A reel spiral laser welding device with a weld seam tracking adjustment mechanism

Abstract

The present application relates to the technical fields of laser welding, in particular to a reel spiral laser welding device with weld tracking and adjusting mechanism, comprising a main unit, a welding piece processing unit and a tracking and adjusting welding unit, both sides of the main unit are fixedly provided with two groups of feeding robots, the main unit is composed of a fixed rack, a maintenance rack which is detachably arranged above and below the fixed rack and a mounting rack which is fixedly arranged in the fixed rack; the welding piece processing unit is flexibly arranged with the help of the adjusting movable slot on the mounting rack, three equi-angle distribution telescopic partitions are matched to divide the mounting rack into three processing cavities, respectively realizing the workpiece oil cleaning before welding, automatic weld welding and slag cleaning after welding processes to avoid processing interference; the tracking and adjusting welding unit automatically tracks and adjusts the welding of the workpiece to ensure the welding precision and quality, and the overall efficiency and effect of the reel spiral laser welding are comprehensively improved through the cooperative operation of various structures.

Description

Technical Field

[0001] This invention relates to the field of laser welding technology, specifically to a drum spiral laser welding device with a weld seam tracking and adjustment mechanism. Background Technology

[0002] In the industrial manufacturing sector, laser welding of spiral seams on roll-type workpieces is widely used due to its advantages of high precision and high efficiency. The welding quality directly affects the key performance characteristics of equipment, such as sealing and strength. Although existing roll-type spiral laser welding technology can achieve basic welding operations, it has significant shortcomings in terms of automation, weld seam tracking accuracy, and workpiece pretreatment processes.

[0003] Current technologies often lack efficient dynamic weld seam tracking mechanisms, making it difficult to adapt to the complex trajectories of spiral curved surfaces on the drum. This results in significant welding deviations, especially when the workpiece material changes or when impurities such as oil or rust are present on the surface. In these cases, the laser beam cannot accurately position the weld seam, severely impacting welding quality. Furthermore, traditional welding equipment often employs a single-process, step-by-step approach, where workpiece surface cleaning, welding, and slag removal are independent processes. This not only leads to low processing efficiency but also makes quality fluctuations prone to occur due to errors in process connections. In addition, existing equipment has rudimentary workpiece clamping and positioning structures that cannot maintain stability during curved surface welding, further exacerbating the decline in welding accuracy.

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

[0005] To address the shortcomings of existing technologies, this invention provides a drum spiral laser welding device with a weld seam tracking and adjustment mechanism to solve the aforementioned technical defects.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a drum spiral laser welding device with a weld seam tracking and adjustment mechanism, comprising:

[0007] The main unit has two sets of delivery robots fixedly installed on both sides. The main unit also has feeding ports on both sides and below the delivery robots. The main unit consists of a fixed frame, a maintenance frame that is detachably installed above and below the fixed frame, and an installation frame that is fixedly installed inside the fixed frame. The feeding ports on both sides of the main unit are connected to the inside of the installation frame.

[0008] The welding component processing unit is provided on both sides of the top and bottom of the mounting frame. The top and bottom of the mounting frame are provided with adjustment slots, and one side of each of the two welding component processing units extends into the interior of the two adjustment slots.

[0009] The tracking and adjusting welding unit is provided with a welding movable groove in the middle of the bottom of the mounting frame, and a tracking and adjusting welding unit is provided below the welding movable groove and at the top of the lower maintenance frame.

[0010] The inspection frame located below is also equipped with a multi-parameter dynamic collaborative model prediction and control system for drum spiral laser welding. The multi-parameter dynamic collaborative model prediction and control system for drum spiral laser welding and the tracking and adjustment welding unit are electrically connected by wires.

[0011] Preferably, the mounting frame is further fixedly provided with three telescopic partitions, and the three telescopic partitions are distributed at equal angles inside the mounting frame; the three telescopic partitions divide the interior of the mounting frame into three processing chambers. The processing chamber near the workpiece feeding rack is used to clean the surface oil stains of the workpiece before welding, the processing chamber in the middle is used to automatically weld the weld seam on the workpiece surface, and the processing chamber near the workpiece unloading rack is used to clean the weld slag on the surface of the workpiece after welding.

[0012] Preferably, the welding processing unit includes a servo linear slide, an adjusting slider, an arc-shaped hydraulic telescopic frame, and a workpiece processing frame. The servo linear slides are fixedly installed on both sides of the top and bottom of the mounting frame, and an adjusting slider is slidably installed on one side of each of the four servo linear slides. An arc-shaped hydraulic telescopic frame is fixedly installed on one side of the adjusting slider, wherein the output end of the arc-shaped hydraulic telescopic frame is controlled to extend and retract by hydraulic drive.

[0013] Preferably, the drive end of the arc-shaped hydraulic telescopic frame is fixedly equipped with a workpiece processing frame, and both sides inside the workpiece processing frame are fixedly equipped with waste material extraction frames. The interior of each of the two waste material extraction frames is connected to an air extraction pipe, and the other end of the air extraction pipe is connected to the feed end of the waste collection pump. A cleaning air blowing head is also fixedly installed in the middle of the interior of the workpiece processing frame, and the interior of the cleaning air blowing head is also equipped with a fiber laser for cleaning impurities on the workpiece surface.

[0014] Preferably, the mounting frame also has a rotating frame rotatably mounted inside, and a servo motor for driving the rotating frame to rotate is fixedly mounted 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 mounted on both sides of the rotating frame, an electric rotary table is fixedly mounted inside the connecting frame, and an adjusting servo cylinder is rotatably mounted on one side of the electric rotary table, a connecting block is fixedly mounted on the drive end of the adjusting servo cylinder, and miniature electric cylinders are fixedly mounted on all four sides inside the connecting block, a support block is fixedly mounted on the drive end of each of the four miniature electric cylinders, and a limit block is fixedly mounted on one side of each of the four support blocks.

[0015] Preferably, the tracking and adjusting welding unit includes a second servo linear slide, a two-dimensional turntable, an adjusting servo electric cylinder, and a laser welder. The second servo linear slide is fixedly installed on the top of the inspection frame located below, and the two-dimensional turntable is slidably installed on the top of the second servo linear slide. The adjusting servo electric cylinder is fixedly installed on the top of the two-dimensional turntable, and the laser welder is fixedly installed on the drive end of the adjusting servo electric cylinder.

[0016] Preferably, the multi-parameter dynamic collaborative model predictive control system for 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.

[0017] Preferably, the processing flow of the multi-parameter dynamic collaborative model prediction and control system for drum spiral laser welding is as follows:

[0018] Step 1: Establish a system model: For drum spiral welding, construct a kinematic model and a focusing model;

[0019] Step 2, State Prediction: Using the system model, combined with the current state and historical control volume Predict the system state in the next N steps. Taking positional deviation as an example, the prediction equation is: Similarly, the predicted angle deviation Focal length deviation ;

[0020] Step 3, Rolling Optimization: Define the optimization objective function;

[0021] Step 4: Control Output: Obtain the first step control output of the optimization result. Driven actuators; among which Used for dynamically tracking and adjusting the position of the laser welder and the two-dimensional turntable; Used for dynamically tracking and adjusting the laser beam emission angle; Used for dynamically tracking and adjusting the focal length of the motorized zoom lens;

[0022] Step 5: Real-time feedback correction: The sensor collects new states in real time. Compare the predicted state with the predicted state and calculate the prediction error: .

[0023] Compared with existing technologies, it has the following advantages:

[0024] 1. The main unit of the spiral laser welding device with weld seam tracking and adjustment mechanism in this invention can efficiently transfer workpieces between the feeding rack, the main unit, and the discharge rack through the feeding robots on both sides. Combined with the baffle closure function inside the feeding port, and the structural composition of the fixed frame, inspection frame, and mounting frame, it provides a stable and continuous working environment for welding, improving workpiece turnover efficiency. The weldment processing unit is flexibly set up with the adjustment slot on the mounting frame, and with three equally angled telescopic partitions, divides the inside of the mounting frame into three processing chambers, respectively realizing pre-welding oil cleaning, automatic weld seam welding, and post-weld slag cleaning processes, avoiding processing interference and allowing the three processes to proceed in an orderly manner, greatly improving welding efficiency. The tracking and adjustment welding unit is installed on the top of the lower inspection frame using the welding slot. Combined with the spiral laser welding multi-parameter dynamic collaborative model prediction and control system inside the inspection frame, it can automatically track and adjust the welding process of the workpiece weld seam, ensuring welding accuracy and quality. The coordinated operation of all structures comprehensively improves the overall efficiency and effect of spiral laser welding.

[0025] 2. In the welding processing unit of this invention, the servo linear slide can drive the adjustable slider to slide, and the arc-shaped hydraulic telescopic frame can flexibly adjust the position of the workpiece processing frame to cover the workpiece. Inside the workpiece processing frame, the waste extraction frame, together with the air extraction pipe and waste collection pump, can extract and clean waste. The cleaning air head, combined with the air pump and air guide pipe, pumps in hot steam and fiber laser to effectively clean impurities on the workpiece surface, ensuring the cleaning effect. The rotating frame inside the mounting frame is driven by a servo motor for controllable rotation. The electric rotating tables in the connecting frames on both sides can control the rotation of the connecting blocks. Adjusting the servo electric cylinder can drive the connecting blocks to approach the workpiece. The micro electric cylinder inside the connecting block drives the support block to extend. The rubber pad on the surface of the support block is in contact with the inner wall of the workpiece, and the limiting block clamps both ends of the workpiece to ensure the stability of the workpiece positioning. After the delivery robot sends the workpiece into the processing chamber, through the cooperation of the above structures, the workpiece processing frame can thoroughly clean the impurities on the workpiece surface, improving the subsequent laser welding effect. After welding, the workpiece processing frame on the other side can automatically clean the welding slag, improving the surface quality of the workpiece after welding. The cooperation of each structure greatly optimizes the workpiece processing flow and quality.

[0026] 3. The multi-parameter dynamic collaborative model predictive control system for drum spiral laser welding in this invention dynamically tracks and adjusts the processing angle of the laser welder. First, a kinematic model is constructed based on the trajectory parameters of the drum spiral to clarify the theoretical position of the laser beam. A two-dimensional turntable and an adjusting servo cylinder form the actuator. Through inverse kinematics, the processing angle requirement of the laser welder is converted into a control quantity. The two-dimensional turntable can change the macroscopic angles of the laser welder, such as pitch and yaw, while the adjusting servo cylinder achieves fine angle compensation. The system uses the established model to predict future angle deviations by combining the current state with historical control quantities. Through rolling optimization, an objective function containing angle deviation weights and control quantity penalty coefficients is defined to solve for the optimal control sequence. The first step control quantity is output to drive the two-dimensional turntable and the adjusting servo cylinder. At the same time, sensors collect new states in real time, compare the predicted states to calculate errors and provide feedback for correction, and continuously adjust to achieve dynamic tracking and adjustment of the laser welder's processing angle, ensuring that it conforms to the changes in the drum weld angle and completing real-time tracking processing.

[0027] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a drum spiral laser welding device with a weld seam tracking and adjustment mechanism according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the weldment processing unit structure according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the internal structure of the mounting bracket according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the rotating frame and connecting frame structure according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the connecting frame, adjusting servo electric cylinder, and connecting block structure according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the workpiece processing rack and waste material extraction rack structure according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the tracking and adjustment welding unit structure according to an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the processing flow of the multi-parameter dynamic collaborative model prediction and control system for drum spiral laser welding of the present invention.

[0036] In the diagram: 1. Main unit; 2. Feeding robot; 3. Feeding port; 4. Welding unit; 5. Tracking and adjusting welding unit; 6. Fixed frame; 7. Inspection frame; 8. Mounting frame; 9. Servo linear slide table one; 10. Adjusting slider; 11. Arc-shaped hydraulic telescopic frame; 12. Workpiece processing frame; 13. Waste material extraction frame; 14. Cleaning air blower; 15. Adjusting movable groove; 16. Welding movable groove; 17. Rotating frame; 18. Connecting frame; 19. Electric rotary table; 20. Adjusting servo cylinder; 21. Connecting block; 22. Miniature electric cylinder; 23. Support block; 24. Limiting block; 25. Telescopic partition; 26. Servo linear slide table two; 27. Two-dimensional turntable; 28. Adjusting servo cylinder; 29. ​​Laser welder. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1 (Please refer to Example 1) Figures 1 to 8 As shown, a drum spiral laser welding device with a weld seam tracking and adjustment mechanism includes:

[0039] The main unit 1 has two sets of feeding robots 2 fixedly installed on both sides. Feeding ports 3 are also provided on both sides of the main unit 1 and below the feeding robots 2. A baffle is slidably installed inside the feeding port 3. After the workpiece is fed into the main unit 1, the baffle closes the inside of the feeding port 3. The feeding robot 2 on the left side of the main unit 1 transfers the workpiece to be processed from the feeding rack into the main unit 1, and the feeding robot 2 on the right side sends the processed workpiece inside the main unit 1 to the output rack. By setting up the workpiece feeding rack and output rack on both sides of the main unit 1, continuous processing of the workpiece is achieved, greatly improving the welding efficiency.

[0040] Furthermore, the main unit 1 consists of a fixed frame 6, a maintenance frame 7 that is detachably installed above and below the fixed frame 6, and an installation frame 8 that is fixedly installed inside the fixed frame 6. The feeding ports 3 on both sides of the main unit 1 are connected to the interior of the installation frame 8.

[0041] Welding processing units 4 are provided on both the top and bottom sides of the mounting frame 8. Adjustable movable slots 15 are provided on both the top and bottom sides of the mounting frame 8, and one side of each of the two welding processing units 4 extends into the interior of the two adjustable movable slots 15. Three telescopic partitions 25 are also fixedly installed inside the mounting frame 8, and the three telescopic partitions 25 are distributed at equal angles inside the mounting frame 8. The three telescopic partitions 25 divide the interior of the mounting frame 8 into three processing chambers. The processing chamber near the workpiece feeding rack is used to clean the surface oil stains of the workpiece before welding. The processing chamber in the middle is used to automatically weld the weld seam on the surface of the workpiece. The processing chamber near the workpiece discharge rack is used to clean the surface slag of the workpiece after welding. The three telescopic partitions 25 separate the three processing chambers during processing to avoid interference when the three processing chambers process the workpiece. The orderly execution of the three processes inside the mounting frame 8 can greatly improve the welding efficiency of the workpiece.

[0042] The tracking and adjusting welding unit 5 is located in the middle of the bottom of the mounting frame 8, and a welding movable groove 16 is also provided. Below the welding movable groove 16 and at the top of the lower maintenance frame 7, the tracking and adjusting welding unit 5 is also provided. The tracking and adjusting welding unit 5 is used to automatically track and adjust the welding process of the workpiece in the middle processing cavity. The lower maintenance frame 7 is also equipped with a drum spiral laser welding multi-parameter dynamic collaborative model prediction and control system. The drum spiral laser welding multi-parameter dynamic collaborative model prediction and control system and the tracking and adjusting welding unit 5 are electrically connected by wires.

[0043] It should be noted that the main unit 1 of the drum spiral laser welding device with weld seam tracking and adjustment mechanism can efficiently transfer workpieces between the feeding rack, the inside of the main unit 1, and the discharge rack through the feeding robots 2 on both sides. Combined with the sealing function of the baffle inside the feeding port 3, and the structural composition of the fixed frame 6, maintenance frame 7, and mounting frame 8, it provides a stable and continuous working environment for welding processing, improving workpiece turnover efficiency. The weldment processing unit 4 is flexibly set up using the adjustable movable groove 15 on the mounting frame 8, and with the help of three equally angled telescopic partitions 25, it can hold the mounting frame... The internal structure is divided into three processing chambers, which respectively realize the pre-welding oil stain cleaning, automatic weld seam welding, and post-weld slag cleaning processes, avoiding processing interference and allowing the three processes to proceed in an orderly manner, greatly improving welding processing efficiency. The tracking and adjustment welding unit 5 is installed on the top of the lower inspection frame 7 using the welding movable groove 16. Combined with the multi-parameter dynamic collaborative model prediction and control system of the drum spiral laser welding in the inspection frame 7, it can automatically track and adjust the welding process of the workpiece weld seam, ensuring welding accuracy and quality. The coordinated cooperation of all structures comprehensively improves the overall efficiency and effect of drum spiral laser welding.

[0044] Example 2: Specifically, the welding 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. Servo linear slides 9 are fixedly installed on both sides of the top and bottom of the mounting frame 8, and adjusting sliders 10 are slidably installed on one side of each of the four servo linear slides 9. The following description uses one adjusting slider 10 as an example to illustrate the remaining structures. An arc-shaped hydraulic telescopic frame 11 is fixedly installed on one side of the adjusting slider 10, and the output end of the arc-shaped hydraulic telescopic frame 11 is controlled to extend and retract via hydraulic drive. The drive end of the arc-shaped hydraulic telescopic frame 11 is fixedly installed with the workpiece processing frame 12, and waste materials are fixedly installed on both sides inside the workpiece processing frame 12. The material extraction rack 13 has two waste material extraction racks 13, each with an internal air extraction pipe. The other end of the air extraction pipe is connected to the inlet end of the waste collection pump. The workpiece processing rack 12 also has a cleaning air blowing head 14 fixedly installed in the middle of its interior. The cleaning air blowing head 14 is equipped with a fiber laser for cleaning impurities on the workpiece surface. One end of the cleaning air blowing head 14 is connected to the outlet end of the air pump through an air guide pipe. Hot steam is pumped into the cleaning air blowing head 14 by the air pump and the air guide pipe. The fiber laser effectively cleans the impurities on the workpiece surface. The waste material extraction racks 13 on both sides of the workpiece processing rack 12 then extract the cleaned waste material, ensuring the cleaning effect of the impurities on the workpiece surface.

[0045] Furthermore, a rotating frame 17 is rotatably mounted inside the mounting frame 8, and a servo motor for driving the rotating frame 17 to rotate is fixedly mounted 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 rotating frame 17 is controlled to rotate controllably inside the mounting frame 8 according to the processing steps of the workpiece by means of the servo motor. Three connecting frames 18 are fixedly installed on both sides of the rotating frame 17. The following is a detailed description of the remaining structure using one of the connecting frames 18 as an example. An electric rotating table 19 is fixedly installed inside the connecting frame 18, and an adjusting servo cylinder 20 is rotatably installed on one side of the electric rotating table 19. A connecting block 21 is fixedly installed at the drive end of the adjusting servo cylinder 20, and miniature electric cylinders 22 are fixedly installed around the inside of the connecting block 21. A support block 23 is fixedly installed at the drive end of each of the four miniature electric cylinders 22, and a limit block 24 is fixedly installed on one side of each of the four support blocks 23. It should be noted that rubber pads are fixedly installed on the surface of each of the four support blocks 23 to ensure stable contact with the inner wall of the workpiece and to prevent damage to the inner wall of the workpiece caused by rigid contact.

[0046] It should be noted that after the workpiece is fed into the processing chamber on one side of the workpiece feeding rack, the feeding robot 2 uses the drive end of the adjusting servo electric cylinder 20 inside the connecting frame 18 on both sides of the rotating frame 17 to control the connecting block 21 to move closer to both sides of the workpiece until the connecting blocks 21 on both sides enter the interior of the two ends of the workpiece. Then, the drive end of the miniature electric cylinder 22 inside the connecting block 21 is extended to make the surface of the support block 23 fit against the inner wall of the workpiece. At the same time, the limiting block 24 on one side of the support block 23 contacts the two ends of the workpiece. The surface of the support block 23 fits against the inner wall of the workpiece, and the limiting 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 workpiece, the servo linear slide 19 drives the adjusting slider 10 to slide, allowing the cleaning air head 14 and fiber laser head inside the workpiece processing rack 12 to clean the surface impurities of the workpiece. At the same time, the electric rotary table 19 inside the connecting frame 18 controls the connecting block 21 to rotate, which, in conjunction with the lateral movement of the workpiece processing rack 12, enables comprehensive cleaning of impurities on the workpiece surface, thereby greatly improving the subsequent laser welding processing effect on 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 automatically cleans the welding slag on the workpiece surface, thereby effectively improving the surface quality of the workpiece after welding processing.

[0047] In one specific embodiment, the servo linear slide 9 in the welding processing unit 4 can drive the adjusting slider 10 to slide, and the arc-shaped hydraulic telescopic frame 11 can flexibly adjust the position of the workpiece processing frame 12 to cover the workpiece. Inside the workpiece processing frame 12, the waste material extraction frame 13, together with the air extraction pipe and waste material collection pump, can extract and clean waste. The cleaning air blowing head 14, combined with the hot steam pumped in by the air pump and air guide pipe and the fiber laser, can effectively clean the impurities on the workpiece surface and ensure the cleaning effect. The rotating frame 17 in the mounting frame 8 is driven by a servo motor to rotate controllably. The electric rotating table 19 in the connecting frame 18 on both sides can control the rotation of the connecting block 21. The adjusting servo electric cylinder 20 can drive the connecting block 21 to approach 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 against the inner wall of the workpiece, and the limiting block 24 clamps the two ends of the workpiece to ensure the stability of the workpiece positioning. After the delivery robot 2 delivers the workpiece into the processing chamber, the workpiece processing rack 12 can thoroughly clean the impurities on the workpiece surface through the cooperation of the above structures, improving the subsequent laser welding effect; after welding, the workpiece processing rack 12 on the other side can automatically clean the welding slag, improving the surface quality of the workpiece after welding. The cooperation of each structure greatly optimizes the workpiece processing flow and quality.

[0048] In Example 3, specifically, the tracking and adjusting welding unit 5 includes a servo linear slide 26, a two-dimensional turntable 27, an adjusting servo electric cylinder 28, and a laser welder 29. The servo linear slide 26 is fixedly installed on the top of the inspection frame 7 located below, and the two-dimensional turntable 27 is slidably installed on the top of the servo linear slide 26. The adjusting servo electric cylinder 28 is fixedly installed on the top of the two-dimensional turntable 27, and the laser welder 29 is fixedly installed at the drive end of the adjusting servo electric cylinder 28. When performing laser welding on the workpiece, the position of the laser welder 29 is adjusted in real time by adjusting the drive end of the adjusting servo electric cylinder 28, and the working direction of the laser welder 29 is changed in conjunction with the two-dimensional turntable 27, thereby enabling real-time tracking and adjusting of the weld seam on the workpiece surface.

[0049] Furthermore, the multi-parameter dynamic collaborative model predictive control system for drum spiral laser welding is based on the kinematic / dynamic model of drum welding to predict deviations at future moments. It 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 consists of a two-dimensional turntable 27, an adjusting servo cylinder 28, and a laser welder 29, and the laser welder 29 is controlled by the focal length of an electric zoom lens.

[0050] The processing flow of the multi-parameter dynamic collaborative model predictive control system for drum spiral laser welding is as follows:

[0051] Step 1: Establish a system model: For drum 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.

[0052] Specifically, the kinematic model is as follows: Spool 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 The decision is made, where x, y, and z represent the coordinates of a point in three-dimensional space, and the relationship is established through the inverse kinematics of the actuator: It should be noted that the actuator consists of an adjusting servo cylinder 28 and a two-dimensional rotary table 27. The inverse kinematic function can be obtained through... Derivation of the rotation formula for a matrix and a two-dimensional turntable.

[0053] The focusing model is as follows: laser beam focal length Distance from weld joint to weld seam Satisfies geometrical optical relations: ,in The distance from the light spot to the lens can be fixed through calibration; Real-time measurement by displacement sensor; focal length control quantity and Relationship: , The focal length adjustment function is determined by the lens displacement-focal length calibration curve.

[0054] Step 2, State Prediction: Using the system model, combined with the current state and historical control volume Predict the system state in the next N steps. Taking positional deviation as an example, the prediction equation is: Similarly, the predicted angle deviation Focal length deviation .

[0055] Step 3, Rolling Optimization: Define the optimization objective function that integrates position, angle, focal length deviation, and control smoothness. in, All are represented as weighting coefficients of the deviation. This is expressed as a penalty coefficient for changes in the control variable, used to avoid sudden changes in the control variable. ; This is expressed as the change in the control quantity.

[0056] Solve the problem using numerical optimization algorithms. Minimum control sequence .

[0057] Step 4: Control Output: Obtain the first step control output of the optimization result. Driven actuators; among which Used for dynamically tracking and adjusting the positions of the laser welder 29 and the two-dimensional turntable 27; Used for dynamically tracking and adjusting the laser beam emission angle; Used for dynamically tracking and adjusting the focal length of an electric zoom lens.

[0058] Step 5: Real-time feedback correction: The sensor collects new states in real time. Compare the predicted state with the predicted state and calculate the prediction error: By using feedback correction, the subsequent prediction model is modified to ensure control accuracy.

[0059] It should be noted that, according to the above scheme, when dynamically tracking and adjusting the processing angle of the laser welder 29 based on the multi-parameter dynamic collaborative model predictive control system of drum spiral laser welding, the system first relies on the drum spiral trajectory parameters (spiral angle). pitch , roll radius welding speed A kinematic model is constructed to clarify the theoretical position of the laser beam. The two-dimensional turntable 27 and the adjusting servo cylinder 28 form the actuator. Through inverse kinematics, the processing angle requirements of the laser welder are transformed into control quantities using the DH matrix and the rotation formula of the two-dimensional turntable. The two-dimensional turntable 27 can change the macroscopic angles such as pitch and yaw of the laser welder, while the adjusting servo cylinder 28 achieves fine angle compensation. The system uses the established model to predict future angle deviations by combining the current state with historical control quantities. Through rolling optimization, an objective function containing angle deviation weights and control quantity penalty coefficients is defined to solve for the optimal control sequence. The first step control quantity is output to drive the two-dimensional turntable 27 and the adjusting servo cylinder 28. At the same time, the sensor collects new states in real time, compares them with the predicted states to calculate errors and provides feedback for correction. The system is continuously adjusted to achieve dynamic tracking and adjustment of the laser welder's processing angle, ensuring that it conforms to the changes in the weld seam angle of the roll and completing real-time tracking processing.

[0060] Example 4

[0061] Specifically, this embodiment also discloses a working method of a drum spiral laser welding device with a weld seam tracking and adjustment mechanism, including the following steps:

[0062] Step 1: The left-side delivery robot 2 picks up the roll to be processed from the feeding rack and feeds it into the mounting frame 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 frame 7 provide stable support. The mounting frame 8 is divided into three processing chambers by three telescopic partitions 25, which correspond to the pre-welding cleaning, welding, and post-welding cleaning processes, respectively.

[0063] Step 2: The rotating frame 17 rotates under the drive of the servo motor. The adjusting servo electric cylinder 20 in the connecting frame 18 pushes the connecting block 21 to extend into both ends of the drum. The micro electric cylinder 22 drives the support block 23 to fit against the inner wall. The limit block 24 clamps and positions the drum, 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 perimeter of the drum. The cleaning air blower 14 cleans the surface oil stains with hot steam and fiber laser. The waste material extraction frame 13 works with the waste material collection pump to extract impurities.

[0064] Step 3: Control the rotating frame 17 to rotate the workpiece into the processing chamber below. The servo linear slide 26 adjusts the position of the two-dimensional turntable 27, and the servo electric cylinder 28 moves the laser welder 29 to initially align the weld seam. Then, according to the helix angle parameters of the drum spiral... pitch , roll radius A kinematic model was established to determine the theoretical trajectory of the laser beam; a focusing model was constructed using the thin lens formula, relating it to the focal length. Distance from weld joint to weld seam 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 composite deviation and control quantity smoothness weighting coefficient Penalty coefficient The optimal control sequence is solved by quadratic programming. The drive 2D turntable 27 adjusts the pitch / yaw angle, the servo cylinder 28 finely compensates the position, and the electric zoom lens adjusts the focal length to achieve dynamic tracking of the laser beam; the sensor collects new status data. Calculate the prediction error Correcting subsequent prediction models to ensure welding accuracy;

[0065] 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 out 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 execute different processes simultaneously, forming a continuous processing line.

[0066] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0068] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A reel spiral laser welding apparatus with a weld seam tracking adjustment mechanism, characterized by, Include: The body unit (1), both sides of the body unit (1) are fixedly provided with two groups of feeding robots (2), and the feeding ports (3) are also arranged on both sides of the body unit (1) below the feeding robots (2), the body unit (1) is composed of a fixed rack (6), a maintenance rack (7) arranged above and below the fixed rack (6) in a detachable manner, and a mounting rack (8) fixedly arranged in the fixed rack (6), and the feeding ports (3) on both sides of the body unit (1) are in communication with the inside of the mounting rack (8); The welding unit (4) is arranged on both sides of the top and bottom of the mounting rack (8), the adjusting movable grooves (15) are arranged on both sides of the top and bottom of the mounting rack (8), and one side of the two welding units (4) extends into the inside of the two adjusting movable grooves (15) respectively; The tracking adjustment welding unit (5) is arranged on the bottom of the mounting rack (8), the welding movable groove (16) is arranged on the bottom of the mounting rack (8), and the tracking adjustment welding unit (5) is arranged on the top of the lower maintenance rack (7); The tracking adjustment welding unit (5) comprises a servo linear slide table two (26), a two-dimensional rotary table (27), an adjusting servo cylinder two (28) and a laser welder (29), the servo linear slide table two (26) is fixedly arranged on the top of the lower maintenance rack (7), and the two-dimensional rotary table (27) is slidably arranged on the top of the servo linear slide table two (26), the adjusting servo cylinder two (28) is fixedly arranged on the top of the two-dimensional rotary table (27), and the laser welder (29) is fixedly arranged on the driving end of the adjusting servo cylinder two (28); The inside of the lower maintenance rack (7) is also provided with a reel spiral laser welding multi-parameter dynamic collaborative model predictive control system, and the reel spiral laser welding multi-parameter dynamic collaborative model predictive control system and the inside of the tracking adjustment welding unit (5) are electrically connected through wires; The processing procedure of the reel spiral laser welding multi-parameter dynamic collaborative model predictive control system is as follows: Step one, establish system model: for spiral welding, build kinematics model and focusing model; kinematics model as follows: spiral trajectory parameters: spiral angle , pitch , drum radius , welding speed , the parameter equation of the spiral line is: , the actual position of the laser beam is determined by the control amount of the actuator , wherein xyz respectively represent three-dimensional space position coordinate points, the actuator is composed of a two-dimensional turntable (27), an adjusting servo cylinder two (28) and a laser welder (29), and the laser welder (29) passes through the focal length of the electric zoom lens; the relationship is established by the inverse solution of the kinematics of the actuator: ; the focusing model is as follows: the focal length of the laser beam and the distance from the welding head to the weld satisfy the geometric optical relationship: , wherein is the distance from the spot to the lens, which is calibrated and fixed; is measured in real time by a displacement sensor; the relationship between the focal length control amount and is: , is the focal length adjustment function, which is determined by the lens displacement-focal length calibration curve; Step two, state prediction: use system model to predict the future N steps of system state with current state and history control ;​​ Taking the positional deviation as an example, the prediction equation is: Similarly, the predicted angular deviation , focal length deviation ; Step three, rolling optimization: define the optimization objective function to combine position, angle, focal length deviation, and control quantity smoothness: wherein, are weight coefficients of the deviations, is a penalty coefficient of the control quantity change, and let ; is the change amount of the control quantity; through a numerical optimization algorithm, a control sequence is solved to minimize ; Step four, control amount output: take the first step control amount of the optimization result drives the actuator; wherein for dynamically tracking and adjusting the positions of the laser welder (29) and the two-dimensional turntable (27); for dynamically tracking and adjusting the laser beam exit angle; for dynamically tracking and adjusting the focal length of the electric zoom lens; Step five, real-time feedback correction: the sensor collects new state in real time Calculate the prediction error by comparing the predicted state with the actual state: Correct the subsequent prediction model through feedback correction.

2. A spool spiral laser welding apparatus with a weld seam tracking adjustment mechanism according to claim 1, characterized in that, The inside of the mounting rack (8) is also fixedly provided with three telescopic partitions (25), and the three telescopic partitions (25) are arranged at equal angles in the inside of the mounting rack (8); The inside of the mounting rack (8) is divided into three processing cavities by the three telescopic partitions (25), the processing cavity close to the workpiece feeding rack is used for cleaning the surface dirt of the workpiece before welding processing, the processing cavity in the middle is used for automatic welding processing of the weld on the surface of the workpiece, and the processing cavity close to the workpiece discharge rack is used for cleaning the surface welding slag of the workpiece after welding processing.

3. The spool-helix laser welding apparatus with a weld tracking adjustment mechanism according to claim 1, wherein The welding piece processing unit (4) includes servo linear slide one (9), adjusting sliding block (10), arc-shaped hydraulic telescopic frame (11) and workpiece processing frame (12), the top and bottom of the mounting frame (8) are fixedly provided with servo linear slide one (9) on both sides, and one side of the four servo linear slide one (9) is slidably provided with adjusting sliding block (10), one side of the adjusting sliding block (10) is fixedly provided with arc-shaped hydraulic telescopic frame (11), wherein the output end of the arc-shaped hydraulic telescopic frame (11) is controlled in extension and retraction by hydraulic drive.

4. The spool-helix laser welding apparatus with a weld tracking adjustment mechanism according to claim 3, wherein The driving end of the arc-shaped hydraulic telescopic frame (11) is fixedly provided with the workpiece processing frame (12), and both sides of the inside of the workpiece processing frame (12) are fixedly provided with waste material pumping frames (13), wherein the inside of the two waste material pumping frames (13) is connected with a suction pipe, and the other end of the suction pipe is connected with the inlet end of the waste material collecting pump; the inside of the workpiece processing frame (12) is also fixedly provided with a cleaning blowing head (14), and the inside of the cleaning blowing head (14) is also provided with a fiber laser for cleaning the impurities on the surface of the workpiece.

5. The spool-helix laser welding apparatus with a weld tracking adjustment mechanism according to claim 1, wherein, The inside of the mounting frame (8) is also rotatably provided with a rotating frame (17), and the back of the main body unit (1) is fixedly provided with a servo motor for driving the rotating frame (17) to rotate; wherein the output shaft of the servo motor is fixedly connected with the inside of the rotating frame (17), both sides of the rotating frame (17) are fixedly provided with three connecting frames (18), the inside of the connecting frame (18) is fixedly provided with an electric rotary table (19), and one side of the electric rotary table (19) is rotatably provided with an adjusting servo cylinder one (20), the driving end of the adjusting servo cylinder one (20) is fixedly provided with a connecting block (21), and the inside of the connecting block (21) is fixedly provided with a micro cylinder (22) around, the driving end of the four micro cylinders (22) is fixedly provided with a supporting block (23), and one side of the four supporting blocks (23) is fixedly provided with a limiting block (24).

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