Efficient intelligent pulse welding machine and temperature control system thereof

Abstract

The invention belongs to the technical field of automatic electric arc welding, and relates to a high-efficiency intelligent pulse welding machine and a temperature control system thereof, the high-efficiency intelligent pulse welding machine comprises a main machine and the temperature control system carried on the main machine, a portal frame used for driving the light guide control unit to transversely move is connected to the top of the host corresponding to the light guide control unit, a laser is arranged at the bottom of the light guide control unit, a CCD monitoring module is installed on the side, corresponding to the laser, of the portal frame, and a water cooling module is further installed on the portal frame corresponding to the laser. The input end of the water cooling module is electrically connected with the output end of the temperature control system. According to the method, through parameter dynamic adjustment, multi-mode cooperation and intelligent self-adaptive control, the welding efficiency, quality and stability are remarkably improved, a control method combining open loop and closed loop in the working process of the pulse welding machine is finally provided, and the ideal control effect that the heating process is rapid and stable is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic arc welding, and relates to a high-efficiency intelligent pulse welding machine and its temperature control system. Background Art

[0002] The pulse welding machine is used for welding FPC, PCB, LED display screens, wire harnesses and terminal products. The hot press YLPC-1A works by using pulse heating technology. Therefore, the temperature control is very precise, which makes the hot press often used in places with very strict temperature requirements. When the hot press works, multi-stage temperature rise can be used to effectively control the machine. The temperature of the hot press can be represented by a real-time temperature curve, which is simple and easy to understand, greatly facilitating the work of operators.

[0003] For the existing Chinese invention patent with the publication number CN109262112B, the welding current during the welding process of the pulse welding machine has a current pulse waveform, which successively includes: a median stage, the median being I1, and the pulse width of the median stage being t1; a peak stage, the peak being I2, and the pulse width of the peak stage being t2; and a base stage, the base being I3, and the pulse width of the base stage being t3; where I2>I1>I3, t3>t1>t2; by dividing the pulse waveform control into a median stage, a peak stage and a base stage, the consistency of droplet detachment during the pulse welding process is achieved from the perspectives of energy output control and droplet detachment control. Additionally, high-frequency small-amplitude pulsations are added respectively in the median stage and the base stage, which can make the arc more concentrated and promote the detachment of droplets. Further, pulse welding with a shorter arc length can be achieved.

[0004] The existing technology has the following technical defects:

[0005] The above technical solution still has the characteristics of long response time and large overshoot. When too much heat is generated during the arc welding process, it will cause the material to expand and contract, easily causing deformation of the material, especially for large thin plates, and the deformation problem is more prominent. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that the temperature control of the traditional intelligent pulse welding machine has the characteristics of long response time and large overshoot. When too much heat is generated during the arc welding process, it will cause the material to expand and contract, easily causing deformation of the material, especially for large thin plates, and the deformation problem is more prominent. The present invention overcomes the deficiencies of the prior art and provides a high-efficiency intelligent pulse welding machine and its temperature control system.

[0007] The high-efficiency intelligent pulse welding machine described in the present invention includes a main body. Above the main body, a light guide control unit is provided. Corresponding to the light guide control unit at the top of the main body, a gantry is connected, which is used to drive the light guide control unit to move horizontally. At the bottom of the light guide control unit, a laser is provided. On one side of the laser corresponding to the gantry, a CCD monitoring module is installed. On the gantry corresponding to the laser, a water cooling module is also installed. The input end of the water cooling module is electrically connected to the output end of the temperature control system. Corresponding to the laser at the top of the main body, a working turntable is installed, which is used to drive the welded part to move longitudinally relative to the laser. A computer main body is placed on the main body.

[0008] A Z-axis lifting mechanism is provided between the light guide control unit and the laser. By adjusting the Z-axis lifting mechanism, the lifting of the laser can be achieved. The rough lifting range is between 0 - 90 mm, and the fine lifting range is between 0 - 6 mm.

[0009] The working turntable consists of a rotating table and a two-dimensional worktable. The working turntable is controlled by the computer main body to realize the longitudinal movement and rotation of the welded part.

[0010] The magnification of the CCD monitoring module is greater than 50 times, which is used to accurately position and track the laser and display it. The water cooling module is built with a deionized water circulation system, and the water cooling module uses compression refrigeration technology to achieve refrigeration.

[0011] A temperature control system of a high-efficiency intelligent pulse welding machine includes a temperature control system. The temperature control system includes a single-chip microcomputer. The input end of the single-chip microcomputer is electrically connected to the output end of the control panel, the input end of the single-chip microcomputer is electrically connected to the output end of the display module, the input end of the single-chip microcomputer is electrically connected to the output end of the thermocouple module, which is used for the thermocouple to feedback temperature. The output end of the thermocouple module is electrically connected to the input end of the temperature transmitter. The output end of the temperature transmitter is electrically connected to the input end of the single-chip microcomputer. The output end of the single-chip microcomputer is electrically connected to the input end of the thyristor, which uses current drive. The output end of the thyristor is electrically connected to the input end of the transformer, which is used to output the required voltage. The output end of the transformer is electrically connected to the input end of the thermocouple module. The output end of the single-chip microcomputer is electrically connected to the input end of the water cooling module.

[0012] The laser is equipped with a welding system, and the welding system consists of a pulse parameter dynamic adjustment module, a multi-mode collaborative welding module, and an intelligent path planning and adaptive control module;

[0013] The pulse parameter dynamic adjustment module is used for intelligent adaptation of current and voltage and precise control of energy;

[0014] The current and voltage are intelligently adapted. The pulse welding machine monitors the workpiece material, thickness, and heat input requirements in real time through sensors, and automatically adjusts the peak value, base value, and duty cycle of the pulse current based on the data collected by the sensors, including high-frequency short pulses to control heat input and low-frequency long pulses to enhance the penetration depth. The high-frequency short pulses control heat input to avoid the formation of oxide films;

[0015] The precise energy control realizes precise adjustment of the single-pulse energy density within a specified range by adjusting the pulse width and pulse interval to meet the different requirements of thin plates and thick plates.

[0016] The multi-mode collaborative welding module includes a composite welding mode and double-wire and multi-wire pulses;

[0017] The composite welding mode adopts the MIG-pulse mode to improve the deposition efficiency, and at the same time reduces the porosity through the stirring action of the pulsed arc;

[0018] For the double-wire and multi-wire pulses, in the double-wire welder, the main wire and the auxiliary wire cooperate. The main wire uses high-current pulses, and the auxiliary wire uses small-current continuous.

[0019] The intelligent path planning and adaptive control include three-dimensional welding trajectory optimization and real-time process compensation;

[0020] For the three-dimensional welding trajectory optimization, the optimal welding path is generated based on the CAD model, and the deviation of the complex curved surface weld trajectory is controlled within ±0.1 mm;

[0021] For the real-time process compensation, a laser vision sensor is used to monitor the dynamic state of the molten pool. When the detected weld width deviation exceeds 5%, the system adjusts the pulse parameters within 20 ms.

[0022] In the temperature control system, a mathematical model for actual sampling of the laser is established, and curve fitting is performed based on the sampling data to derive the system mathematical model;

[0023] By analyzing the sampling data, the heating and cooling processes of the laser are similar to the charging and discharging processes of a first-order capacitor. Therefore, it is assumed that the system function of the laser is a first-order RC circuit model, and the expression is:

[0024]

[0025] Therefore, RC = 3.70, and substituting it into the transfer function gives:

[0026]

[0027] Based on the discrete technology, the transfer function obtained by using the z-transform is:

[0028]

[0029] Substitute RC = 3.70 and T i =0.2, we get

[0030] The temperature control system adopts PID control. Since the PID control module adopts linear control technology, it forms a control deviation error(t)=rin(t)-yout(t) based on the given value rn(t) and the actual output yout(t);

[0031] Therefore, the transfer function of PID control technology is:

[0032]

[0033] Where k j is the proportionality coefficient, k i is the integration time constant, k b is the differential time constant, T i is the sampling time.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention significantly improves welding efficiency, quality and stability through dynamic parameter adjustment, multi-mode collaboration and intelligent adaptive control, and demonstrates irreplaceable technical value in the field of high-end manufacturing. Based on the theoretical analysis of the intelligent pulse welding machine and the specific parameters of the processed product, the corresponding processing technology graphics and processing parameters are designed to complete precise product welding; at the same time, based on the continuous digital PID control of pre-compensation, an approximate system model function is established, and the system control is simulated and analyzed, so as to quickly obtain the PID adjustment parameters of the system, and finally a control method combining open-loop and closed-loop is proposed during the operation of the pulse welding machine, so as to achieve an ideal control effect that is both fast and stable during the heating process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is one of the overall structural diagrams of an embodiment of the present invention.

[0037] Figure 2 This is the second schematic diagram of the overall structure of an embodiment of the present invention.

[0038] Figure 3 is a schematic structural diagram of a laser in one embodiment of the present invention,

[0039] Figure 4 is a schematic diagram of a temperature control system in one embodiment of the present invention,

[0040] Figure 5 is a schematic diagram of a power control process in an embodiment of the present invention,

[0041] Figure 6 It is a block diagram of the control module of the welding system in an embodiment of the present invention.

[0042] Figure 7 It is a schematic diagram of the control flow of the welding system in an embodiment of the present invention.

[0043] In the figure: 1. Main host; 2. Laser; 3. CCD monitoring module; 4. Light guiding control unit; 5. Working turntable; 6. Water cooling module; 7. Computer mainframe; 8. Gantry; 9. Temperature control system; 901. Single-chip microcomputer; 902. Control panel; 903. Display module; 904. Temperature transmitter; 905. Thermocouple module; 906. Thyristor; 907. Transformer. Detailed implementation manners

[0044] Embodiment 1

[0045] As Figures 1 to 3As shown, the high-efficiency intelligent pulse welding machine of the present invention includes a host 1, a light guide control unit 4 is arranged above the host 1, a gantry 8 for driving the light guide control unit 4 to move horizontally is connected to the top of the host 1 corresponding to the light guide control unit 4, a laser 2 is arranged at the bottom of the light guide control unit 4, a CCD monitoring module 3 is installed on the gantry 8 corresponding to the laser 2, a water cooling module 6 is also installed on the gantry 8 corresponding to the laser 2, the input end of the water cooling module 6 is electrically connected to the output end of the temperature control system 9, a working turntable 5 is installed on the top of the host 1 corresponding to the laser 2, which is used to drive the weldment to move longitudinally relative to the laser 2, and a computer host is placed on the host 1. 7. The weldment is fixed on the work turntable 5. The welding parameters are input through the computer host 7. The computer host 7 generates the motion trajectory of the light guide control unit 4 according to the weld CAD model and synchronizes it to the servo drive of the gantry 8. The light guide control unit 4 drives the laser 2 to move horizontally. The work turntable 5 adjusts the height of the weldment to achieve alignment between the laser spot and the weld. The CCD monitoring module 3 provides real-time feedback on the weld quality. If spatter or insufficient weld width is detected, the temperature control system 9 automatically fine-tunes the laser power. The water cooling module 6 ensures the temperature stability of the laser 2 throughout the process to avoid thermal power attenuation. After welding is completed, the CCD module captures the weld surface image and evaluates the weld formation quality through image processing algorithms. And generate a test report; a Z-axis lifting mechanism is provided between the light guide control unit 4 and the laser 2. The Z-axis lifting mechanism is composed of a driving device, a transmission component, a guide mechanism and a position feedback device. The driving device adopts a stepper motor, and power transmission is achieved through a worm gear reducer or a screw module. In the transmission component, the gear rack or ball screw converts the rotational motion into linear motion, and the linear bearing or guide rail ensures the smoothness of the motion. The position feedback device such as an encoder or a grating ruler can monitor the lifting height in real time to form a closed-loop control system. The lifting and lowering of the laser 2 is achieved by adjusting the Z-axis lifting mechanism. The coarse adjustment range of the lifting and lowering is between 0-90㎜, and the fine adjustment range of the lifting and lowering is between 0-6㎜ The light guide control unit 4 is composed of a light source module, an optical path transmission and focusing system, and a motion control module. The light source module controls the energy output of the arc through a pulse power supply. The light guide control unit 4 needs to match the dynamic characteristics of the arc. The optical path transmission and focusing system includes multiple optical components such as a reflector and a focusing mirror, which are responsible for transmitting the arc energy to the workpiece surface. The focal length and numerical aperture of the focusing mirror directly affect the spot size and energy density, and need to be adjusted according to the thickness of the welding material and the process requirements. The motion control module realizes two-dimensional and three-dimensional scanning of the light beam through the galvanometer system to ensure the accuracy of the welding trajectory. The high-precision guide rail and encoder are used to feedback the position information of the welding head to form a closed-loop control system.The described working turntable 5 is composed of a rotating table and a two-dimensional worktable. The working turntable 5 is controlled by a computer host 7 to realize the longitudinal movement and rotation of the welded part. The working turntable makes the welded part rotate during the welding process through the rotating platform. The laser 2 usually remains relatively stationary, and the laser 2 is moved uniformly along the welding seam to achieve all-round welding. The magnification of the CCD monitoring module 3 is greater than 50 times, which is used to accurately position and track the laser 2 and display it. The water cooling module 6 has an internal deionized water circulation system. The water cooling module 6 uses a compression refrigeration technology to achieve refrigeration. The deionized water circulation system is composed of a cooling water tank, a water pump, a cooling pipeline, a compressor, a filter and a flow sensor;

[0046] In this embodiment, the technical indicators are as follows: laser wavelength 1.6μm, maximum single pulse energy 60J, laser average power 20 - 200W, laser pulse width continuously adjustable from 1 - 100ms, repetition frequency continuously adjustable from 1 - 90Hz, worktable stroke 200mm×200mm, rotating table speed 0.1 - 9r / m, vertical movement distance of the worktable 370mm, vertical lifting distance of the light pipe 200mm, repeat positioning accuracy ±0.01mm, welding speed 50 - 250mm / min, welding depth 0.1 - 0.8mm, continuous working time ≥8h, and the equipment is equipped with various functions such as manual and foot-operated spot welding.

[0047] Embodiment 2

[0048] As Figures 4 to 7As shown in the figure, the temperature control system of the high-efficiency intelligent pulse welding machine of the present invention includes a temperature control system. The temperature control system 9 includes a single-chip microcomputer 901. The input end of the single-chip microcomputer 901 is electrically connected to the output end of the control panel 902. The input end of the single-chip microcomputer 901 is electrically connected to the output end of the display module 903. The input end of the single-chip microcomputer 901 is electrically connected to the output end of the thermocouple module 905 for thermocouple feedback temperature. The output end of the thermocouple module 905 is electrically connected to the input end of the temperature transmitter 904. The output end of the temperature transmitter 904 is electrically connected to the input end of the single-chip microcomputer 901. The output end of the single-chip microcomputer 901 is electrically connected to the input end of the thyristor 906, which is current-driven. The output end of the thyristor 906 is electrically connected to the input end of the transformer 907 for outputting the required voltage. The output end of the transformer 907 is electrically connected to the input end of the thermocouple module 905. The output end of the single-chip microcomputer 901 is electrically connected to the input end of the water cooling module 6. The laser 2 is equipped with a welding system, and the welding system consists of a pulse parameter dynamic adjustment module, a multi-mode collaborative welding module, and an intelligent path planning and adaptive control module. The pulse parameter dynamic adjustment module is used for intelligent adaptation of current and voltage and precise control of energy. For the intelligent adaptation of current and voltage, the pulse welding machine monitors the workpiece material, thickness, and heat input requirements in real time through sensors, and automatically adjusts the peak value, base value, and duty cycle of the pulse current based on the data collected by the sensors, including high-frequency short pulses to control heat input and low-frequency long pulses to enhance penetration. The high-frequency short pulses control heat input to avoid the formation of oxide films. For the precise control of energy, by adjusting the pulse width and pulse interval, the single-pulse energy density is accurately adjusted within a specified range to meet the different requirements of thin plates and thick plates. The multi-mode collaborative welding module includes a composite welding mode and double-wire and multi-wire pulses. The composite welding mode uses the MIG-pulse mode to improve the deposition efficiency, and at the same time reduces the porosity through the stirring effect of the pulsed arc. For the double-wire and multi-wire pulses, the double-wire welding machine works through the cooperation of the main wire and the auxiliary wire. The main wire uses high-current pulses, and the auxiliary wire uses small-current continuous. The intelligent path planning and adaptive control include three-dimensional welding trajectory optimization and real-time process compensation. For the three-dimensional welding trajectory optimization, the optimal welding path is generated based on the CAD model, and the deviation of the complex curved surface weld trajectory is controlled within ±0.1 mm. For the real-time process compensation, a laser vision sensor is used to monitor the dynamic of the molten pool. When the detected weld width deviation exceeds 5%, the system adjusts the pulse parameters within 20 ms. In the temperature control system 9, a mathematical model for actual sampling of the laser 2 is established, curve fitting is performed based on the sampling data, and the system mathematical model is derived. By analyzing the sampling data, the heating and cooling processes of the laser 2 are similar to the charging and discharging processes of a first-order capacitor. Therefore, it is assumed that the system function of the laser 2 is a first-order RC circuit model, and the expression is:

[0049]

[0050] Therefore, RC = 3.70. Substituting it into the transfer function, we get:

[0051]

[0052] Based on discrete technology, the transfer function is obtained by using z-transform as:

[0053]

[0054] Substituting RC = 3.70 and T i = 0.2, we obtain

[0055] In the temperature control system described above, PID control is adopted. Since the PID control module uses linear control technology, it forms a control deviation error(t) = rin(t) - yout(t) based on the given value rin(t) and the actual output yout(t);

[0056] Therefore, the transfer function of the PID control technology is:

[0057]

[0058] In the formula, k j is the proportional coefficient, k i is the integral time constant, k b is the differential time constant, and T i is the sampling time.

[0059] Working process or principle:

[0060] During use, the current and voltage are intelligently adapted. The pulse welding machine monitors the workpiece material, thickness, and heat input requirements in real time through sensors, and automatically adjusts the peak value, base value, and duty cycle of the pulse current based on the data collected by the sensors, including controlling the heat input with high-frequency short pulses and enhancing the penetration depth with low-frequency long pulses. The high-frequency short pulses control the heat input to avoid the formation of oxide films;

[0061] Precise energy control. By adjusting the pulse width and pulse interval, the single-pulse energy density is accurately regulated within a specified range to meet the different requirements of thin plates and thick plates;

[0062] Composite welding mode. The MIG-pulse mode is adopted to improve the deposition efficiency, and at the same time, the porosity is reduced by the stirring action of the pulsed arc;

[0063] A mathematical model for actual sampling of the laser 2 is established, and curve fitting is performed based on the sampling data to derive the system mathematical model;

[0064] Analyze the sampled data. The heating and cooling processes of laser 2 are similar to the charging and discharging processes of a first-order capacitor. Therefore, assume that the system function of laser 2 is a first-order RC circuit model, and the expression is:

[0065]

[0066] Therefore, RC = 3.70. Substitute it into the transfer function to obtain:

[0067]

[0068] Based on discrete technology, use the z-transform to obtain the transfer function as:

[0069]

[0070] Substitute RC = 3.70 and T i = 0.2 to get

[0071] In the temperature control system 9, PID control is adopted. Since the PID control module uses linear control technology, it forms a control deviation errorn(t)=rin(t)-yout(t) based on the given value rin(t) and the actual output yout(t);

[0072] Therefore, the transfer function of the PID control technology is:

[0073]

[0074] In the formula, k j is the proportional coefficient, k i is the integral time constant, k b is the differential time constant, T i is the sampling time;

[0075] For double-wire and multi-wire pulses, the double-wire welding machine works through the cooperation of the main wire and the auxiliary wire. Among them, the main wire uses large-current pulses, and the auxiliary wire uses small-current continuous;

[0076] For the optimization of the three-dimensional welding trajectory, generate the optimal welding path based on the CAD model, and control the deviation of the complex curved surface weld trajectory within ±0.1 mm;

[0077] For real-time process compensation, use a laser vision sensor to monitor the dynamic state of the molten pool. When the detected weld width deviation exceeds 5%, the system adjusts the pulse parameters within 20 ms.

[0078] In this embodiment, based on the PID control technology, a control deviation error(t)=rin(t)-yout(t) is formed based on the given value rin(t) and the actual output yout(t). According to the PID control law, the form of the transfer function is established as:

[0079]

[0080] where k p is the proportionality coefficient, k i is the integral time constant, k b is the derivative time constant, T i is used as the sampling time;

[0081] The system of the constructed model is simulated using MatLab. When k p = 10 and k i = 0.4, a better control effect is obtained.

[0082] Through parameter dynamic adjustment, multi-mode collaboration, and intelligent adaptive control, the present invention significantly improves the welding efficiency, quality, and stability, demonstrating irreplaceable technical value in the high-end manufacturing field. Based on the theoretical analysis of the intelligent pulse welding machine, corresponding processing technology patterns and processing parameters are designed according to the specific parameters of the processed product to complete precise product welding. At the same time, based on the continuous digital PID control with pre-compensation, an approximate system model function is established, and simulation analysis is carried out on the system control, thereby quickly obtaining the PID adjustment parameters of the system. Finally, a control method combining open-loop and closed-loop is proposed during the working process of the pulse welding machine, achieving the ideal control effect of being both fast and stable during the heating process.

[0083] In the present invention, the description of the direction and relative position relationship of the structure, such as the description of front, back, left, right, up, and down, does not constitute a limitation to the present invention and is only for convenience of description.

Claims

1. An efficient intelligent pulse welding machine, comprising a main body (1), characterized in that: A light guide control unit (4) is arranged above the host (1); a gantry (8) for driving the light guide control unit (4) to move laterally is connected to the top of the host (1) corresponding to the light guide control unit (4); a laser (2) is arranged at the bottom of the light guide control unit (4); a CCD monitoring module (3) is installed on the gantry (8) on a side corresponding to the laser (2); a water cooling module (6) is also installed on the gantry (8) corresponding to the laser (2); a working turntable (5) is installed on the top of the host (1) corresponding to the laser (2) for driving the weldment to move longitudinally relative to the laser (2); and a computer host (7) is placed on the host (1).

2. The high-efficiency intelligent pulse welding machine according to claim 1, characterized in that: A Z-axis lifting mechanism is provided between the light guide control unit (4) and the laser (2). The Z-axis lifting mechanism is adjusted to achieve the lifting of the laser (2). The lifting and lowering coarse adjustment range is between 0-90 mm, and the lifting and lowering fine adjustment range is between 0-6 mm.

3. The high-efficiency intelligent pulse welding machine according to claim 2, characterized in that: The working turntable (5) is composed of a rotating table and a two-dimensional working table. The working turntable (5) is controlled by a computer host (7) to realize the longitudinal movement and rotation of the weldment.

4. The high-efficiency intelligent pulse welding machine according to claim 3, wherein: The CCD monitoring module (3) has a magnification greater than 50 times and is used to accurately locate and track the laser (2) and display it. The water cooling module (6) has a built-in deionized water circulation system, and the water cooling module (6) uses compressor refrigeration technology to achieve refrigeration.

5. A temperature control system for an efficient intelligent pulse welding machine, the efficient intelligent pulse welding machine according to claim 4, characterized in that: The invention comprises a temperature control system (9), wherein the temperature control system (9) comprises a single chip microcomputer (901), an input end of the single chip microcomputer (901) is electrically connected to an output end of a control panel (902), an input end of the single chip microcomputer (901) is electrically connected to an output end of a display module (903), an input end of the single chip microcomputer (901) is electrically connected to an output end of a thermocouple module (905) for thermocouple temperature feedback, and an output end of the thermocouple module (905) is electrically connected to an input end of a temperature transmitter (904). The output end of the temperature transmitter (904) is electrically connected to the input end of the single-chip microcomputer (901), the output end of the single-chip microcomputer (901) is electrically connected to the input end of the thyristor (906), and current driving is adopted. The output end of the thyristor (906) is electrically connected to the input end of the transformer (907) for outputting the required voltage. The output end of the transformer (907) is electrically connected to the input end of the thermocouple module (905), and the output end of the single-chip microcomputer (901) is electrically connected to the input end of the water cooling module (6).

6. The temperature control system of the high-efficiency intelligent pulse welding machine according to claim 5, characterized in that: The laser (2) is equipped with a welding system, which comprises a pulse parameter dynamic adjustment module, a multi-mode collaborative welding module, and an intelligent path planning and adaptive control module; The pulse parameter dynamic adjustment module is used for intelligent adaptation of current and voltage and precise energy control; The current and voltage are intelligently adapted. The pulse welding machine monitors the workpiece material, thickness, and heat input requirements in real time through sensors. Based on the data collected by the sensors, the pulse current peak value, base value, and duty cycle are automatically adjusted. This includes high-frequency short pulses to control heat input and low-frequency long pulses to enhance penetration. High-frequency short pulses to control heat input are used to avoid the formation of oxide films. The described precise energy control realizes precise adjustment of the single-pulse energy density within a specified range by adjusting the pulse width and pulse interval to meet the differentiated requirements of thin plates and thick plates.

7. The temperature control system of the high-efficiency intelligent pulse welding machine according to claim 6, wherein: The described multi-mode collaborative welding module includes a composite welding mode and double-wire and multi-wire pulses; The described composite welding mode uses the MIG-pulse mode to improve the deposition efficiency and reduce the porosity rate through the stirring action of the pulsed arc at the same time; For the described double-wire and multi-wire pulses, in the double-wire welder, the main wire and the auxiliary wire act synergistically, where the main wire uses high-current pulses and the auxiliary wire uses small-current continuous.

8. The temperature control system of the high-efficiency intelligent pulse welding machine according to claim 7, characterized in that: The described intelligent path planning and adaptive control module includes three-dimensional welding trajectory optimization and real-time process compensation; For the described three-dimensional welding trajectory optimization, an optimal welding path is generated based on the CAD model, and the weld trajectory deviation of complex curved surfaces is controlled within ±0.1 mm; For the described real-time process compensation, a laser vision sensor is used to monitor the dynamic molten pool. When the detected weld width deviation exceeds 5%, the system adjusts the pulse parameters within 20 ms.

9. The temperature control system of the high-efficiency intelligent pulse welding machine according to claim 8, characterized in that: In the described temperature control system (9), a mathematical model for actual sampling of the laser (2) is established, and curve fitting is performed based on the sampling data to derive the system mathematical model; By analyzing the sampling data, the heating and cooling processes of the laser (2) are similar to the charging and discharging processes of a first-order capacitor. Therefore, it is assumed that the system function of the laser (2) is a first-order RC circuit model, and the expression is: Therefore, RC = 3.70, and substituting it into the transfer function gives: Based on discrete technology, the transfer function is obtained using the z-transform as: Substitute \(RC = 3.70\) and \(T\) i \(= 0.2\), and we get 10. The temperature control system of the high-efficiency intelligent pulse welding machine according to claim 9, characterized in that: PID control is adopted in the described temperature control system (9). Since the PID control module uses linear control technology, it forms a control deviation error(t) = rin(t) - yout(t) based on the given value rin(t) and the actual output yout(t); Therefore, the PID control technology is expressed as a transfer function of: where k j is the proportionality coefficient, k i is the integral time constant, k b is the derivative time constant, T i is the sampling time.

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