Laser welding equipment based on automobile part machining

Abstract

The invention relates to the technical field of intelligent welding systems, and discloses laser welding equipment based on automobile part machining, which comprises a laser emitting mechanism, a dimming mechanism, a look-ahead recognition mechanism, a dynamic distance adjusting mechanism and a central processing module, the laser emitting mechanism adopts a main laser beam to execute deep penetration welding, and sub laser beams in an annular array revolve around the laser emitting mechanism; a light adjusting mechanism adjusts the angle of a sub-laser beam through a reflection galvanometer, a dynamic distance adjusting mechanism adjusts and identifies the welding distance in real time, and a cooperative control module in a central processing module is used for controlling the welding speed through a speed prediction query unit, a real-time dynamic distance matching unit, a defect instant response unit and a precise cooperative execution unit. When the defect is identified, the dynamic distance adjusting mechanism adjusts the distance in advance, so that the light adjusting mechanism completes deflection when laser reaches a defect point, zero-delay energy compensation is achieved, and through time-space synchronous control, the fusion depth and the forming quality are considered, and the self-adaptive capacity to a welding seam and the welding quality are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent welding system technology, and in particular to a laser welding equipment for processing automotive parts. Background Technology

[0002] Intelligent welding systems are modern welding solutions that integrate advanced sensing technology, real-time path planning, adaptive control, and artificial intelligence algorithms. They dynamically sense workpiece position, bevel morphology, and weld deviations through visual sensors or laser scanning, and autonomously adjust welding parameters such as current, voltage, speed, and trajectory based on algorithms. The system possesses online monitoring and quality assessment capabilities, can handle uncertainties under complex working conditions, significantly improves welding accuracy and consistency, and reduces reliance on human experience. It is a core technology for achieving efficient, high-quality, and automated welding manufacturing, and is widely used in precision industrial fields such as aerospace and automotive manufacturing.

[0003] When welding automotive parts, some weld edges have certain defects, causing the weld to widen abnormally at certain points. This results in insufficient coverage by laser welding, affecting the welding quality. Furthermore, there is a certain time delay between weld identification and laser adjustment response, making it difficult to accurately pinpoint the weld defect at the time the laser completes adjustment. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that in the existing technology, there is a spatiotemporal mismatch between the abnormal widening of the weld caused by local defects and the response delay of the laser adjustment system during the laser welding process, which makes it impossible for energy regulation to be accurately applied to the defective part, thus affecting the welding quality. To this end, we propose a laser welding equipment for automotive parts processing.

[0005] To achieve the above objectives, this application adopts the following technical solution: a laser welding equipment for processing automotive parts, comprising: a laser emitting mechanism and a central processing unit, wherein the main laser beam of the laser emitting mechanism is used to perform core deep penetration welding, and a plurality of sub-laser beams are arranged in a ring array outside the main laser beam, and the sub-laser beams revolve around the axis of the main laser beam;

[0006] Two dimming mechanisms are symmetrically arranged on the sides of the laser emitting mechanism. Each dimming mechanism includes an adjustment structure, and a reflecting galvanometer is installed at the output end of the adjustment structure. A forward-looking recognition mechanism is arranged in front of the moving direction of the laser emitting mechanism. The forward-looking recognition mechanism is used to identify and process the weld morphology data in front. A dynamic distance adjustment mechanism is installed on the top of the forward-looking recognition mechanism. The dynamic distance adjustment mechanism is used to dynamically adjust the working distance between the forward-looking recognition mechanism and the laser emitting mechanism in response to control commands. The central processing module is signal-connected to the forward-looking recognition mechanism, the dynamic distance adjustment mechanism, the dimming mechanism, and the laser emitting mechanism.

[0007] The central processing unit is equipped with a central processing module, which includes a path preset model and a collaborative control module. The collaborative control module includes a speed prediction query unit, a real-time dynamic spacing matching unit, a defect instant response unit, and a precise collaborative execution unit.

[0008] Preferably, during its revolution around the main laser beam, the sub-laser beam is configured to preheat the area in front of the weld point, stir the weld pool to promote gas escape, and perform heat preservation and slow cooling on the area behind the weld point.

[0009] Preferably, the speed prediction query unit is used to continuously query the path preset model based on the real-time position of the laser emitting mechanism during the welding process to obtain the preset moving speed V of the path in front of the laser emitting mechanism; the real-time dynamic spacing matching unit is based on V and the time for identifying and processing defects pre-calibrated by the forward-looking recognition mechanism. and the response time of the dimming mechanism According to the formula Calculate the target dynamic distance L, where L is the working distance between the forward-looking recognition mechanism and the laser emitting mechanism.

[0010] Preferably, the instant defect response unit is used to execute a defect compensation strategy and send a dimming command corresponding to the defect to the dimming mechanism when the forward-looking identification mechanism identifies a weld defect at any time; the precise collaborative execution unit is used to ensure, through the collaboration of the aforementioned real-time dynamic spacing matching unit and the instant defect response unit, that the entire delay time is met. Within the laser emitting mechanism, the distance the laser emitting mechanism moves is exactly equal to the target dynamic spacing L, so that when the laser emitting mechanism moves to the weld defect position, the dimming mechanism has completed the adjustment, enabling the sub-laser beam to perform precise energy compensation for the weld defect.

[0011] Preferably, the forward-looking identification mechanism includes a D-line laser scanner for scanning the weld; a point cloud preprocessing submodule for removing outliers, downsampling, and extracting a reference plane from the original three-dimensional point cloud data; a feature extraction submodule for analyzing and extracting multi-dimensional geometric features of the weld, including width, depth, height, and symmetry; a defect classification submodule for identifying the defect type, location, and severity; and a decision submodule for calculating the galvanometer target deflection angle based on defect information and process parameters to obtain a defect compensation strategy, and transmitting the defect compensation strategy to the defect instant response unit.

[0012] Preferably, the path preset model is generated in the following way: first, based on the CAD model of the workpiece, the geometric coordinates and direction vector of the welding path are generated by a parametric curve fitting algorithm; then, the welding path is speed planned based on the S-shaped addition and subtraction algorithm to generate a preset movement speed sequence associated with the geometric features of the path.

[0013] Preferably, the laser emitting mechanism, dimming mechanism, forward-looking recognition mechanism, dynamic distance adjustment mechanism, and central processing module work together to complete the welding steps of the workpiece as follows:

[0014] S1. Continuous dynamic matching: During the welding process, continuously perform the following operations: Based on the real-time position of the laser emitting mechanism, query the preset path model to obtain the preset moving speed V of a segment of the path in front of the laser emitting mechanism; based on V, determine the time for the forward-looking recognition mechanism to identify and process defects. and the response time of the dimming mechanism The target dynamic distance L is calculated, and the dynamic adjustment mechanism drives the forward recognition mechanism to adjust so that the dynamic matching distance between the forward recognition mechanism and the laser emission mechanism is kept at L.

[0015] S2. Immediate response to defects: When the forward-looking identification mechanism identifies a weld defect, it immediately performs the following operations: Based on the currently maintained optimal target dynamic spacing L, according to the defect compensation strategy, it determines the corresponding sub-laser beam target deflection angle and generates a dimming command to send to the dimming mechanism.

[0016] S3. Precisely perform coordinated execution. Through the coordinated control of S1 and S2, ensure that when the laser emitting mechanism moves to the weld defect position, the dimming mechanism has completed the angle adjustment, so that the sub-laser beam can perform precise energy compensation for the weld defect.

[0017] Preferably, in the defect compensation strategy, the calculation principle for the target deflection angle of the sub-laser beam is to shift the center of the sub-laser beam spot outward to cover the additional area to be welded due to the widening of the weld.

[0018] Preferably, the preset moving speed V of the path segment in front of the laser emitting mechanism is obtained as follows: First, based on the real-time position of the laser emitting mechanism, the corresponding path point is located in the preset path model. The length S of the path segment in front is dynamically determined, and the calculation formula is: Where k is the safety factor, and Used to compensate for uncertainties and ensure that the path segment sufficiently covers the distance traveled during the delay time. This refers to the current moving speed of the laser emitting mechanism, i.e., its real-time speed. Next, the preset moving speed V is calculated, and in the preset path model, the preset speed sequence of all path points within a path segment of length S is extracted. Then, the weighted average of these preset speeds is calculated to obtain the preset movement speed. Where N is the number of path points in the preset forward path segment.

[0019] Preferably, the The preset speed for path point i is a speed sequence derived from the path preset model; Let i be the weight factor of the path point i. Take 1.

[0020] The technical effects and advantages of this invention are as follows:

[0021] This invention utilizes a sub-laser beam capable of circular motion to continuously stir the molten pool, improving metallurgical quality, and preheating and slow cooling to enhance weld formation. Simultaneously, a dynamic distance adjustment mechanism actively addresses localized and asymmetrical defects in the weld. By precisely delivering energy to the defect area in real time, it effectively compensates for insufficient energy and reshapes the molten pool contour. This significantly improves the adaptability and tolerance of the welding process to actual working conditions while retaining the high penetration depth advantage of the central main beam. Ultimately, it ensures uniform, defect-free, high-quality welds even at high-speed welding. Furthermore, through a forward-looking recognition mechanism and dynamic distance adjustment... The system, comprised of a galvanometer and a central processing module, works in tandem to create an integrated feedforward and feedback intelligent welding system. This system achieves precise and predictive compensation for weld defects. Its core benefit lies in completely resolving the spatiotemporal synchronization challenge of adaptive control in high-speed welding environments. Instead of passively responding to defects, the system dynamically predicts and adjusts the distance between the identification point and the welding point in real time, spatially offsetting the inherent delays in image processing and mechanism response. This allows for the triggering of predetermined galvanometer deflection commands the instant a defect is detected, ensuring that the sub-beam's spot has precisely expanded to cover the area to be compensated when it reaches the defect location. This design enables efficient synergy between the deep-penetration capability of the central main beam and the widening, stirring, and locally deflectable compensation capabilities of the annular sub-beams. Ultimately, without sacrificing welding speed or penetration depth, it significantly improves the adaptability and repair capabilities for irregular welds, achieving a balance between high speed, deep penetration, high quality, and high consistency. This greatly enhances the robustness of laser welding in high-speed, high-quality applications such as automotive parts. Attached Figure Description

[0022] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0023] Figure 1 This is a front structural diagram of the welding equipment part of the present invention;

[0024] Figure 2 This is a side view of the welding equipment portion of the present invention.

[0025] Figure 3 This is a three-dimensional structural diagram of the welding torch part of the present invention;

[0026] Figure 4 This is a three-dimensional structural diagram of the laser emitting mechanism and the dimming mechanism of the present invention;

[0027] Figure 5 This is a three-dimensional structural diagram of the forward-looking recognition mechanism and the dynamic distance adjustment mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram of the module structure of the central processing module of the present invention;

[0029] Figure 7 This is a schematic diagram of the process structure for welding operations according to the present invention.

[0030] Legend: 1. Laser emitting mechanism; 101. Main laser beam; 102. Sub-laser beam; 2. Dimming mechanism; 201. Adjustment structure; 202. Reflecting mirror; 3. Forward-looking recognition mechanism; 4. Dynamic distance adjustment mechanism; 5. Central processing module. Detailed Implementation

[0031] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0032] Existing laser welding equipment mainly employs two welding methods when welding workpieces. The first method involves the weld point moving in a straight line. Its advantages include concentrated energy, high welding speed, small heat-affected zone, large weld depth-to-width ratio, and extremely high efficiency. However, its disadvantages include stringent requirements on workpiece assembly clearance, susceptibility to defects such as undercut and dents due to insufficient molten pool fluidity, and a relatively sharp weld bead shape that may affect fatigue performance. The second method is oscillating welding, which uses a laser beam to oscillate at high frequency along a specific trajectory, such as a circle or figure-eight pattern. Its advantages include significantly increasing the laser's effective area, enhancing molten pool stirring, thus improving weld bead formation, resulting in a wider weld, smoother surface, effective bridging of assembly clearances, reduction of defects such as porosity and cracks, and better metallurgical bonding. However, its disadvantages include reduced weld penetration due to energy dispersion, relatively slower welding speed, and more complex process control parameters. To balance the advantages and disadvantages of these two mainstream welding methods, this application proposes the following improvements:

[0033] Reference Figure 1 and Figure 4 As shown, the present invention provides a technical solution: a laser welding equipment for processing automotive parts, comprising: a laser emitting mechanism 1 and a central processing unit 5. The laser emitting mechanism 1 has a main laser beam 101 for performing core deep penetration welding. Several sub-laser beams 102 are arranged in a ring array around the main laser beam 101. The sub-laser beams 102 revolve around the axis of the main laser beam 101. During the revolving process of the sub-laser beams 102 around the main laser beam 101, they are configured to preheat the area in front of the weld point, stir the weld pool to promote gas escape, and perform heat preservation and slow cooling on the area behind the weld point.

[0034] The main laser beam 101 maintains extremely high energy density, focusing on deep penetration welding to ensure welding efficiency and penetration depth. Meanwhile, the outer rotating annular sub-laser beam 102 continuously stirs the molten pool through rotation, which can significantly improve the fluidity of the molten pool, thereby refining the grains, reducing porosity and cracks. At the same time, it can preheat the area to be welded and slowly cool the weld, effectively smoothing the weld contour and eliminating defects such as undercut. This greatly improves the tolerance to workpiece assembly gaps. While ensuring or even improving welding speed and penetration depth, it significantly improves the quality, appearance and mechanical properties of the weld.

[0035] The uniformly rotating sub-laser beam 102 has a uniform and periodic energy distribution, assuming that the weld seam is also uniformly distributed. However, in reality, weld defects are often localized and asymmetrical. When a side of the weld seam becomes abnormally widened or undercut due to heat accumulation or assembly deviation, the uniformly rotating sub-laser beam 102 only sweeps across the defect area for a very short time. Its energy input is instantaneous and uniform, making it impossible to inject targeted laser energy into that specific area. This results in insufficient fusion capability of the excess metal at that location, ultimately preventing the metal at the defective part from being fully remelted and fused, leaving the risk of incomplete penetration or poor forming. To solve this technical problem, this application makes the following further improvements:

[0036] Please see Figure 2 and Figure 4 As shown, two sets of dimming mechanisms 2 are symmetrically arranged on the sides of the laser emitting mechanism 1. The dimming mechanism 2 includes an adjustment structure 201, and a reflecting mirror 202 is installed at the output end of the adjustment structure 201. When the weld is uniform, the adjustment structure 201 retracts with the reflecting mirror 202 without affecting the circumferential motion of the sub-laser beam 102. When the weld is defective, the adjustment structure 201 receives a command and drives the reflecting mirror 202 to adjust so that the sub-laser beam 102 that rotates to both sides of the main laser beam 101 irradiates the reflecting mirror 202. The reflecting function of the reflecting mirror 202 is used to adjust the angle of its emission, so that the center spot of the emitted sub-laser beam 102 shifts outward to cover the extra area to be welded due to the abnormal widening of the weld.

[0037] By incorporating a dimming mechanism 2, the limitations of energy distribution caused by the uniform rotation of the traditional annular sub-laser beam 102 are overcome. When the forward-looking recognition mechanism 3 detects defects such as abnormal widening on one side of the weld, the central processing module can control the dimming mechanism 2 on that side in real time, causing the reflected light spot of the sub-laser beam 102 on that side to shift outward at a specific angle. This active adjustment can precisely cover the extra area to be welded due to defects with additional energy, achieving intelligent trimming and compensation welding of irregular molten pool contours. This effectively solves the problem of incomplete fusion caused by insufficient local energy input, significantly improving the adaptability and repair capability for complex weld defects. Ultimately, it helps ensure uniform and high-quality weld formation without reducing overall efficiency.

[0038] Although the output angle of the sub-laser beam 102 can be adjusted to cover the weld defect location through the cooperation of the look-ahead recognition mechanism 3 and the dimming mechanism 2, both require a certain amount of time for the look-ahead recognition mechanism 3 to identify the weld defect and for the dimming mechanism 2 to respond. This can easily lead to a time delay. By the time the dimming mechanism 2 has finished adjusting the emission angle of the sub-laser beam 102, it has already missed the weld defect location, resulting in insufficient accuracy of weld compensation. To solve this technical problem, this application makes the following improvements:

[0039] Please see Figure 5 As shown, a forward-looking recognition mechanism 3 is provided in front of the laser emitting mechanism 1 in the direction of movement. The forward-looking recognition mechanism 3 is used to identify and process the weld morphology data in front. A dynamic distance adjustment mechanism 4 is installed on the top of the forward-looking recognition mechanism 3. The dynamic distance adjustment mechanism 4 is used to dynamically adjust the working distance between the forward-looking recognition mechanism 3 and the laser emitting mechanism 1 in response to control commands. The central processing module is connected to the forward-looking recognition mechanism 3, the dynamic distance adjustment mechanism 4, the dimming mechanism 2 and the laser emitting mechanism 1 by signal.

[0040] Please see Figure 6 As shown, the central processing unit 5 internally houses a central processing module, which includes a path preset model and a collaborative control module. The path preset model is generated as follows: First, based on the workpiece's CAD model, the geometric coordinates and direction vector of the welding path are generated using a parametric curve fitting algorithm. The parametric curve fitting algorithm is used to extract the welding path from the workpiece's CAD model, typically using B-spline curves for fitting to obtain a smooth path curve. The specific formula is as follows:

[0041] B-spline curve parametric equations: in This represents the geometric coordinates of parameter u on the welding path; u is a curve parameter, ranging from... "Inner" indicates the relative position on the path; It is the i-th p-th B-spline basis function, used for weighted control points; These are the coordinates of control points extracted from the CAD model, used to define the curve shape; n is the number of control points minus one, and p is the curve order, usually 2 or 3.

[0042] Direction calculation: The direction is the tangent direction at the path point u, which is obtained by differentiation:

[0043] in The welding path point is at The direction vector at that location is used to indicate the direction of movement of the laser emitting mechanism 1; are basis functions The derivative;

[0044] Next, the welding path speed is planned based on the S-shaped addition and subtraction algorithm, generating a preset moving speed sequence associated with the path's geometric features. The S-shaped addition and subtraction algorithm is used to plan the moving speed of the laser emitting mechanism 1 along the welding path, ensuring a smooth moving process and avoiding abrupt acceleration or deceleration. Simultaneously, it is associated with the path's geometric features. The speed planning is based on the path's arc length parameter s, which is usually derived from the parameter u, generating a speed sequence v(s). The specific implementation is as follows:

[0045] Curvature calculation: First, calculate the curvature k(u) at each point on the path to determine the maximum permissible speed under geometric constraints. Where k(u) is the curvature of the path at parameter u, reflecting the degree of curvature of the path. and They are The first and second derivatives, i.e., the tangent and the acceleration vector.

[0046] Permissible velocity calculation: Based on curvature and centrifugal acceleration constraints, calculate the permissible velocity at each path point. in It is the maximum speed allowed at path point u; This is the maximum moving speed of laser emitting mechanism 1, which is determined by the equipment performance; This is the maximum acceleration of laser emitting mechanism 1, used to avoid excessive centrifugal force; in the formula... Derived from the centrifugal acceleration formula ,make sure .

[0047] S-shaped acceleration / deceleration planning: Using an S-shaped velocity profile to smooth the allowable velocity, a velocity sequence is generated. Velocity planning algorithms based on acceleration constraints are commonly used, specifically implemented through forward and backward propagation, where forward propagation involves:

[0048] ,in It is a point Speed ​​under forward acceleration limitation; This is the path arc length parameter, representing the i-th path point; It is the arc length increment between adjacent path points. It is the velocity of the previous point.

[0049] Backpropagation: in It is a guide Speed ​​under rearward deceleration limit.

[0050] The final velocity sequence is: in It is a path point The preset movement speed at a given location is used to generate a speed sequence.

[0051] Please see Figure 6 As shown, the collaborative control module includes a speed prediction query unit, a real-time dynamic spacing matching unit, a defect instant response unit, and a precise collaborative execution unit. The speed prediction query unit continuously queries the path preset model based on the real-time position of the laser emitting mechanism 1 during the welding process to obtain the preset moving speed V of the path ahead of the laser emitting mechanism 1. The preset moving speed V of the path segment ahead of the laser emitting mechanism 1 is obtained as follows: First, based on the real-time position of the laser emitting mechanism 1, the corresponding path point is located in the path preset model. The length S of the path segment ahead is dynamically determined, and the calculation formula is: Where k is the safety factor, and Used to compensate for uncertainties and ensure that the path segment sufficiently covers the distance traveled during the delay time. This refers to the current moving speed of laser emitting mechanism 1, i.e., its real-time speed; next, the preset moving speed V is calculated, and in the preset path model, the preset speed sequence of all path points within a path segment of length S is extracted. Then, the weighted average of these preset speeds is calculated to obtain the preset movement speed. Where N is the number of path points in the preset forward path segment; The preset speed for path point i is a speed sequence derived from the path preset model; Let i be the weight factor of the path point i. Take 1.

[0052] The real-time dynamic spacing matching unit is based on V and the pre-calibrated time for defect identification and processing by the look-ahead recognition mechanism 3. and the response time of dimming mechanism 2 According to the formula Calculate the target dynamic distance L, where L is the target dynamic distance between the forward-looking recognition mechanism 3 and the laser emitting mechanism 1.

[0053] The instant defect response unit is used to execute a defect compensation strategy and send a dimming command corresponding to the defect to the dimming mechanism 2 when the forward-looking identification mechanism 3 identifies a weld defect at any time. The precise collaborative execution unit is used to ensure, through the collaboration of the aforementioned real-time dynamic spacing matching unit and the instant defect response unit, that the dimming command is executed throughout the entire delay time. Inside, the distance that the laser emitting mechanism 1 moves is exactly equal to the target dynamic spacing L, so that when the laser emitting mechanism 1 moves to the position of the weld defect, the dimming mechanism 2 has completed the adjustment, so that the sub-laser beam 102 can accurately compensate the weld defect for energy.

[0054] Please see Figure 7 As shown, the laser emitting mechanism 1, the dimming mechanism 2, the forward-looking recognition mechanism 3, the dynamic distance adjustment mechanism 4, and the central processing module work together to complete the welding steps of the workpiece as follows:

[0055] S1. Continuous dynamic matching: During the welding process, the following operations are continuously performed: Based on the real-time position of the laser emitting mechanism 1, the path preset model is queried to obtain the preset moving speed V of a segment of the path in front of the laser emitting mechanism 1. Based on V, the time for the forward-looking recognition mechanism 3 to identify and process defects is pre-calibrated. and the response time of dimming mechanism 2 The target dynamic distance L is calculated, and at the same time, the dynamic adjustment mechanism 4 drives the forward-looking recognition mechanism 3 to adjust so that the dynamic matching distance between the forward-looking recognition mechanism 3 and the laser emitting mechanism 1 is kept at L.

[0056] S2. Immediate response to defects: When the forward-looking identification mechanism 3 identifies a weld defect, it immediately performs the following operations: Based on the currently maintained optimal target dynamic spacing L, according to the defect compensation strategy, it determines the target deflection angle of the corresponding sub-laser beam 102 and generates a dimming command to send to the dimming mechanism 2.

[0057] S3. Precisely perform coordinated execution. Through the coordinated control of S1 and S2, ensure that when the laser emitting mechanism 1 moves to the weld defect position, the dimming mechanism 2 has completed the angle adjustment, so that the sub-laser beam 102 can perform precise energy compensation for the weld defect.

[0058] By pre-calculating and fixing the total delay time of the image processing time of the look-ahead recognition mechanism 3 and the response time of the dimming mechanism 2, and combining it with the real-time moving speed of the laser emitting mechanism 1, the forward distance between the working points of the look-ahead recognition mechanism 3 and the laser emitting mechanism 1 is dynamically adjusted in reverse. This ensures that the entire cycle from the recognition of the defect signal to the execution of the compensation command is perfectly synchronized with the time it takes for the laser beam to move from the position where the defect is recognized to the location of the defect. In this way, at the moment the defect is recognized, a predetermined control command that does not require further calculation can be sent to the dynamic distance adjustment mechanism 4, so that its angle adjustment of the sub-laser beam 102 can be precisely matched with the movement of the welding torch in time and space. This completely eliminates the problem of missing due to calculation and communication delays. Thus, even under high-speed welding conditions, zero-delay, high-precision, and lag-free compensation for weld defects can still be achieved, greatly improving the reliability of adaptive welding and the consistency of forming quality.

[0059] The forward-looking identification mechanism 3 includes a 3D line laser scanner for scanning the weld; a point cloud preprocessing submodule for removing outliers, downsampling, and extracting reference planes from the original 3D point cloud data; a feature extraction submodule for analyzing and extracting multi-dimensional geometric features of the weld, including width, depth, height, and symmetry; a defect classification submodule for identifying defect type, location, and severity; and a decision submodule for calculating the deflection angle of the galvanometer target based on defect information and process parameters to obtain a defect compensation strategy, and transmitting the defect compensation strategy to the defect instant response unit. In the defect compensation strategy, the calculation principle for the deflection angle of the sub-laser beam 102 target is to shift the center of the sub-laser beam 102 spot outward to cover the additional area to be welded due to the widening of the weld.

[0060] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A laser welding equipment for automotive parts processing, characterized in that, It includes a laser emitting mechanism and a central processing unit. The laser emitting mechanism has a main laser beam used to perform core deep penetration welding. Several sub-laser beams are arranged in a ring array outside the main laser beam, and the sub-laser beams revolve around the axis of the main laser beam. Two dimming mechanisms are symmetrically arranged on the sides of the laser emitting mechanism. Each dimming mechanism includes an adjustment structure, and a reflecting galvanometer is installed at the output end of the adjustment structure. A forward-looking recognition mechanism is arranged in front of the moving direction of the laser emitting mechanism. The forward-looking recognition mechanism is used to identify and process the weld morphology data in front. A dynamic distance adjustment mechanism is installed on the top of the forward-looking recognition mechanism. The dynamic distance adjustment mechanism is used to dynamically adjust the working distance between the forward-looking recognition mechanism and the laser emitting mechanism in response to control commands. The central processing module is signal-connected to the forward-looking recognition mechanism, the dynamic distance adjustment mechanism, the dimming mechanism, and the laser emitting mechanism. The central processing unit is equipped with a central processing module, which includes a path preset model and a collaborative control module. The collaborative control module includes a speed prediction query unit, a real-time dynamic spacing matching unit, a defect instant response unit, and a precise collaborative execution unit.

2. The laser welding equipment for automotive parts processing according to claim 1, characterized in that: During its revolution around the main laser beam, the sub-laser beam is configured to preheat the area in front of the weld point, stir the weld pool to promote gas escape, and maintain and slowly cool the area behind the weld point.

3. The laser welding equipment for automotive parts processing according to claim 1, characterized in that: The speed prediction query unit is used to continuously query the path preset model based on the real-time position of the laser emitting mechanism during the welding process to obtain the preset moving speed V of the path in front of the laser emitting mechanism; the real-time dynamic spacing matching unit is based on V and the time for defect identification and processing pre-calibrated by the forward-looking recognition mechanism. and the response time of the dimming mechanism According to the formula Calculate the target dynamic distance L, where L is the working distance between the forward-looking recognition mechanism and the laser emitting mechanism.

4. The laser welding equipment for automotive parts processing according to claim 1, characterized in that: The instant defect response unit is used to execute a defect compensation strategy and send a dimming command corresponding to the defect to the dimming mechanism when the forward-looking identification mechanism identifies a weld defect at any time. The precise collaborative execution unit is used to ensure, through the collaboration of the aforementioned real-time dynamic spacing matching unit and the instant defect response unit, that the dimming command is executed within the entire delay time. Within the laser emitting mechanism, the distance the laser emitting mechanism moves is exactly equal to the target dynamic spacing L, so that when the laser emitting mechanism moves to the weld defect position, the dimming mechanism has completed the adjustment, enabling the sub-laser beam to perform precise energy compensation for the weld defect.

5. The laser welding equipment for automotive parts processing according to claim 1, characterized in that: The forward-looking recognition mechanism includes a D-line laser scanner for scanning welds; a point cloud preprocessing submodule for removing outliers, downsampling, and extracting reference planes from the original 3D point cloud data; and a feature extraction submodule for analyzing and extracting multi-dimensional geometric features of the weld, such as width, depth, height, and symmetry. The defect classification submodule is used to identify the defect type, location, and severity. The decision submodule is used to calculate the deflection angle of the galvanometer target based on defect information and process parameters to obtain the defect compensation strategy, and then transmit the defect compensation strategy to the defect real-time response unit.

6. The laser welding equipment for automotive parts processing according to claim 1, characterized in that: The path preset model is generated in the following way: First, based on the CAD model of the workpiece, the geometric coordinates and direction vector of the welding path are generated by a parametric curve fitting algorithm; then, the welding path is speed planned based on the S-shaped addition and subtraction algorithm to generate a preset movement speed sequence associated with the geometric features of the path.

7. The laser welding equipment for automotive parts processing according to claim 1, characterized in that: The laser emitting mechanism, dimming mechanism, forward-looking recognition mechanism, dynamic distance adjustment mechanism, and central processing module work together to complete the welding steps of the workpiece as follows: S1. Continuous dynamic matching: During the welding process, continuously perform the following operations: Based on the real-time position of the laser emitting mechanism, query the preset path model to obtain the preset moving speed V of a segment of the path in front of the laser emitting mechanism; based on V, determine the time for the forward-looking recognition mechanism to identify and process defects. and the response time of the dimming mechanism The target dynamic distance L is calculated, and the dynamic adjustment mechanism drives the forward recognition mechanism to adjust so that the dynamic matching distance between the forward recognition mechanism and the laser emission mechanism is kept at L. S2. Immediate response to defects: When the forward-looking identification mechanism identifies a weld defect, it immediately performs the following operations: Based on the currently maintained optimal target dynamic spacing L, according to the defect compensation strategy, it determines the corresponding sub-laser beam target deflection angle and generates a dimming command to send to the dimming mechanism. S3. Precisely perform coordinated execution. Through the coordinated control of S1 and S2, ensure that when the laser emitting mechanism moves to the weld defect position, the dimming mechanism has completed the angle adjustment, so that the sub-laser beam can perform precise energy compensation for the weld defect.

8. The laser welding equipment for automotive parts processing according to claim 7, characterized in that: In the defect compensation strategy, the calculation principle for the target deflection angle of the sub-laser beam is to shift the center of the sub-laser beam spot outward to cover the additional area to be welded due to the widening of the weld.

9. The laser welding equipment for automotive parts processing according to claim 7, characterized in that: The preset moving speed V of the path segment in front of the laser emitting mechanism is obtained as follows: First, based on the real-time position of the laser emitting mechanism, the corresponding path point is located in the preset path model. The length S of the path segment in front is dynamically determined, and the calculation formula is: Where k is the safety factor, and Used to compensate for uncertainties and ensure that the path segment sufficiently covers the distance traveled during the delay time. This refers to the current moving speed of the laser emitting mechanism, i.e., its real-time speed. Next, the preset moving speed V is calculated, and in the preset path model, the preset speed sequence of all path points within a path segment of length S is extracted. Then, the weighted average of these preset speeds is calculated to obtain the preset movement speed. Where N is the number of path points in the preset forward path segment.

10. The laser welding equipment for automotive parts processing according to claim 9, characterized in that: The The preset speed for path point i is a speed sequence derived from the path preset model; Let i be the weight factor of the path point i. Take 1.

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