged that the weld has penetrated, and if the depth of the molten pool keyhole is less than or equal to the thickness of the workpiece plate, it is judged that the weld has not penetrated, realizing the determination of weld penetration.

[0056] After the welding is completed, the detection laser scans the formed weld, and the interference spectrum of the weld morphology is obtained through the detection module. After the intelligent control module 3 analyzes the interference spectrum, the width of the post-weld seam and the reinforcement of the post-weld seam are obtained, and it is judged that the width of the post-weld seam and the reinforcement of the post-weld seam are unqualified.

[0057] Among them, by utilizing the process characteristics of titanium alloy laser autogenous welding, such as easy reflection of laser and reduction of laser power by welding plasma, and based on conditions such as the weld has penetrated, the width of the post-weld seam is qualified, and the reinforcement of the post-weld seam is qualified, the rapid determination of weld quality can be completed.

[0058] Reference Figures 4 to 8 , on the basis of the above embodiments, the embodiment of the present application further provides a laser autogenous welding method, which is applied to the above laser autogenous welding system and is executed by the intelligent control module 3. The method specifically may include the following steps: S100. Obtain the interference spectrum in real time, where the interference spectrum may include the interference spectrum of the signal at the bottom of the molten pool keyhole and the interference spectrum of the weld morphology; S200. Determine the weld information based on the interference spectrum. The weld information may include the depth of the molten pool keyhole obtained by analyzing the interference spectrum of the signal at the bottom of the molten pool keyhole, and the width and reinforcement of the post-weld seam obtained by analyzing the interference spectrum of the weld appearance. S300. Obtain preset thresholds, where the preset thresholds may include the thickness value of the workpiece to be welded, the range of the width of the post-weld seam, and the range of the reinforcement of the post-weld seam. S400. Judge the quality of the post-weld seam based on the comparison result between the weld information and the preset thresholds.

[0059] Among them, in step S100, the interference spectrum is obtained by the detection laser scanning the workpiece in the detection module.

[0060] In step S300, the preset thresholds can be set in advance in the database module 2 and then obtained by the intelligent control module 3.

[0061] In step S400, it can be quickly determined whether the weld is penetrated by comparing the depth of the molten pool keyhole with the thickness value of the workpiece to be welded. It can be quickly determined whether the width of the post-weld seam is qualified by comparing the width of the post-weld seam with the range of the width of the post-weld seam. It can be quickly determined whether the reinforcement of the post-weld seam is qualified by comparing the reinforcement of the post-weld seam with the range of the reinforcement of the post-weld seam. Thus, based on the judgment of whether the weld is penetrated, whether the width of the post-weld seam is qualified, and whether the reinforcement of the post-weld seam is qualified, the rapid judgment of the weld quality is finally completed, effectively improving the welding work efficiency.

[0062] Reference Figure 5 In an exemplary embodiment, before step S200, the method may further include the following steps: S110. Analyze the width and step difference of the pre-weld seam based on the interference spectrum of the weld appearance. S120. Obtain the range of the width of the pre-weld seam, the range of the step difference of the pre-weld seam, and the welding process information. S130. Compare the width of the pre-weld seam with the range of the width of the pre-weld seam. S140. Compare the step difference of the pre-weld seam with the range of the step difference of the pre-weld seam. S150. If the width of the pre-weld seam is within the range of the width of the pre-weld seam and the step difference of the pre-weld seam is within the range of the step difference of the pre-weld seam, match the corresponding welding process information and output a first control signal to the laser welding execution module, where the first control signal is used to instruct the laser welding execution module to perform welding based on the corresponding welding process information.

[0063] In step S120, the range of the width of the pre-weld seam, the range of the step difference of the pre-weld seam, and the welding process information can all be set in advance in the database module 2 and then obtained by the intelligent control module 3.

[0064] Among them, in step S150, if the pre-weld seam width is within the range of the pre-weld seam width and the pre-weld seam step difference is within the range of the pre-weld seam step difference, the intelligent control module 3 will match the welding process information corresponding to the pre-weld seam width and the pre-weld seam step difference, store it in the first control signal and send it to the laser welding execution module to instruct the laser welding execution module to perform welding according to the corresponding welding process information, complete the automatic matching of the welding process, and realize automatic welding.

[0065] In addition, if the pre-weld seam width is not within the range of the pre-weld seam width or the pre-weld seam step difference is not within the range of the pre-weld seam step difference, the workpiece to be welded is unqualified in assembly. The intelligent control module 3 can give a prompt for re-assembly. The specific prompt method is not limited here. It can give an audible prompt or directly display the relevant information of unqualified assembly on an additional display screen.

[0066] Reference Figure 6 In an exemplary embodiment, before step S200, the method may further include the following steps: S160. Obtain the center position of the weld seam trajectory; S170. Analyze the interference spectrum of the weld seam morphology to obtain the center position of the weld seam; S180. Determine the trajectory deviation value based on the center position of the weld seam trajectory and the center position of the weld seam, and output a second control signal to the laser welding execution module, where the second control signal is used to instruct the laser welding execution module to realize the offset of the welding trajectory.

[0067] Among them, in step S160, the center position of the weld seam trajectory is also stored in the database module 2 and matches the welding process information set in advance in the database module 2. The intelligent control module 3 obtains the center position of the welding trajectory corresponding to the welding process information.

[0068] In step S180, mainly the actuator 42 receives the first control signal to realize the offset of the movement trajectory of the laser welding head 41, ensuring that the center position of the weld seam coincides with the center position of the weld seam trajectory in real time, and realizing pre-weld position finding and in-weld tracking. The actuator 42 is a six-axis robot.

[0069] Reference Figure 7 In an exemplary embodiment, step S200 may specifically include the following steps: S210. Determine whether the interference spectrum of the bottom signal of the molten pool keyhole is obtained; S220. If the interference spectrum of the bottom signal of the molten pool keyhole is not obtained, the post-weld seam has penetrated through the molten pool keyhole, and the depth is a fixed value and greater than the thickness value of the workpiece to be welded; S230. If the interference spectrum of the bottom signal of the molten pool keyhole is obtained, determine the depth of the molten pool keyhole based on the interference spectrum of the bottom signal of the molten pool keyhole, and determine the width of the post-weld seam and the reinforcement height of the post-weld seam based on the interference spectrum of the weld bead morphology.

[0070] Among them, in step S210, during the welding process, when the weld is fully penetrated, the molten pool keyhole may completely penetrate the workpiece, so that the detection module cannot obtain the interference spectrum of the bottom signal of the molten pool keyhole; therefore, it is necessary to judge whether the detection module has obtained the interference spectrum of the bottom signal of the molten pool keyhole.

[0071] In step S220, if the interference spectrum of the bottom signal of the molten pool keyhole is not obtained, a virtual depth of the molten pool keyhole can be created, and this depth is greater than the thickness value of the workpiece to be welded.

[0072] In an exemplary embodiment, step S400 may specifically include the following steps: S410. Judge whether the post-weld seam is fully penetrated based on the comparison result between the depth of the molten pool keyhole and the thickness value of the workpiece to be welded; S420. Judge whether the width of the post-weld seam is qualified based on the comparison result between the width of the post-weld seam and the width range of the post-weld seam; S430. Judge whether the reinforcement height of the post-weld seam is qualified based on the comparison result between the reinforcement height of the weld and the reinforcement height range; S440. If the post-weld seam is fully penetrated, the width of the post-weld seam is qualified, and the reinforcement height of the post-weld seam is qualified, then the quality of the post-weld seam is qualified; S450. If the post-weld seam is not fully penetrated, or the width of the post-weld seam is unqualified, or the reinforcement height of the post-weld seam is unqualified, then the quality of the post-weld seam is unqualified.

[0073] In steps S440 and S450, only when the post-weld seam is fully penetrated, the width of the post-weld seam is qualified, and the reinforcement height of the post-weld seam is qualified, the quality of the post-weld seam is qualified; otherwise, the quality of the post-weld seam is unqualified and repair welding is required.

[0074] Reference Figure 7 , in an exemplary embodiment, step S410 may specifically include the following steps: S411. Compare the depth of the molten pool keyhole with the thickness value of the workpiece to be welded; S412. If the depth of the molten pool keyhole is greater than or equal to the thickness value of the workpiece to be welded, the post-weld seam is fully penetrated; S413. If the depth of the molten pool keyhole is less than the thickness value of the workpiece to be welded, the weld is not fully penetrated.

[0075] Among them, in step 412, when the interference spectrum of the bottom signal of the molten pool keyhole is not obtained, record that the depth of the molten pool keyhole is greater than the thickness value of the workpiece to be welded, that is, the weld is fully penetrated.

[0076] In step S413, if the weld is not fully penetrated, the weld can be repaired to make the weld fully penetrated.

[0077] Reference Figure 8 , in an exemplary embodiment, step S420 may specifically include the following steps: S421. Compare the width of the post-weld seam with the range of the post-weld seam width; S422. If the width of the post-weld seam is within the range of the post-weld seam width, the width of the post-weld seam is qualified; S423. If the width of the post-weld seam is outside the range of the post-weld seam width, the width of the post-weld seam is unqualified.

[0078] Among them, in step S423, if the width of the post-weld seam is unqualified, the weld can be repaired to make the width of the post-weld seam within the range of the post-weld seam width.

[0079] Reference Figure 8 , in an exemplary embodiment, step S430 may specifically include the following steps: S431. Compare the reinforcement height of the weld with the range of the reinforcement height of the weld; S432. If the reinforcement height of the weld is within the range of the reinforcement height of the weld, the reinforcement height of the weld is qualified; S433. If the reinforcement height of the weld is outside the range of the reinforcement height of the weld, the reinforcement height of the weld is unqualified.

[0080] Among them, in step S433, if the reinforcement height of the post-weld is unqualified, the weld can be repaired to make the reinforcement height of the post-weld within the range of the seam width.

[0081] Among them, Figure 8 the characteristic parameters in refer to the width of the post-weld seam and the reinforcement height of the post-weld, the range of the width of the post-weld seam and the range of the reinforcement height of the post-weld; and the width of the post-weld seam corresponds to the range of the width of the post-weld seam, and the reinforcement height of the post-weld corresponds to the range of the reinforcement height of the post-weld.

[0082] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present application by the same token.

Claims

1. A laser self-melting welding system, characterized in that: include: A laser welding execution module, used for welding the workpiece to be welded; A detection module connected to the laser welding execution module, the detection module is used to collect interference spectra in real time, wherein the interference spectra include interference spectra of signals at the bottom of the keyhole of the molten pool and interference spectra of weld morphology; A database module (2) is used to store preset thresholds, wherein the preset thresholds include a plate thickness value of a workpiece to be welded, a weld seam width range after welding, and a weld seam excess height range after welding; An intelligent control module (3) is electrically connected to the detection module, the database module (2) and the laser welding execution module, the intelligent control module (3) being used to analyze the interference spectrum to obtain weld information, and to judge the quality of the weld after welding based on a comparison result between the weld information and the preset threshold value, the weld information comprising a molten pool keyhole depth obtained by analyzing the interference spectrum of the signal at the bottom of the molten pool keyhole, and a weld width and a weld excess height after welding obtained by analyzing the weld morphology interference spectrum.

2. The laser self-melting welding system according to claim 1, characterized in that: The database module (2) is also used to store welding process information, and the preset threshold value also includes a weld seam width range before welding and a weld seam step difference range before welding; The weld information also includes the weld width before welding and the weld step difference before welding obtained by analyzing the weld morphology interference spectrum; The intelligent control module (3) is further used to match the corresponding welding process information based on the comparison result between the pre-weld weld seam width, the pre-weld weld seam step difference and a preset threshold value, and output a first control signal to the laser welding execution module, wherein the first control signal is used to instruct the laser welding execution module to perform welding based on the corresponding welding process information.

3. The laser self-melting welding system according to claim 1, characterized in that: The preset threshold also includes the center position of the weld track; The weld information also includes the weld center position obtained by analyzing the weld morphology interference spectrum; The intelligent control module (3) is further used to determine a trajectory deviation value based on the weld center position and the weld trajectory center position and output a second control signal to the laser welding execution module, wherein the second control signal is used to instruct the laser welding execution module to implement welding trajectory deviation.

4. The laser self-melting welding system according to claim 1, characterized in that: The laser welding execution module comprises: A laser welding head (41), connected to the detection module; An actuator (42) connected to the laser welding head (41), and the actuator (42) is electrically connected to the intelligent control module (3); Wherein, the actuator (42) is used to drive the laser welding head (41) to perform welding.

5. The laser self-melting welding system according to claim 4, characterized in that: The detection module comprises: Light source (11); An optical detection module (12) having a first measuring light fiber interface (121), a second measuring light fiber interface (125), and a reference light fiber interface (126) disposed on its periphery, wherein the first measuring light fiber interface (121) is connected to the light source (11) via a measuring light fiber (14), and the reference light fiber interface (126) is connected to the light source (11) via a reference light fiber (15); An optical measurement module (13) is provided with a third measurement optical fiber interface (135) on its periphery, the third measurement optical fiber interface (135) being connected to the second measurement optical fiber interface (125) via the measurement optical fiber (14), wherein the optical measurement module (13) is connected to the laser welding head (41).

6. The laser self-melting welding system according to claim 5, characterized in that: The first measuring light fiber interface (121) is perpendicular to the second measuring light fiber interface (125), and the second measuring light fiber interface (125) is parallel to the reference light fiber interface (126); the optical detection module (12) comprises: A first cavity (127); A first dichroic mirror (122) is arranged in the first cavity (127) and is located in the direction of the measuring light path of the first measuring light optical fiber interface (121); In the direction of the measuring light path of the second measuring light fiber interface (125) and in the direction of the reference light path of the reference light fiber interface (126), a grating (123), a focusing mirror (124), and a camera (128) are arranged inside the first cavity (127) and are located away from the first dichroic mirror (122) in sequence; The first measuring light fiber interface (121) and the second measuring light fiber interface (125) are both located on a side of the first dichroic mirror (122) facing away from the grating (123).

7. The laser self-melting welding system according to claim 5, characterized in that: The optical measurement module (13) comprises: A second cavity (134) connected to the laser welding head (41), the third measuring light fiber interface (135) being located on a side of the second cavity (134) facing away from the laser welding head (41); In the direction of the measuring light path of the third measuring light fiber interface (135), a second dichroic mirror (133) and an oscillating galvanometer (132) are arranged inside the second cavity (134) and are located away from the third measuring light fiber interface (135) in sequence, wherein a channel is arranged on the laser welding head (41) so that the light path reflected by the oscillating galvanometer (132) intersects with a workpiece to be welded; A plane reflective lens (131) is provided on one side of the second dichroic mirror (133) in a first direction, and the first direction is perpendicular to the direction of the measuring light path of the third measuring light optical fiber interface (135).

8. A laser self-melting welding method, characterized in that: Applied to the laser self-melting welding system according to any one of claims 1 to 7, the method is executed by an intelligent control module (3), and the method comprises: Acquire interference spectrum in real time, wherein the interference spectrum includes interference spectrum of signal at the bottom of keyhole of molten pool and interference spectrum of weld morphology; Determine the weld information based on the interference spectrum, wherein the weld information includes the molten pool keyhole depth obtained by analyzing the interference spectrum of the molten pool keyhole bottom signal, and the post-weld weld width and post-weld weld excess height obtained by analyzing the weld morphology interference spectrum; Obtaining a preset threshold, wherein the preset threshold includes a plate thickness value of a workpiece to be welded, a weld seam width range after welding, and a weld seam excess height range after welding; The quality of the weld after welding is judged based on the comparison result between the weld information and the preset threshold.

9. The laser self-melting welding method according to claim 8, characterized in that: Before determining the weld information based on the interference spectrum, the method further includes: Determine the weld width and weld step before welding based on the weld morphology interference spectrum analysis; Obtain the weld width range and weld step range before welding and welding process information; Comparing the weld seam width before welding with the weld seam width range before welding; Comparing the pre-weld weld step difference with the pre-weld weld step difference range; If the pre-weld weld width is within the pre-weld weld width range and the pre-weld weld step difference is within the pre-weld weld step difference range, the corresponding welding process information is matched and a first control signal is output to the laser welding execution module, wherein the first control signal is used to instruct the laser welding execution module to perform welding based on the corresponding welding process information.

10. The laser self-melting welding method according to claim 8, characterized in that: Before determining the weld information based on the interference spectrum, the method further includes: Get the center position of the weld trajectory; Determine the center position of the weld based on the weld morphology interference spectrum analysis; A trajectory deviation value is determined based on the weld trajectory center position and the weld center position, and a second control signal is output to the laser welding execution module, wherein the second control signal is used to instruct the laser welding execution module to achieve welding trajectory offset.

11. The laser self-melting welding method according to claim 8, characterized in that: Determining the weld information based on the interference spectrum includes: Determine whether the interference spectrum of the signal at the bottom of the keyhole of the molten pool is obtained; If the interference spectrum of the signal at the bottom of the molten pool keyhole is not obtained, the weld has been fully melted after welding, and the depth of the molten pool keyhole is a fixed value and is less than the thickness of the workpiece to be welded; If the signal interference spectrum of the bottom of the molten pool keyhole is obtained, the depth of the molten pool keyhole is determined based on the signal interference spectrum of the bottom of the molten pool keyhole, and the weld width and residual height after welding are determined based on the weld morphology interference spectrum.

12. The laser self-melting welding method according to claim 8, characterized in that: The judging of the weld quality after welding based on the comparison result between the weld information and the preset threshold value includes: Based on the comparison result between the keyhole depth of the molten pool and the plate thickness value of the workpiece to be welded, it is judged whether the weld is fully melted after welding; Determining whether the post-weld weld seam width is qualified based on a comparison result between the post-weld weld seam width and the post-weld weld seam width range; Based on the comparison result between the weld excess and the weld excess range, judging whether the weld excess after welding is qualified; If the weld seam after welding has been fully melted, the weld seam width after welding is qualified, and the weld seam excess height after welding is qualified, the quality of the weld seam after welding is qualified; If the weld after welding is not fully melted or the weld width after welding is unqualified or the weld excess height after welding is unqualified, the quality of the weld after welding is unqualified.

13. The laser self-melting welding method according to claim 12, characterized in that: The step of judging whether the weld is fully penetrated after welding based on the comparison result between the molten pool keyhole depth and the plate thickness value of the workpiece to be welded comprises: Comparing the molten pool keyhole depth with the plate thickness of the workpiece to be welded; If the keyhole depth of the molten pool is greater than or equal to the thickness of the workpiece to be welded, the weld has been fully melted after welding; If the keyhole depth of the molten pool is less than the thickness of the workpiece to be welded, the weld is not fully melted.

14. The laser self-melting welding method according to claim 12, characterized in that: The judging whether the post-weld weld seam width is qualified based on the comparison result between the post-weld weld seam width and the post-weld weld seam width range comprises: Comparing the post-weld weld seam width with the post-weld weld seam width range; If the post-weld weld seam width is within the post-weld weld seam width range, the post-weld weld seam width is qualified; If the post-weld weld seam width is outside the post-weld weld seam width range, the post-weld weld seam width is unqualified.

15. The laser self-melting welding method according to claim 12, characterized in that: The judging whether the weld excess after welding is qualified based on the comparison result between the weld excess and the weld excess range includes: Comparing the weld excess height with the weld excess height range; If the weld bead height is within the weld bead height range, the weld bead height is qualified; If the weld bead height is outside the weld bead height range, the weld bead height is unqualified.

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