Winding drum spiral laser welding device with welding seam tracking and adjusting mechanism

Abstract

The invention relates to the technical field of laser welding, in particular to a winding drum spiral laser welding device with a welding seam tracking and adjusting mechanism, which comprises a main body unit, a weldment processing unit and a tracking and adjusting welding unit, the main body unit is composed of a fixed rack, overhaul frames detachably arranged on the upper portion and the lower portion of the fixed rack, and a mounting frame fixedly arranged in the fixed rack. A weldment processing unit is flexibly arranged by means of an adjusting movable groove in a mounting frame, three telescopic partition plates distributed at equal angles are matched, the interior of the mounting frame is divided into three processing cavities, the procedures of oil stain cleaning before welding of workpieces, automatic welding of weld joints and welding slag cleaning after welding are achieved, and machining interference is avoided; the tracking and adjusting welding unit conducts automatic tracking and adjusting welding machining on a workpiece welding seam, the welding precision and quality are guaranteed, all the structures cooperate with one another, and the overall efficiency and effect of spiral laser welding of the winding drum are comprehensively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding, and in particular to a drum spiral laser welding device with a weld tracking and adjustment mechanism. Background Art

[0002] In industrial manufacturing, laser welding of spiral seams on roll-type workpieces is widely used due to its high precision and high efficiency. The quality of the weld directly impacts key equipment performance, such as sealing and strength. While existing roll-type spiral laser welding technology can perform basic welding operations, it suffers from significant deficiencies in automation, seam tracking accuracy, and workpiece pretreatment procedures.

[0003] In current technology, some devices lack an efficient dynamic tracking mechanism for welds, making it difficult to adapt to the complex trajectory of the spiral curved surface of the drum, resulting in large welding deviations. In particular, when the workpiece material changes or there are impurities such as oil and rust on the surface, the laser beam cannot accurately locate the weld, seriously affecting the welding quality. At the same time, traditional welding devices mostly adopt a single-process step-by-step processing mode. The processes of surface cleaning, welding, and slag removal of the workpiece are independent of each other, which not only leads to low processing efficiency, but also easily causes quality fluctuations due to process connection errors. In addition, the existing equipment has a simple design of the clamping and positioning structure for the workpiece, which cannot maintain stability during the curved surface welding process, further exacerbating the decline in welding accuracy.

[0004] To this end, we proposed a drum spiral laser welding device with a weld seam tracking adjustment mechanism. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides a drum spiral laser welding device with a weld tracking adjustment mechanism to solve the above-mentioned technical defects.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a drum spiral laser welding device with a weld tracking adjustment mechanism, comprising: A main unit, with two groups of delivery robots fixedly installed on both sides of the main unit, and feeding ports also provided on both sides of the main unit and below the delivery robots. The main unit consists of a fixed frame, a detachable maintenance frame located above and below the fixed frame, and a mounting frame fixed inside the fixed frame, and the feeding ports on both sides of the main unit are connected to the interior of the mounting frame; Weldment handling units are provided on both sides of the top and bottom of the mounting frame, and adjustable movable grooves are provided on both sides of the top and bottom of the mounting frame, and one side of the two weldment handling units extends into the interior of the two adjustable movable grooves respectively; Tracking and adjusting welding unit, a welding movable groove is further provided in the middle of the bottom of the mounting frame, and a tracking and adjusting welding unit is further provided below the welding movable groove and on the top of the lower maintenance frame; A multi-parameter dynamic collaborative model predictive control system for spiral laser welding of drums is also provided inside the maintenance frame located below, and the multi-parameter dynamic collaborative model predictive control system for spiral laser welding of drums and the interior of the tracking and adjustment welding unit are electrically connected through wires.

[0007] Preferably, three telescopic partitions are fixedly installed inside the mounting frame, and the three telescopic partitions are arranged at equal angles inside the mounting frame; the interior of the mounting frame is divided into three processing chambers by the three telescopic partitions, the processing chamber close to the workpiece feeding rack is used to clean the surface oil of the workpiece before welding, the processing chamber in the middle is used to automatically weld the welds on the surface of the workpiece, and the processing chamber close to the workpiece discharging rack is used to clean the welding slag on the surface of the workpiece after welding.

[0008] Preferably, the weldment processing unit includes a servo linear slide, an adjustment slider, an arc-shaped hydraulic telescopic frame and a workpiece processing frame. A servo linear slide is fixedly provided on both sides of the top and bottom of the mounting frame, and an adjustment slider is slidably provided on one side of the four servo linear slides. An arc-shaped hydraulic telescopic frame is fixedly provided on one side of the adjustment slider, wherein the output end of the arc-shaped hydraulic telescopic frame is telescopically controlled by a hydraulic drive.

[0009] Preferably, a workpiece processing rack is fixedly provided at the driving end of the arc-shaped hydraulic telescopic rack, and waste extraction racks are fixedly provided on both sides of the interior of the workpiece processing rack, wherein the interiors of the two waste extraction racks are connected to an exhaust pipe, and the other end of the exhaust pipe is connected to the feed end of the waste collection pump; a cleaning air blowing head is also fixedly provided in the middle part of the interior of the workpiece processing rack, and a fiber laser for cleaning impurities on the surface of the workpiece is also provided inside the cleaning air blowing head.

[0010] Preferably, a rotating frame is rotatably provided inside the mounting frame, and a servo motor for driving the rotating frame to rotate is fixedly provided on the back of the main unit; wherein the output shaft of the servo motor is fixedly connected to the inside of the rotating frame, three connecting frames are fixedly provided on both sides of the rotating frame, an electric rotating table is fixedly provided inside the connecting frame, and an adjusting servo cylinder is rotatably provided on one side of the electric rotating table, a connecting block is fixedly provided on the driving end of the adjusting servo cylinder, and micro cylinders are fixedly provided on all four sides of the connecting block, support blocks are fixedly provided on the driving ends of the four micro cylinders, and limit blocks are fixedly provided on one side of the four support blocks.

[0011] Preferably, the tracking and adjustment welding unit includes a servo linear slide 2, a two-dimensional turntable, an adjustment servo electric cylinder and a laser welder. The top of the maintenance frame located below is fixedly provided with a servo linear slide 2, and the top of the servo linear slide 2 is slidably provided with a two-dimensional turntable. The top of the two-dimensional turntable is fixedly provided with an adjustment servo electric cylinder, and the driving end of the adjustment servo electric cylinder is fixedly provided with a laser welder.

[0012] Preferably, the multi-parameter dynamic collaborative model predictive control system of drum spiral laser welding is based on the kinematic / dynamic model of drum welding, predicts the deviation at future moments, solves the optimal control quantity through rolling optimization, and drives the actuator to adjust the laser beam. Its processing flow is system modeling → state prediction → rolling optimization → control quantity output → real-time feedback correction.

[0013] Preferably, the processing flow of the multi-parameter dynamic collaborative model predictive control system for drum spiral laser welding is as follows: Step 1: Establish a system model: Construct a kinematic model and a focusing model for roll spiral welding; Step 2: State prediction: Using the system model and combining it with the current state and historical control volume , predict the system state in the next N steps ; Taking position deviation as an example, the prediction equation is: , similarly, the predicted angle deviation , focal length deviation ; Step 3: Rolling optimization: define the optimization objective function; Step 4. Control quantity output: Take the first step control quantity of the optimization result , drives the actuator; Used to dynamically track and adjust the position of the laser welder and the two-dimensional turntable; Used to dynamically track and adjust the laser beam emission angle; Used for dynamic tracking and adjusting the focal length of the electric zoom lens; Step 5: Real-time feedback correction: The sensor collects the new status in real time , compared with the predicted state, calculate the prediction error: .

[0014] Compared with the existing technology, it has the following beneficial effects: 1. The main unit of the drum spiral laser welding device with a weld tracking and adjustment mechanism in the present invention can efficiently realize the transfer of workpieces between the feeding rack, the inside of the main unit, and the discharge rack through the feeding robots on both sides, and cooperate with the closing function of the baffle inside the feeding port, combined with the structural composition of the fixed frame, the maintenance frame, and the mounting frame to provide a stable and continuous operation basic environment for welding processing, thereby improving the workpiece flow efficiency; the weldment processing unit is flexibly set with the help of the adjustment movable groove on the mounting frame, and cooperates with three telescopic partitions distributed at equal angles to divide the interior of the mounting frame into three processing chambers, respectively realizing the workpiece pre-welding oil cleaning, weld automatic welding, and post-weld welding slag cleaning processes, avoiding processing interference, allowing the three processes to proceed in an orderly manner, and greatly improving the welding processing efficiency; the tracking and adjustment welding unit is installed on the top of the lower maintenance frame using the welding movable groove, combined with the drum spiral laser welding multi-parameter dynamic collaborative model predictive control system in the maintenance frame, which can automatically track and adjust the workpiece weld welding process to ensure welding accuracy and quality. The coordinated cooperation of various structures has comprehensively improved the overall efficiency and effect of drum spiral laser welding.

[0015] 2. The servo linear slide in the weld processing unit of the present invention can drive the adjustment slider to slide, and the arc-shaped hydraulic telescopic frame can flexibly adjust the position of the workpiece processing frame so that it covers the periphery of the workpiece; in the workpiece processing frame, the waste extraction frame cooperates with the exhaust pipe and the waste collection pump to extract and clean the waste, and the cleaning blow head is combined with the air pump, the hot steam pumped in by the air guide pipe and the fiber laser to effectively clean the impurities on the surface of the workpiece and ensure the cleaning effect. The rotating frame in the mounting frame is driven by a servo motor for controllable rotation, and the electric rotating tables in the connecting frames on both sides can control the rotation of the connecting block. The servo electric cylinder can be adjusted to drive the connecting block close to the workpiece, and the micro-electric cylinder in the connecting block drives the support block to extend. The rubber pad on the surface of the support block is used to fit the inner wall of the workpiece, and the limit blocks clamp the two ends of the workpiece to ensure the positioning stability of the workpiece. After the workpiece is delivered into the processing chamber by the delivery robot, the workpiece processing frame can fully clean the impurities on the surface of the workpiece through the cooperation of the above-mentioned structures, thereby improving the subsequent laser welding effect; after welding, the workpiece processing frame on the other side can automatically clean the welding slag to improve the surface quality of the workpiece after welding. The coordination of various structures greatly optimizes the workpiece processing process and quality 3. The present invention is based on the multi-parameter dynamic collaborative model predictive control system of the drum spiral laser welding. When dynamically tracking and adjusting the processing angle of the laser welder, a kinematic model is first constructed according to the drum spiral trajectory parameters to clarify the theoretical position of the laser beam; the two-dimensional turntable and the adjustment servo electric cylinder form an actuator, and through the inverse kinematic solution, the processing angle requirement of the laser welder is converted into a control quantity, wherein the two-dimensional turntable can change the macro angles such as pitch and yaw of the laser welder, and adjust the servo electric cylinder to achieve fine angle compensation; the system uses the established model to combine the current state and the historical control quantity to predict the future angle deviation, and defines the objective function including the angle deviation weight and the control quantity penalty coefficient through rolling optimization to solve the optimal control sequence, and outputs the first step control quantity to drive the two-dimensional turntable and the adjustment servo electric cylinder; at the same time, the sensor collects the new state in real time, compares the predicted state to calculate the error and feeds back the correction, and continuously adjusts, thereby realizing dynamic tracking and adjustment of the laser welder processing angle, ensuring that it fits the angle change of the drum weld seam, and completing real-time tracking processing.

[0016] Other features and advantages of the present invention will be set forth in the following description and, in part, will become apparent from the description or will be understood through implementation of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of a structure of a spiral laser welding device with a weld tracking adjustment mechanism according to an embodiment of the present invention; Figure 2 Schematic diagram of the weldment processing unit structure according to an embodiment of the present invention; Figure 3 A schematic diagram of the internal structure of a mounting frame according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a rotating frame and a connecting frame according to an embodiment of the present invention; Figure 5 Schematic diagram of the connecting frame, adjusting servo electric cylinder and connecting block structure according to an embodiment of the present invention; Figure 6 Schematic diagram of the workpiece processing rack and waste extraction rack structure according to an embodiment of the present invention; Figure 7 A schematic diagram of tracking and adjusting the welding unit structure according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the processing flow of the multi-parameter dynamic collaborative model predictive control system for drum spiral laser welding of the present invention.

[0018] In the figure, 1. Main unit; 2. Feeding robot; 3. Feeding port; 4. Welding part processing unit; 5. Tracking and adjusting welding unit; 6. Fixed frame; 7. Inspection frame; 8. Mounting frame; 9. Servo linear slide 1; 10. Adjusting slider; 11. Arc-shaped hydraulic telescopic frame; 12. Workpiece processing frame; 13. Waste extraction frame; 14. Cleaning blow head; 15. Adjusting movable groove; 16. Welding movable groove; 17. Rotating frame; 18. Connecting frame; 19. Electric rotary table; 20. Adjusting servo electric cylinder; 21. Connecting block; 22. Micro electric cylinder; 23. Support block; 24. Limiting block; 25. Telescopic partition; 26. Servo linear slide 2; 27. Two-dimensional turntable; 28. Adjusting servo electric cylinder; 29. ​​Laser welder. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Example 1 Please refer to Figures 1 to 8 As shown, a drum spiral laser welding device with a weld tracking adjustment mechanism includes: The main unit 1 has two groups of feeding robots 2 fixedly arranged on both sides of the main unit 1. Feeding openings 3 are also arranged on both sides of the main unit 1 and below the feeding robots 2, wherein a baffle is slidingly arranged inside the feeding opening 3. After the workpiece is fed into the interior of the main unit 1, the baffle is used to close the interior of the feeding opening 3; the workpiece to be processed is transferred from the feeding rack to the interior of the main unit 1 by the feeding robot 2 on the left side of the main unit 1, and the workpiece processed inside the main unit 1 is sent to the discharging rack by the feeding robot 2 on the right side. The feeding rack and discharging rack for the workpiece are respectively arranged on both sides of the main unit 1 to realize continuous processing of the workpiece, thereby greatly improving the welding processing efficiency of the workpiece.

[0021] Furthermore, the main unit 1 consists of a fixed frame 6, a detachable maintenance frame 7 located above and below the fixed frame 6, and a mounting frame 8 fixedly installed inside the fixed frame 6, and the feeding ports 3 on both sides of the main unit 1 are connected to the interior of the mounting frame 8.

[0022] The welding processing unit 4 is provided on both sides of the top and bottom of the mounting frame 8, and the welding processing unit 4 is provided on both sides of the top and bottom of the mounting frame 8, and the adjustment movable groove 15 is provided on both sides of the top and bottom of the mounting frame 8, and one side of the two welding processing units 4 extends to the inside of the two adjustment movable grooves 15 respectively; three telescopic partitions 25 are also fixedly provided inside the mounting frame 8, and the three telescopic partitions 25 are located inside the mounting frame 8 and are distributed at equal angles; the inside of the mounting frame 8 is divided into three processing chambers by the three telescopic partitions 25, the processing chamber close to the workpiece feeding rack is used to clean the surface oil of the workpiece before welding, the processing chamber in the middle is used for automatic welding processing of the weld seam on the surface of the workpiece, and the processing chamber close to the workpiece discharging rack is used to clean the surface welding slag of the workpiece after welding, and the three telescopic partitions 25 are used to separate the three processing chambers during processing to avoid interference between the three processing chambers when processing the workpiece. The orderly execution of the three processes inside the mounting frame 8 can greatly improve the welding processing efficiency of the workpiece.

[0023] Tracking and adjusting welding unit 5, a welding movable groove 16 is also provided in the middle of the bottom of the mounting frame 8, and a tracking and adjusting welding unit 5 is also provided below the welding movable groove 16 and on the top of the lower maintenance frame 7. The tracking and adjusting welding unit 5 completes the automatic tracking and adjusting welding processing of the weld of the workpiece in the middle processing chamber; the interior of the maintenance frame 7 located below is also provided with a reel spiral laser welding multi-parameter dynamic collaborative model prediction and control system, and the reel spiral laser welding multi-parameter dynamic collaborative model prediction and control system and the interior of the tracking and adjusting welding unit 5 are electrically connected through wires.

[0024] It should be noted that the main unit 1 of the drum spiral laser welding device with a weld tracking adjustment mechanism can efficiently realize the transfer of workpieces between the feed rack, the inside of the main unit 1, and the discharge rack through the feeding robots 2 on both sides, and cooperate with the baffle closing function of the feeding port 3, combined with the structural composition of the fixed frame 6, the maintenance frame 7, and the mounting frame 8, to provide a stable and continuous operation basic environment for welding processing and improve the workpiece flow efficiency; the weldment processing unit 4 is flexibly set with the help of the adjustment movable slot 15 on the mounting frame 8, and cooperates with three telescopic partitions 25 distributed at equal angles to connect the mounting frame 8 is divided into three processing chambers, which respectively realize the workpiece oil cleaning before welding, automatic welding of welds, and welding slag cleaning after welding, avoiding processing interference, allowing the three processes to proceed in order, and greatly improving the welding processing efficiency; the tracking and adjustment welding unit 5 is installed on the top of the lower maintenance frame 7 using the welding movable groove 16, and combined with the reel spiral laser welding multi-parameter dynamic collaborative model prediction control system in the maintenance frame 7, it can automatically track and adjust the workpiece weld welding process to ensure welding accuracy and quality. The various structures work together to comprehensively improve the overall efficiency and effect of reel spiral laser welding.

[0025] Example 2 Specifically, the weldment processing unit 4 includes a servo linear slide 9, an adjusting slider 10, an arc-shaped hydraulic telescopic frame 11 and a workpiece processing frame 12. The servo linear slide 9 is fixedly provided on both sides of the top and bottom of the mounting frame 8, and the adjusting slider 10 is slidably provided on one side of the four servo linear slides 9; the following takes one of the adjusting sliders 10 as an example to specifically describe the remaining structures, one side of the adjusting slider 10 is fixedly provided with an arc-shaped hydraulic telescopic frame 11, wherein the output end of the arc-shaped hydraulic telescopic frame 11 is hydraulically driven for telescopic control; the driving end of the arc-shaped hydraulic telescopic frame 11 is fixedly provided with a workpiece processing frame 12, and waste material is fixedly provided on both sides of the inside of the workpiece processing frame 12. An extraction rack 13, wherein the interior of the two waste extraction racks 13 are connected to an exhaust pipe, and the other end of the exhaust pipe is connected to the feed end of the waste collection pump; a cleaning air blowing head 14 is also fixedly provided in the middle of the interior of the workpiece processing rack 12, and the interior of the cleaning air blowing head 14 is also provided with a fiber laser for cleaning impurities on the surface of the workpiece, wherein one end of the cleaning air blowing head 14 is connected to the air outlet end of the air pump through an air guide pipe, and hot steam is pumped into the interior of the cleaning air blowing head 14 by using the air pump and the air guide pipe, and the impurities on the surface of the workpiece are effectively cleaned by the fiber laser, and the waste extraction racks 13 on both sides of the interior of the workpiece processing rack 12 are cooperated to extract the cleaned waste to ensure the cleaning effect of impurities on the surface of the workpiece.

[0026] Furthermore, a rotating frame 17 is rotatably arranged inside the mounting frame 8, and a servo motor for driving the rotating frame 17 to rotate is fixedly arranged on the back of the main unit 1; wherein the output shaft of the servo motor is fixedly connected to the inside of the rotating frame 17, and the servo motor is used to control the rotating frame 17 to rotate controllably inside the mounting frame 8 according to the processing steps of the workpiece. Three connecting frames 18 are fixedly provided on both sides of the rotating frame 17. The following takes one of the connecting frames 18 as an example to explain the specific structure of the remaining structures. An electric rotating table 19 is fixedly provided inside the connecting frame 18, and an adjusting servo electric cylinder 20 is rotatably provided on one side of the electric rotating table 19. The driving end of the adjusting servo electric cylinder 20 is fixedly provided with a connecting block 21, and micro electric cylinders 22 are fixedly provided on all four sides of the interior of the connecting block 21. The driving ends of the four micro electric cylinders 22 are fixedly provided with support blocks 23, and one side of the four support blocks 23 is fixedly provided with limit blocks 24; it should be noted that the surfaces of the four support blocks 23 are fixedly provided with rubber pads, which are used to fit and stabilize the inner wall of the workpiece to avoid damage to the inner wall of the workpiece caused by rigid contact between the two.

[0027] It should be noted that after the workpiece feeding robot 2 located on one side of the workpiece feeding rack sends the workpiece into the processing chamber on one side, it uses the adjusting servo electric cylinder 20 driving end inside the connecting frame 18 on both sides of the rotating frame 17 to control the connecting block 21 to approach the two sides of the workpiece until the connecting blocks 21 on both sides enter the interior of the two ends of the workpiece, and controls the micro electric cylinder 22 driving end inside the connecting block 21 to extend, so that the surface of the support block 23 is fitted with the inner wall of the workpiece, and at the same time, the limit block 24 on one side of the support block 23 is in contact with the two ends of the workpiece, and the surface of the support block 23 is used to fit and support the inner wall of the workpiece, and the limit block 24 on one side of the support block 23 clamps and positions the two ends of the workpiece to ensure the stability of the positioning of the two ends of the workpiece. After the upper and lower workpiece processing racks 12 cover the periphery of the workpiece, as the servo linear slide 9 drives the adjustment slider 10 to slide, the cleaning air blowing head 14 and the fiber laser head inside the workpiece processing rack 12 clean the surface impurities of the workpiece, and at the same time, the electric rotary table 19 inside the connecting rack 18 is used to control the connection block 21 to rotate, and cooperate with the lateral movement of the workpiece processing rack 12, so that the impurities on the surface of the workpiece can be fully cleaned, thereby greatly improving the subsequent laser welding processing effect of the workpiece; in addition, after the welding processing of the weld seam on the workpiece surface is completed, the workpiece processing rack 12 on the other side is used to automatically clean the welding slag on the surface of the workpiece, thereby effectively improving the surface quality of the workpiece after welding.

[0028] In a specific embodiment, the servo linear slide 9 in the weld processing unit 4 can drive the adjustment slider 10 to slide, and the arc-shaped hydraulic telescopic frame 11 can flexibly adjust the position of the workpiece processing frame 12 so that it covers the periphery of the workpiece; in the workpiece processing frame 12, the waste extraction frame 13 cooperates with the exhaust pipe and the waste collection pump to extract and clean the waste, and the cleaning blow head 14 combines the hot steam pumped in by the air pump and the air guide pipe with the fiber laser to effectively clean the impurities on the surface of the workpiece and ensure the cleaning effect. The rotating frame 17 in the mounting frame 8 is driven by a servo motor for controllable rotation. The electric rotating table 19 in the connecting frame 18 on both sides can control the rotation of the connecting block 21. The servo electric cylinder 20 can be adjusted to drive the connecting block 21 close to the workpiece. The micro electric cylinder 22 in the connecting block 21 drives the support block 23 to extend. The rubber pad on the surface of the support block 23 is used to fit the inner wall of the workpiece, and the limit block 24 clamps the two ends of the workpiece to ensure the positioning stability of the workpiece. After the workpiece delivery robot 2 delivers the workpiece into the processing chamber, the workpiece processing rack 12 can comprehensively clean impurities on the workpiece surface through the cooperation of the above-mentioned structures, thereby improving the subsequent laser welding effect; after welding, the workpiece processing rack 12 on the other side can automatically clean the welding slag, thereby improving the surface quality of the workpiece after welding. The cooperation of various structures greatly optimizes the workpiece processing process and quality.

[0029] Example 3 Specifically, the tracking and adjustment welding unit 5 includes a servo linear slide 26, a two-dimensional turntable 27, an adjustment servo electric cylinder 28 and a laser welder 29. The top of the maintenance frame 7 located below is fixedly provided with a servo linear slide 26, and the top of the servo linear slide 26 is slidably provided with a two-dimensional turntable 27. The top of the two-dimensional turntable 27 is fixedly provided with an adjustment servo electric cylinder 28, and the driving end of the adjustment servo electric cylinder 28 is fixedly provided with a laser welder 29. When the workpiece is laser welded, the position of the laser welder 29 is adjusted in real time by adjusting the driving end of the servo electric cylinder 28, and the working direction of the laser welder 29 is changed in conjunction with the two-dimensional turntable 27, so that the weld on the surface of the workpiece can be tracked and adjusted in real time.

[0030] Furthermore, the multi-parameter dynamic collaborative model predictive control system of drum spiral laser welding is based on the kinematic / dynamic model of drum welding, predicts the deviation at future moments, solves the optimal control quantity through rolling optimization, and drives the actuator to adjust the laser beam. Its processing flow is system modeling → state prediction → rolling optimization → control quantity output → real-time feedback correction; the actuator is composed of a two-dimensional turntable 27, an adjustment servo electric cylinder 28 and a laser welder 29, and the laser welder 29 is controlled by an electric zoom lens.

[0031] The processing flow of the multi-parameter dynamic collaborative model predictive control system for spiral laser welding is as follows: Step 1. Establish a system model: For roll spiral welding, construct a kinematic model and a focusing model; the kinematic model is used to describe the relationship between the laser beam position / angle and the actuator, and the focusing model is used to describe the relationship between the focal length and the weld distance.

[0032] Specifically, the kinematic model is as follows: Roller spiral trajectory parameters: spiral angle , pitch , Roll radius , welding speed , then the parametric equation of the helix is: , the actual position of the laser beam Controlled by the actuator Determine, where xyz represents the coordinate points of the three-dimensional space, and the relationship is established through the inverse kinematic solution of the actuator: It should be noted that the actuator is composed of an adjusting servo cylinder 28 and a two-dimensional turntable 27. is the inverse kinematics function, which can be obtained by Derivation of the matrix and two-dimensional turntable 27 rotation formula.

[0033] The focusing model is as follows: Laser beam focal length Distance from welding head to weld Satisfies the geometrical optics relationship: ,in is the distance from the light spot to the lens, which can be fixed by calibration; Measured in real time by the displacement sensor; focal length control amount and Relationship: , is the focal length adjustment function, which is determined by the lens displacement-focal length calibration curve.

[0034] Step 2: State prediction: Using the system model and combining it with the current state and historical control volume , predict the system state in the next N steps ; Taking position deviation as an example, the prediction equation is: , similarly, the predicted angle deviation , focal length deviation .

[0035] Step 3. Rolling Optimization: Define the optimization objective function to integrate position, angle, focal length deviation, and control amount smoothness: in, are expressed as the weight coefficient of the deviation, Expressed as the penalty coefficient of the control quantity change to avoid sudden changes in the control quantity, set ; Expressed as the change in the controlled quantity.

[0036] By numerical optimization algorithm, the solution Minimal control sequence .

[0037] Step 4. Control quantity output: Take the first step control quantity of the optimization result , drives the actuator; Used to dynamically track and adjust the positions of the laser welder 29 and the two-dimensional turntable 27; Used to dynamically track and adjust the laser beam emission angle; Used for dynamic tracking and adjustment of the focal length of the electric zoom lens.

[0038] Step 5: Real-time feedback correction: The sensor collects the new status in real time , compared with the predicted state, calculate the prediction error: ,Through feedback correction, the subsequent prediction model is modified to ensure control accuracy.

[0039] It should be noted that, according to the above scheme, based on the multi-parameter dynamic collaborative model predictive control system of the drum spiral laser welding, when the laser welder 29 processing angle is dynamically tracked and adjusted, the spiral trajectory parameters (spiral angle , pitch , Roll radius , welding speed ) Construct a kinematic model to clarify the theoretical position of the laser beam; the two-dimensional turntable 27 and the adjustment servo electric cylinder 28 form an actuator, and the processing angle requirement of the laser welder is converted into a control quantity through the inverse kinematic solution with the help of the DH matrix and the two-dimensional turntable rotation formula. The two-dimensional turntable 27 can change the macro angles such as the pitch and yaw of the laser welder, and adjust the servo electric cylinder 28 to achieve fine angle compensation; the system uses the established model to combine the current state and the historical control quantity to predict the future angle deviation, and defines the objective function including the angle deviation weight and the control quantity penalty coefficient through rolling optimization to solve the optimal control sequence, and output the first step control quantity to drive the two-dimensional turntable 27 and the adjustment servo electric cylinder 28; at the same time, the sensor collects the new state in real time, compares the predicted state to calculate the error and feedback correction, and continuously adjusts, thereby realizing dynamic tracking and adjustment of the laser welder processing angle, ensuring that it fits the angle change of the roll weld seam, and completing real-time tracking processing.

[0040] Example 4 Specifically, this embodiment also discloses a working method of a spiral laser welding device with a weld tracking adjustment mechanism, comprising the following steps: Step 1: The left-side feeding robot 2 grabs the reel to be processed from the feeding rack and feeds it into the mounting rack 8 of the main unit 1 through the feeding port 3. The baffle closes the feeding port 3 to isolate the processing environment. The fixed frame 6 and the maintenance rack 7 provide stable support. The interior of the mounting rack 8 is divided into three processing chambers by three telescopic partitions 25, corresponding to the pre-weld cleaning, welding, and post-weld cleaning processes respectively. Step 2: The rotating frame 17 rotates under the drive of the servo motor, the adjustable servo electric cylinder 20 in the connecting frame 18 pushes the connecting block 21 to extend into the two ends of the reel, the micro electric cylinder 22 drives the supporting block 23 to fit the inner wall, the limit block 24 clamps and positions it, and the rubber pad prevents damage to the inner wall; the servo linear slide 9 drives the adjusting slider 10 to move, the arc-shaped hydraulic telescopic frame 11 drives the workpiece processing frame 12 to cover the outer periphery of the reel, the cleaning blow head 14 uses hot steam and fiber laser to clean the surface oil, and the waste extraction frame 13 cooperates with the waste collection pump to extract impurities; Step 3: Control the rotating frame 17 to drive the workpiece to rotate into the processing chamber below, adjust the position of the two-dimensional turntable 27 by servo linear slide 26, adjust the servo electric cylinder 28 to drive the laser welder 29 to move, and preliminarily align the weld; according to the spiral parameters of the winding drum, the spiral angle , pitch , Roll radius Establish a kinematic model to determine the theoretical trajectory of the laser beam; construct a focusing model using the thin lens formula to correlate the focal length Distance from welding head to weld ; Based on the current state and historical control volume , predict the position deviation in the next N steps , angle deviation , focal length deviation ; Define the objective function , weighted comprehensive deviation and control quantity smoothness weight coefficient , penalty coefficient , solving the optimal control sequence through quadratic programming ; Drive the two-dimensional turntable 27 to adjust the pitch / yaw angle, adjust the servo cylinder 28 to finely compensate the position, and adjust the focal length of the electric zoom lens to achieve dynamic tracking of the laser beam; the sensor collects the new state , calculate the prediction error , calibrate the subsequent prediction model to ensure welding accuracy; Step 4: After welding is completed, the workpiece processing rack 12 on the other side repeats the cleaning process to remove welding slag and ensure surface quality; the right-side delivery robot 2 takes the welded roll from the mounting rack 8 and transfers it to the discharge rack, while the left-side delivery robot 2 loads the material. The processing chambers separated by the three telescopic partitions 25 perform different processes synchronously to form a continuous processing line.

[0041] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0043] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A spiral laser welding device with a weld tracking adjustment mechanism, characterized in that: include: A main unit (1), two groups of delivery robots (2) are fixedly arranged on both sides of the main unit (1), and feeding ports (3) are also arranged on both sides of the main unit (1) and below the delivery robots (2). The main unit (1) is composed of a fixed frame (6), a detachable maintenance frame (7) located above and below the fixed frame (6), and a mounting frame (8) fixedly arranged inside the fixed frame (6), and the feeding ports (3) on both sides of the main unit (1) are connected to the interior of the mounting frame (8); Welding piece processing units (4), the welding piece processing units (4) are provided on both sides of the top and bottom of the mounting frame (8), the adjusting movable grooves (15) are provided on both sides of the top and bottom of the mounting frame (8), and one side of the two welding piece processing units (4) respectively extends to the inside of the two adjusting movable grooves (15); A tracking and adjusting welding unit (5) is provided, wherein a welding movable groove (16) is provided in the middle of the bottom of the mounting frame (8), and a tracking and adjusting welding unit (5) is provided below the welding movable groove (16) and on the top of the lower maintenance frame (7); A multi-parameter dynamic collaborative model prediction control system for spiral laser welding of drums is also provided inside the maintenance frame (7) located below, and the multi-parameter dynamic collaborative model prediction control system for spiral laser welding of drums and the interior of the tracking and regulating welding unit (5) are electrically connected via wires.

2. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 1 is characterized in that: Three telescopic partitions (25) are fixedly arranged inside the mounting frame (8), and the three telescopic partitions (25) are arranged at equal angles inside the mounting frame (8); the interior of the mounting frame (8) is divided into three processing chambers by the three telescopic partitions (25), the processing chamber close to the workpiece feeding rack is used to clean the surface oil of the workpiece before welding, the processing chamber in the middle is used to automatically weld the weld on the surface of the workpiece, and the processing chamber close to the workpiece discharging rack is used to clean the surface welding slag of the workpiece after welding.

3. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 1, characterized in that: The weldment processing unit (4) includes a servo linear slide (9), an adjusting slider (10), an arc-shaped hydraulic telescopic frame (11) and a workpiece processing frame (12), wherein the servo linear slide (9) is fixedly provided on both sides of the top and bottom of the mounting frame (8), and the adjusting slider (10) is slidably provided on one side of the four servo linear slides (9), and the arc-shaped hydraulic telescopic frame (11) is fixedly provided on one side of the adjusting slider (10), wherein the output end of the arc-shaped hydraulic telescopic frame (11) is controlled to be telescopic by a hydraulic drive.

4. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 3 is characterized in that: A workpiece processing frame (12) is fixedly provided at the driving end of the arc-shaped hydraulic telescopic frame (11), and waste extraction frames (13) are fixedly provided on both sides of the interior of the workpiece processing frame (12), wherein the interiors of the two waste extraction frames (13) are both connected to an exhaust pipe, and the other ends of the exhaust pipes are connected to the feed end of the waste collection pump; a cleaning air blowing head (14) is also fixedly provided in the middle of the interior of the workpiece processing frame (12), and a fiber laser for cleaning impurities on the surface of the workpiece is also provided inside the cleaning air blowing head (14).

5. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 1, characterized in that: A rotating frame (17) is rotatably provided inside the mounting frame (8), and a servo motor for driving the rotating frame (17) to rotate is fixedly provided on the back of the main unit (1); wherein the output shaft of the servo motor is fixedly connected to the inside of the rotating frame (17), three connecting frames (18) are fixedly provided on both sides of the rotating frame (17), an electric rotating platform (19) is fixedly provided inside the connecting frame (18), and an adjusting servo electric cylinder (20) is rotatably provided on one side of the electric rotating platform (19), a connecting block (21) is fixedly provided on the driving end of the adjusting servo electric cylinder (20), and micro electric cylinders (22) are fixedly provided on all four sides of the connecting block (21), a supporting block (23) is fixedly provided on the driving end of the four micro electric cylinders (22), and a limiting block (24) is fixedly provided on one side of the four supporting blocks (23).

6. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 1, characterized in that: The tracking and adjusting welding unit (5) includes a servo linear slide 2 (26), a two-dimensional turntable (27), an adjusting servo electric cylinder (28) and a laser welder (29). The top of the inspection frame (7) located below is fixedly provided with a servo linear slide 2 (26), and the top of the servo linear slide 2 (26) is slidably provided with a two-dimensional turntable (27), the top of the two-dimensional turntable (27) is fixedly provided with an adjusting servo electric cylinder (28), and the driving end of the adjusting servo electric cylinder (28) is fixedly provided with a laser welder (29).

7. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 6, characterized in that: The multi-parameter dynamic collaborative model predictive control system for drum spiral laser welding is based on the kinematic model of drum welding, predicts deviations at future moments, solves the optimal control quantity through rolling optimization, and drives the actuator to adjust the laser beam. Its processing flow is system modeling → state prediction → rolling optimization → control quantity output → real-time feedback correction.

8. The spiral laser welding device with a weld tracking adjustment mechanism according to claim 7, characterized in that: The processing flow of the multi-parameter dynamic collaborative model predictive control system for spiral laser welding is as follows: Step 1: Establish a system model: Construct a kinematic model and a focusing model for roll spiral welding; Step 2: State prediction: Using the system model and combining it with the current state and historical control volume , predict the system state in the next N steps ; Taking position deviation as an example, the prediction equation is: , similarly, the predicted angle deviation , focal length deviation ; Step 3: Rolling optimization: define the optimization objective function; Step 4. Control quantity output: Take the first step control quantity of the optimization result , drives the actuator; Used for dynamically tracking and adjusting the positions of the laser welder (29) and the two-dimensional turntable (27); Used to dynamically track and adjust the laser beam emission angle; Used for dynamic tracking and adjusting the focal length of the electric zoom lens; Step 5: Real-time feedback correction: The sensor collects the new status in real time , compared with the predicted state, calculate the prediction error: .

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