Composite welding mechanism and control method thereof

Abstract

The invention relates to the technical field of hybrid welding, and discloses a hybrid welding mechanism and a control method thereof.The hybrid welding mechanism comprises a collecting module, a control module, a laser welding head and a welding torsion.The adjusting method is applied to the control module and comprises the steps that a collecting result of the collecting module is obtained, current welding parameters and target workpiece parameters of the hybrid welding mechanism are determined according to the collection result; target welding parameters of the target workpiece are determined according to the target workpiece parameters; and the composite welding mechanism is adjusted according to the target welding parameters, and the target workpiece parameters are subjected to interface display so that a user can conduct welding operation on the target workpiece according to the target workpiece parameters. When the target workpiece changes, the welding parameters suitable for welding of the target workpiece can be determined in time, the welding parameters of the target workpiece can be adjusted in time, and the problem that the welding effect is poor due to subjective factors existing in manual adjustment is solved.

Description

Technical Field

[0001] The present application relates to the technical field of composite welding, and in particular to a composite welding mechanism and a control method thereof. Background Art

[0002] Laser-arc hybrid welding is currently a key development area for thick plate welding, primarily targeting the shipbuilding and steel structure industries. The superiority of laser-arc hybrid welding is crucially influenced by the coupling of two heat sources (laser and arc). Steel structure and shipbuilding welding processes require stringent welding parameters for the target workpiece. Current challenges with this technology include: first, the difficulty in adjusting the process mechanism, making it impossible to directly quantify the standard; second, the inability to quickly determine the change in welding parameters after changing plate thickness; and third, the manual adjustment of the coupling mechanism hinders mass production. Summary of the Invention

[0003] In view of this, an embodiment of the present application provides a composite welding mechanism and a control method thereof, which can effectively solve the problems of being unable to determine welding parameters in a timely manner and difficulty in adjusting the mechanism.

[0004] In a first aspect, an embodiment of the present application provides a control method for a composite welding mechanism, wherein the composite welding mechanism includes an acquisition module and a control module. The control method is applied to the control module, and the control method includes: Acquiring the acquisition results of the acquisition module to determine the current welding parameters and target workpiece parameters of the composite welding mechanism according to the acquisition results; determining target welding parameters of the target workpiece according to the target workpiece parameters; The hybrid welding mechanism is adjusted according to the target welding parameters, and the target workpiece parameters are displayed on an interface so that a user can perform welding operations on the target workpiece according to the target workpiece parameters.

[0005] In a first possible embodiment of the first aspect, the hybrid welding mechanism further includes a laser welding head and a welding gun, the acquisition module includes a laser rangefinder, the current welding parameters include a laser welding distance and a welding gun angle, the control module includes a multi-interface data acquisition card, and obtaining acquisition results from the acquisition module to determine the current welding parameters and target workpiece parameters of the hybrid welding mechanism based on the acquisition results includes: Acquiring the measurement result of the laser welding distance by the laser rangefinder through the multi-interface data acquisition card; Determining the height of the welding gun according to the calibrated positions of the laser welding head and the welding gun, and the laser welding distance; The current welding gun angle is calculated according to the welding gun height and the welding gun length.

[0006] In a second possible embodiment of the first aspect, the acquisition module further includes a CCD camera and a 3D structured light camera, the current welding parameters further include filament spacing, and the target workpiece parameters include plate thickness, and obtaining acquisition results from the acquisition module to determine the current welding parameters and target workpiece parameters of the hybrid welding mechanism based on the acquisition results further includes: Acquiring the welding area image captured by the CCD camera through the multi-interface data acquisition card, extracting the position information of the welding wire and the laser spot according to the welding area image, and determining the current wire spacing; The measurement result of the thickness of the plate by the 3D structured light camera is obtained through the multi-interface data acquisition card.

[0007] In a third possible embodiment of the first aspect, determining target welding parameters of the target workpiece according to the target workpiece parameters includes: The target welding parameters corresponding to the target workpiece material and the plate thickness are queried based on a process library, wherein the process library includes target welding parameters corresponding to different workpiece materials and different plate thicknesses.

[0008] In a fourth possible embodiment of the first aspect, the hybrid welding mechanism further includes an electric adjustment mechanism and a welding wire, the electric adjustment mechanism is connected to a welding gun, the welding wire is arranged parallel to the welding gun, the target welding parameters include a target light-wire spacing, and adjusting the hybrid welding mechanism according to the target welding parameters includes: Calculating an adjustment amount of the optical filament spacing according to the current optical filament spacing and the target optical filament spacing; The welding gun is moved horizontally by the electric adjustment mechanism by the light-wire spacing adjustment amount to adjust the positional relationship between the welding wire and the laser spot until the light-wire spacing reaches the target light-wire spacing.

[0009] In a fifth possible embodiment of the first aspect, the target welding parameters further include a target welding gun angle, and the adjusting the hybrid welding mechanism according to the target welding parameters further includes: Calculating a welding gun angle adjustment amount according to a current welding gun angle and the target welding gun angle; The electric adjustment mechanism is controlled to rotate the welding gun by the welding gun angle adjustment amount so that the welding gun angle reaches the target welding gun angle.

[0010] In a sixth possible embodiment of the first aspect, the target welding parameters further include a target focal position, a target arc current, and a target arc voltage, and the adjusting the hybrid welding mechanism according to the target welding parameters further includes: adjusting the height of the laser welding head according to the target focal position to adjust the focal position of the hybrid welding mechanism to the target focal position; The height of the welding gun is adjusted by the electric adjustment mechanism so as to adjust the arc current and arc voltage to the target arc current and target arc voltage respectively while maintaining the calibration positions of the laser welding head and the welding gun, and the welding gun angle and the target welding gun angle consistent.

[0011] In a seventh possible embodiment of the first aspect, the hybrid welding mechanism further includes a laser generator, the target welding parameters further include a target laser power, and adjusting the hybrid welding mechanism according to the target welding parameters includes: The power of the laser generator is adjusted to the target laser power.

[0012] In an eighth possible embodiment of the first aspect, the target welding parameters further include a target shielding gas type and a target welding speed, and the method further includes: The target shielding gas type and the target welding speed are fed back to a user, so that the user sets the shielding gas type and the welding speed as the target shielding gas type and the target welding speed, respectively.

[0013] In a second aspect, an embodiment of the present application provides a composite welding mechanism, comprising: an acquisition module and a control module, wherein the control module is configured to execute the control method of the composite welding mechanism described above.

[0014] The embodiments of the present application have the following beneficial effects: This embodiment provides a control method for a composite welding mechanism. The composite welding mechanism includes an acquisition module and a control module. A control method is applied to the control module. The control method includes: obtaining acquisition results from the acquisition module to determine the current welding parameters of the composite welding mechanism and target workpiece parameters based on the acquisition results; determining target welding parameters for the target workpiece based on the target workpiece parameters; adjusting the composite welding mechanism based on the target welding parameters, and displaying the target workpiece parameters on an interface so that a user can perform welding operations on the target workpiece based on the target workpiece parameters. This application can promptly determine the target welding parameters for achieving optimal welding of the target workpiece when the target workpiece is replaced, and promptly adjust the operating parameters of the composite welding mechanism, thereby reducing the problem of poor welding results caused by subjective factors in manual adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A first structural schematic diagram of the composite welding mechanism according to an embodiment of the present application is shown; Figure 2 A second structural schematic diagram of the composite welding mechanism according to an embodiment of the present application is shown; Figure 3 A first flow chart of a control method for a composite welding mechanism according to an embodiment of the present application is shown; Figure 4 A second flow chart of the control method of the composite welding mechanism according to an embodiment of the present application is shown.

[0017] Description of main component symbols: 100-composite welding mechanism; 110-acquisition module; 120-control module; 130-laser welding head; 140-welding gun; 150-electric adjustment mechanism; 151-DD motor; 152-slide module. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0019] The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but rather merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0020] Hereinafter, the terms "including", "having" and their cognates used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the aforementioned items, and should not be understood as excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the aforementioned items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the aforementioned items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and should not be understood as indicating or implying relative importance.

[0021] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present application.

[0022] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0023] First, the embodiment of the present application provides a composite welding mechanism 100. Please refer to Figure 1 , which is a structural block diagram of a composite welding mechanism 100 provided in an embodiment of the present application. The composite welding mechanism 100 includes a collection module 110 and a control module 120 .

[0024] In this embodiment of the present application, the acquisition module 110 is used to collect the current welding parameters of the hybrid welding mechanism and the target workpiece parameters. The control module 120 is used to obtain the acquisition results of the acquisition module and determine the current welding parameters of the hybrid welding mechanism and the target workpiece parameters based on the acquisition results. The control module 120 is also used to determine the target welding parameters of the target workpiece based on the target workpiece parameters; adjust the hybrid welding mechanism based on the target welding parameters; and provide feedback to the user on the target workpiece parameters so that the user can perform welding operations on the target workpiece based on the target workpiece parameters.

[0025] In one embodiment, if Figure 2 As shown, the hybrid welding mechanism 100 also includes a laser welding head 130 and a welding gun 140. The laser welding head 130 transmits a high-energy laser beam via optical fiber, producing an extremely small focused spot, enabling rapid localized melting of the target workpiece. The welding gun 140 (such as a MAG welding gun) generates a relatively dispersed heat input through an arc, expanding the molten pool. The combination of these two methods can simultaneously meet the requirements of deep penetration welding and weld width control. The high-energy laser beam can reach tens of kilowatts, and the focused spot diameter ranges from 0.1 to 1 mm.

[0026] In one embodiment, the acquisition module 110 includes a laser rangefinder, a CCD (Charge-Coupled Device) camera, and a 3D structured light camera. The laser rangefinder, CCD camera, and 3D structured light camera can be installed anywhere in the hybrid welding mechanism 100 where welding parameters can be acquired, without limitation.

[0027] For example, a laser rangefinder can be placed on one side of the laser welding head 130 to measure the laser welding distance, which is the distance between the laser welding head 130 and the target workpiece. A CCD camera can be placed above the target workpiece to capture an image of the weld area, which contains key data such as the laser spot position and the welding wire position. A 3D structured light camera can be placed above and below the target workpiece to measure the thickness of the plate.

[0028] In one embodiment, the control module 120 includes a multi-interface data acquisition card, which includes multiple data interfaces, each of which is respectively connected to a laser rangefinder, a CCD camera, and a 3D structured light camera. The control module 120 collects and processes the collection results of the collection module 110 through the multi-interface data acquisition card.

[0029] In another embodiment, the hybrid welding mechanism 100 further includes an electric adjustment mechanism 150 , which is connected to the welding gun 140 . The control module 120 drives the electric adjustment mechanism 150 to adjust the welding gun angle, welding gun height and wire spacing according to target welding parameters.

[0030] In the embodiment of the present application, the control module 120 may include a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program, thereby enabling the control module 120 to execute the above-mentioned control method of the composite welding mechanism.

[0031] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0032] The memory may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM). The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0033] For ease of understanding, the following examples of this application will be described in Figure 1 、 Figure 2 Taking the composite welding mechanism 100 shown in FIG. as an example, Figure 1 、 Figure 2 , the control method of the composite welding mechanism provided in the embodiment of the present application is explained.

[0034] Figure 3 A flow chart of a control method for a composite welding mechanism according to an embodiment of the present application is shown. Exemplarily, the control method for a composite welding mechanism includes the following steps: S210 , acquiring the acquisition results of the acquisition module 110 to determine the current welding parameters and target workpiece parameters of the hybrid welding mechanism 100 according to the acquisition results.

[0035] In one embodiment, if Figure 4 As shown, the current welding parameters include laser welding distance and welding gun angle. This application obtains the laser welding distance and welding gun angle by the following steps: S211, collecting the measurement result of the laser welding distance by the laser rangefinder through the multi-interface data acquisition card.

[0036] In one embodiment, a laser rangefinder is used to measure the laser welding distance, which is the distance between the laser welding head 130 and the workpiece surface in the horizontal direction. When the laser rangefinder and the lowest point of the laser welding head 130 are on the same horizontal line, the laser rangefinder emits a laser pulse and receives the light signal reflected from the target workpiece. By measuring the round-trip time of the laser, the distance between the laser welding head 130 and the target workpiece is calculated to obtain the laser welding distance. The control module 120 obtains the laser welding distance via a multi-interface data acquisition card.

[0037] S212 , determining the height of the welding gun according to the calibrated positions of the laser welding head 130 and the welding gun 140 , and the laser welding distance.

[0038] In one embodiment, the welding gun height = laser welding distance + calibration position. The present application can pre-calibrate the calibration positions of the laser welding head 130 and the welding gun 140. The present application can use a CCD camera to capture the position image of the laser welding head 130 and the welding gun 140. The control module 120 can obtain the position image of the laser welding head 130 and the welding gun 140, and use image processing algorithms (such as edge detection, threshold segmentation, etc.) to extract the position of the bottom of the laser welding head 130 and the top of the welding gun 140 from the image, and determine the pixel coordinates of the bottom of the laser welding head 130 and the top of the welding gun 140. Determine the actual size of the image, that is, the actual width and height of the area in the image, and obtain the resolution of the image, that is, the width and height of the image. Take the pixel coordinates of the top of the laser welding head 130 ( ) as an example, the actual coordinates of the bottom of the laser welding head 130 ( , ) can be converted by the formula: , .in, is the image width, is the actual width of the region in the image, is the image height, is the actual height of the area in the image.

[0039] Similarly, the actual coordinates of the top of the welding gun 140 can also be determined. Based on the actual coordinates of the bottom of the laser welding head 130 and the actual coordinates of the top of the welding gun 140, the vertical distance between the laser welding head 130 and the welding gun 140 can be obtained, that is, the calibrated positions of the laser welding head 130 and the welding gun 140. If the laser welding head 130 is higher than the welding gun 140, the calibrated position is negative; if the laser welding head 130 is lower than the welding gun 140, the calibrated position is positive.

[0040] S213 , calculating the current welding gun angle according to the welding gun height and the length of the welding gun 140 .

[0041] In one embodiment, the control module 120 can calculate the current welding gun angle based on the welding gun height and the known length of the welding gun 140 using a sine formula of a trigonometric function.

[0042] In one embodiment, the current welding parameters also include the current inter-wire spacing, and the target workpiece parameters include the plate thickness. The inter-wire spacing refers to the distance between the welding wire located on the workpiece surface and the center of the laser spot. The control module 120 uses a multi-interface data acquisition card to acquire an image of the weld area captured by a CCD camera, extract the positional information between the welding wire and the laser spot based on the weld area image, and determine the current inter-wire spacing.

[0043] In one embodiment, the control module 120 can extract the center position of the laser spot and the position of the welding wire from the weld area image. The laser spot appears as a high-brightness circular area in the weld area image. The center position of the laser spot can be extracted and its pixel coordinates determined. The welding wire appears as a long, thin line or shadow in the weld area image. The outline of the welding wire can be extracted and its linear equation determined. The distance perpendicular to the linear equation can then be determined. The current inter-wire spacing is determined using a conversion formula from actual coordinates.

[0044] In one embodiment, the control module 120 obtains the plate thickness measurement results from a 3D structured light camera via a multi-interface data acquisition card. A 3D structured light camera consists of a projector and one or more cameras. The projector projects a specific structured light pattern (such as stripes or dots) onto the surface of the object being measured, while the camera captures images of the target workpiece surface from different angles. Because the height of the target workpiece surface varies, the projected structured light pattern deforms, and the position and shape of the structured light stripes captured by the camera on the target workpiece also change accordingly. By analyzing these deformations and utilizing the principle of triangulation, the depth information of each point on the object surface can be calculated, thereby achieving three-dimensional reconstruction. For example, it is known that the thickness of the standard workpiece is a, the upper 3D structured light camera measures the distance from the upper surface of the target workpiece to be d1, and the lower 3D structured light camera measures the distance from the lower surface of the target workpiece to be d2. When the thickness of the target workpiece becomes a', the upper 3D structured light camera measures the distance from the upper surface of the target workpiece to be d1', and the lower 3D structured light camera measures the distance from the lower surface of the target workpiece to be d2'. Then: a'=a+(d1-d1')+(d2-d2'), which is the theoretical basis for dual-head thickness measurement.

[0045] S220, determining target welding parameters of the target workpiece according to the target workpiece parameters.

[0046] In one embodiment, a process library is used to query target welding parameters corresponding to a target workpiece material and plate thickness. The process library includes target welding parameters corresponding to different workpiece materials and plate thicknesses. For example, the following table shows target welding parameters corresponding to different thicknesses of Q235 steel plate, a workpiece material in the process library of this application.

[0047] Table 1: Process library for Q235 steel plate

[0048] It is understood that before welding a target workpiece of known material, this application uses a 3D structured light camera to capture the target workpiece's thickness and searches a known process library for target welding parameters corresponding to the target material and target thickness. The user can obtain the target welding parameters for the target workpiece and set or weld the target workpiece according to the target welding parameters. This application can quickly determine the target welding parameters corresponding to the target workpiece when the target workpiece is replaced, thereby achieving quantification of workpiece welding and adapting to high-standard welding applications such as steel structure and shipbuilding welding processes.

[0049] S230 , adjusting the hybrid welding mechanism 100 according to the target welding parameters, and displaying the target workpiece parameters on an interface, so that the user can perform welding operations on the target workpiece according to the target workpiece parameters.

[0050] Exemplarily, the target welding parameters include a target welding gun angle. The present application calculates a welding gun angle adjustment amount based on the current welding gun angle and the target welding gun angle; and controls the electric adjustment mechanism 150 to rotate the welding gun 140 by the welding gun angle adjustment amount so that the welding gun angle reaches the target welding gun angle.

[0051] In one embodiment, the electric adjustment mechanism 150 includes a direct drive motor (DD) 151. The control module 120 controls the rotation of the welding gun 140 via the DD motor 151 to adjust the welding gun angle. For example, if the current welding gun angle is 40° and the target welding gun angle is 45°, and calculations indicate that the welding gun 140 needs to be rotated 5° clockwise, the DD motor 151 will drive the welding gun 140 to rotate 5° to reach the target welding gun angle of 45°.

[0052] For example, in laser arc hybrid welding, the welding wire is arranged parallel to the welding torch 140 and is delivered to the welding area through the welding torch 140. The target welding parameters include the target inter-filament spacing. The present application calculates the inter-filament spacing adjustment amount based on the current inter-filament spacing and the target inter-filament spacing. The electric adjustment mechanism 150 moves the welding torch 140 horizontally by the inter-filament spacing adjustment amount to adjust the positional relationship between the welding wire and the laser spot until the inter-filament spacing reaches the target inter-filament spacing.

[0053] In one embodiment, the electric adjustment mechanism 150 includes a slide module 152. The control module 120 drives the slide module 152 via a fully closed-loop servo motor to adjust the horizontal and vertical movement of the welding gun 140 to adjust the filament spacing. For example, if the target filament spacing is determined to be 6 mm based on the process library and the current filament spacing is 4 mm, a 2 mm filament spacing difference is determined. The horizontal filament spacing adjustment is calculated using the sine formula of trigonometric functions based on the welding gun angle and the filament spacing difference. The servo motor receives a command signal from the control module 120. The rotation of the servo motor drives the slide module 152 along a linear guide rail, moving the welding gun 140 horizontally away from the laser spot, achieving the target filament spacing of 6 mm.

[0054] Exemplarily, the target welding parameters also include a target focal position, a target arc current, and a target arc voltage. In the hybrid welding mechanism 100, the calibrated positions of the laser welding head 130 and the welding gun 140 are fixed. If the height of the laser welding head 130 is adjusted, the welding gun 140 also needs to be adjusted to the same height as the laser welding head 130.

[0055] In one embodiment, before welding a target workpiece, the present application pre-calibrates the focal position as the focus calibration position. The adjusted height of the laser welding head 130 is determined based on the target focal position and the focus calibration position. The control module 120 adjusts the height of the laser welding head 130 via a servo motor according to the adjusted height until the target focal position is reached. For example, if the focus calibration position is 0 mm and the target focal position is -10 mm, the laser welding head 130 is controlled to move downward by 10 mm.

[0056] In another embodiment, the slide module 152 can also drive the welding gun 140 to move vertically to adjust the welding gun height. After adjusting the height of the laser welding head, since the calibrated positions of the laser welding head 130 and welding gun 140 are fixed, the height of the welding gun 140 is adjusted by the electric adjustment mechanism 150 based on the calibrated positions of the laser welding head 130 and welding gun 140 to adjust the arc current and arc voltage to the target arc current and target arc voltage, respectively.

[0057] In one embodiment, the present application uses a fully closed-loop servo motor and slide module 152 to control the movement of the welding gun 140 to the same height as the laser welding head 130. The arc voltage and arc current depend on the height of the welding gun 140 from the target workpiece. The present application can adjust the arc current and arc voltage to the target arc current and target arc voltage, respectively, while maintaining the calibration position of the laser welding head 130 and the welding gun, and the welding gun angle and target welding gun angle consistent.

[0058] In one embodiment, the composite welding mechanism 100 further includes a laser generator, and the target welding parameters further include a target laser power. This application sets the laser power of the laser generator to the target laser power according to the target laser power, and adjusts the power of the laser generator to the target laser power.

[0059] Exemplarily, the target welding parameters also include a target shielding gas type and a target welding speed. The present application feeds back the target shielding gas type and the target welding speed to the user so that the user sets the shielding gas type and the welding speed as the target shielding gas type and the target welding speed, respectively.

[0060] In one embodiment, the hybrid welding mechanism 100 may be operated by a robot, and the welding speed may be set to a target welding speed, so that the robot operates the hybrid welding mechanism 100 to weld a target workpiece at the target welding speed.

[0061] The present invention can directly blow the target shielding gas type to the welding area through the nozzle in the center of the welding head. The target shielding gas can prevent the welding area from forming oxides due to the reaction between the high temperature and oxygen in the air.

[0062] The present application can directly determine the required target welding parameters according to the thickness and material of the target workpiece, so as to set appropriate welding parameters before welding the target workpiece to improve the welding effect and quality. The present application also adjusts the welding gun 140 and the welding wire according to the required target welding gun angle and target light wire spacing through the electric adjustment mechanism 150. The accuracy of adjusting the welding gun angle in the present application is ±0.5 arc, and the welding gun angle adjustment range is 30~60°; the accuracy of light wire spacing adjustment is 0.05mm, the light wire spacing adjustment range is 0~10mm, and the welding gun height adjustment range is -20~+20mm. The above adjustment range can meet the requirements of welding plates with a thickness of 10~20mm.

[0063] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or flowchart, and the combination of boxes in the structure diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0064] In addition, the functional modules or units in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0065] If a function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a smart phone, personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of this application.

[0066] The above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the protection scope of the present application.

Claims

1. A control method for a composite welding mechanism, characterized in that: The composite welding mechanism includes an acquisition module and a control module. The control method is applied to the control module. The control method includes: Acquiring the acquisition results of the acquisition module to determine the current welding parameters and target workpiece parameters of the composite welding mechanism according to the acquisition results; determining target welding parameters of the target workpiece according to the target workpiece parameters; The hybrid welding mechanism is adjusted according to the target welding parameters, and the target workpiece parameters are displayed on an interface so that a user can perform welding operations on the target workpiece according to the target workpiece parameters.

2. The control method of the composite welding mechanism according to claim 1, characterized in that: The hybrid welding mechanism further includes a laser welding head and a welding gun, the acquisition module includes a laser rangefinder, the current welding parameters include the laser welding distance and the welding gun angle, the control module includes a multi-interface data acquisition card, and the acquisition results of the acquisition module are obtained to determine the current welding parameters of the hybrid welding mechanism and the target workpiece parameters according to the acquisition results, including: Acquiring the measurement result of the laser welding distance by the laser rangefinder through the multi-interface data acquisition card; Determining the height of the welding gun according to the calibrated positions of the laser welding head and the welding gun, and the laser welding distance; The current welding gun angle is calculated according to the welding gun height and the welding gun length.

3. The control method of the composite welding mechanism according to claim 2, characterized in that: The acquisition module further includes a CCD camera and a 3D structured light camera, the current welding parameters further include the filament spacing, and the target workpiece parameters include the plate thickness. The acquisition results of the acquisition module are obtained to determine the current welding parameters and target workpiece parameters of the hybrid welding mechanism based on the acquisition results, and further include: Acquiring the welding area image captured by the CCD camera through the multi-interface data acquisition card, extracting the position information of the welding wire and the laser spot according to the welding area image, and determining the current wire spacing; The measurement result of the thickness of the plate by the 3D structured light camera is obtained through the multi-interface data acquisition card.

4. The control method of the composite welding mechanism according to claim 3, characterized in that: Determining target welding parameters of the target workpiece according to the target workpiece parameters includes: The target welding parameters corresponding to the target workpiece material and the plate thickness are queried based on a process library, wherein the process library includes target welding parameters corresponding to different workpiece materials and different plate thicknesses.

5. The control method of the composite welding mechanism according to claim 1, characterized in that: The hybrid welding mechanism further includes an electric adjustment mechanism and a welding wire, the electric adjustment mechanism is connected to a welding gun, the welding wire is arranged in parallel on the welding gun, the target welding parameters include a target wire spacing, and adjusting the hybrid welding mechanism according to the target welding parameters includes: Calculating an adjustment amount of the optical filament spacing according to the current optical filament spacing and the target optical filament spacing; The welding gun is moved horizontally by the electric adjustment mechanism by the light-wire spacing adjustment amount to adjust the positional relationship between the welding wire and the laser spot until the light-wire spacing reaches the target light-wire spacing.

6. The control method of the composite welding mechanism according to claim 5, characterized in that: The target welding parameters also include a target welding gun angle, and the adjusting the hybrid welding mechanism according to the target welding parameters further includes: Calculating a welding gun angle adjustment amount according to a current welding gun angle and the target welding gun angle; The electric adjustment mechanism is controlled to rotate the welding gun by the welding gun angle adjustment amount so that the welding gun angle reaches the target welding gun angle.

7. The control method of the composite welding mechanism according to claim 6, characterized in that: The target welding parameters further include a target focus position, a target arc current, and a target arc voltage. The adjusting the hybrid welding mechanism according to the target welding parameters further includes: adjusting the height of the laser welding head according to the target focal position to adjust the focal position of the hybrid welding mechanism to the target focal position; The height of the welding gun is adjusted by the electric adjustment mechanism so as to adjust the arc current and arc voltage to the target arc current and target arc voltage respectively while maintaining the calibration positions of the laser welding head and the welding gun, and the welding gun angle and the target welding gun angle consistent.

8. The control method of the hybrid welding mechanism according to claim 1, characterized in that: The hybrid welding mechanism further includes a laser generator, the target welding parameters further include a target laser power, and the adjusting of the hybrid welding mechanism according to the target welding parameters includes: The power of the laser generator is adjusted to the target laser power.

9. The control method of the hybrid welding mechanism according to claim 1, characterized in that: The target welding parameters further include a target shielding gas type and a target welding speed, and the method further includes: The target shielding gas type and the target welding speed are fed back to a user, so that the user sets the shielding gas type and the welding speed as the target shielding gas type and the target welding speed, respectively.

10. A composite welding mechanism, characterized in that: include: An acquisition module and a control module, wherein the control module is used to execute the control method of the composite welding mechanism according to any one of claims 1 to 9.

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