Multi-degree-of-freedom laser electric arc hybrid welding robot and control method

Abstract

The invention relates to the technical field of welding, in particular to a multi-degree-of-freedom laser arc hybrid welding robot and a control method.The multi-degree-of-freedom laser arc hybrid welding robot comprises a position adjusting assembly and a welding assembly, and the position adjusting assembly comprises a transverse adjuster, a longitudinal adjuster, a lifter, a rotating disc and a fine adjustment seat; the longitudinal adjustor is arranged on the transverse adjustor, the lifter is arranged on the longitudinal adjustor, the rotating disc is rotationally arranged on the lifter, and the fine adjustment seat is arranged on the rotating disc in a sliding mode; the welding assembly comprises a first supporting frame, a laser welding gun, a second supporting frame, an electric arc welding gun and a gas protection spray head, the first supporting frame is fixed to the rotating disc, the laser welding gun is arranged in the first supporting frame, the second supporting frame is arranged on one side of the first supporting frame, and the electric arc welding gun is arranged on the second supporting frame; the gas protection spray head is arranged on one side of the electric arc welding gun, the welding gun can be adjusted according to the position needing to be welded, and use is more convenient.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a multi-degree-of-freedom laser-arc hybrid welding robot and its control method. Background Technology

[0002] Laser-arc hybrid welding robots are advanced automated welding equipment that integrates a high-energy laser beam with a traditional electric arc. By synergistically combining the heat sources of the laser and the arc in the same molten pool, they fully leverage the advantages of both: the laser provides deep and narrow penetration and high welding speed, while the arc increases the width of the molten pool, improves bridging capabilities, and reduces the requirements for assembly precision.

[0003] Existing laser-arc hybrid welding robots generally operate at a fixed angle. This often requires flipping and repositioning the workpiece when welding at different positions, resulting in low work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-degree-of-freedom laser-arc hybrid welding robot and its control method, which aims to flexibly adjust the welding gun according to the position to be welded, making it more convenient to use.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a multi-degree-of-freedom laser-arc hybrid welding robot, comprising a base and a worktable, wherein the worktable is fixedly connected to the base and located on top of the base, and further comprising a position adjustment assembly and a welding assembly, wherein the position adjustment assembly comprises a lateral adjuster, a longitudinal adjuster, a lifter, a rotating disk, and a fine-tuning seat, wherein the lateral adjuster is disposed on the worktable, the longitudinal adjuster is disposed on the lateral adjuster, the lifter is disposed on the longitudinal adjuster, the rotating disk is rotatably disposed on the lifter, and the fine-tuning seat is slidably disposed on the rotating disk; The welding assembly includes a first support frame, a laser welding gun, a second support frame, an arc welding gun, and a gas protective nozzle. The first support frame is fixed on the rotating disk, the laser welding gun is disposed inside the first support frame, the second support frame is disposed on one side of the first support frame, the arc welding gun is disposed on the second support frame, and the gas protective nozzle is disposed on one side of the arc welding gun.

[0006] The rotating disk includes a disk body, a first gear ring, a first gear, and a first motor. The disk body is rotatably mounted on the output end of the lifting device. The first gear ring is fixedly connected to the disk body. The first gear meshes with the first gear ring. The output end of the first motor is connected to the first gear.

[0007] The rotating disk also includes a clamp, which is disposed on one side of the disk body and is used to fix the disk body after it has been adjusted into place.

[0008] The clamping device includes a friction ring, an elastic element, a permanent magnet, and an electromagnet. The friction ring is slidably disposed on one side of the disc body, the permanent magnet is disposed on the friction ring, the electromagnet is disposed on one side of the permanent magnet, and the elastic element is disposed on one side of the friction ring.

[0009] The fine-tuning base includes an adjusting screw, a sliding base, an adjusting motor, a distance sensor, and a control module. The sliding base is slidably mounted on the disc body. The adjusting screw is threadedly connected to the sliding base. The output end of the adjusting motor is connected to the adjusting screw. The distance sensor is mounted on the sliding base. The control module is connected to the distance sensor and is used to control the adjusting motor based on distance data.

[0010] The control module includes a data acquisition unit, a judgment unit, and a control unit. The data acquisition unit is used to acquire distance data from the ranging sensor. The judgment unit is used to calculate the difference between the distance data and preset data. The control unit is used to control the adjustment motor based on the difference.

[0011] The second support frame includes a driver, a rotating ring, and a support frame body. The rotating ring is rotatably mounted on the first support frame. The driver is used to drive the rotating ring to rotate. The support frame body is fixed on the rotating ring. The arc welding gun is mounted on the support frame body.

[0012] The second support frame further includes a protective plate and a locking screw. The protective plate is slidably disposed on the rotating ring and located on one side of the laser welding gun. The locking screw is threadedly connected to the protective plate and passes through the protective plate.

[0013] The driver includes a second motor, a second gear, and a second gear ring. The second gear ring is fixed on the rotating ring, the second gear meshes with the second gear ring, and the output end of the second motor is connected to the second gear.

[0014] Secondly, the present invention also provides a control method for a multi-degree-of-freedom laser-arc hybrid welding robot, which employs the aforementioned multi-degree-of-freedom laser-arc hybrid welding robot.

[0015] This invention discloses a multi-degree-of-freedom laser-arc hybrid welding robot and its control method. The worktable is fixedly connected to the base via high-strength bolts or welding and is located on top of the base, providing a stable support platform for the entire device. The worktable surface can be provided with mounting reference holes or guide rail structures to facilitate the positioning and clamping of the workpiece to be welded.

[0016] The position adjustment components are used to achieve precise positioning and attitude adjustment of the welding head in three-dimensional space. Specifically, the lateral adjuster is set on the worktable along the X-axis and uses a servo motor to drive a ball screw transmission mechanism to achieve precise horizontal (left / right) movement; the longitudinal adjuster is mounted on the lateral adjuster and runs along the Y-axis, also composed of a precision linear module, to complete the position adjustment in the front and back directions; the lifting device is set above the longitudinal adjuster and moves vertically along the Z-axis, using a stepper motor in conjunction with a guide rail and a lead screw structure to achieve height adjustment of the welding assembly; the rotating disk is rotatably connected to the end of the lifting device through bearings, and can rotate 360° continuously around the vertical axis under the action of a rotary drive device (such as a harmonic geared motor), thereby achieving flexible adjustment of the azimuth angle; the fine-tuning seat is slidably set on the annular guide rail or linear guide groove of the rotating disk, and can be adjusted radially by a manual knob or a micro electric push rod to compensate for assembly errors or achieve fine correction of the welding path, significantly improving the repeatability and positioning accuracy of the welding trajectory.

[0017] The first support frame is fixedly installed on one side or in the center of the rotating disk, serving as the main load-bearing structure of the laser welding unit. The laser welding gun is embedded inside the first support frame or fixed thereon via a quick-change interface. It can be a high-power semiconductor laser or a YAG laser with fiber optic transmission, featuring a small focused spot and high energy density. The second support frame is located on one side of the first support frame, installed independently but maintaining a preset spatial relationship with the laser gun to ensure the synergistic effect of the two heat sources during the welding process. The arc welding gun (such as a MIG / MAG welding gun) is installed on the second support frame, and its relative distance and angle with the laser beam can be adjusted according to process requirements. The gas protection nozzle is located on one side of the arc welding gun and is used to deliver inert or mixed protective gases (such as Ar, CO2, etc.) to the molten pool area to prevent high-temperature metal oxidation and improve weld formation quality.

[0018] The axes of the laser welding gun and the arc welding gun can intersect at a single point in the same plane, forming a "T"-shaped or parallel composite heat source layout. This effectively enhances penetration depth and bridging gap capability, while reducing porosity and cracking tendency. The control system can synchronously coordinate the start-up timing, power parameters, and motion trajectory of both guns, achieving intelligent welding process management. This allows for convenient and flexible adjustment of the welding gun according to the required welding position, making it more convenient to use. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a structural diagram of a multi-degree-of-freedom laser-arc hybrid welding robot according to the present invention.

[0021] Figure 2 yes Figure 1 A magnified view of detail A.

[0022] Figure 3 This is a side view of a multi-degree-of-freedom laser-arc hybrid welding robot and its control method according to the present invention.

[0023] Figure 4 yes Figure 3 A magnified view of detail B.

[0024] Figure 5 This is a right-side structural diagram of a multi-degree-of-freedom laser-arc hybrid welding robot and its control method according to the present invention.

[0025] Figure 6 This is a structural diagram of the control module of the present invention.

[0026] Base 101, worktable 102, horizontal adjuster 103, vertical adjuster 104, lifting device 105, rotating disk 106, fine-tuning seat 107, first support frame 108, laser welding gun 109, second support frame 110, arc welding gun 111, gas protection nozzle 112, disc body 113, first gear ring 114, first gear 115, first motor 116, friction ring 117, elastic element 118, permanent magnet 119, electromagnet 120, adjusting screw 121, sliding seat 122, adjusting motor 123, distance sensor 124, control module 125, data acquisition unit 126, judgment unit 127, control unit 128, driver 129, rotating ring 130, support frame body 131, protective plate 132, locking screw 133, second motor 134, second gear 135, second gear ring 136. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] First Embodiment Please see Figures 1-6This invention provides a multi-degree-of-freedom laser-arc hybrid welding robot, including a base 101 and a worktable 102. The worktable 102 is fixedly connected to the base 101 and located on top of the base 101. It also includes a position adjustment assembly and a welding assembly. The position adjustment assembly includes a lateral adjuster 103, a longitudinal adjuster 104, a lifter 105, a rotating disk 106, and a fine-tuning seat 107. The lateral adjuster 103 is disposed on the worktable 102, the longitudinal adjuster 104 is disposed on the lateral adjuster 103, the lifter 105 is disposed on the longitudinal adjuster 104, and the rotating disk 106 rotates... The lifting device 105 is movably mounted on the lifting device 105, and the fine-tuning seat 107 is slidably mounted on the rotating disk 106. The welding assembly includes a first support frame 108, a laser welding gun 109, a second support frame 110, an arc welding gun 111, and a gas protective nozzle 112. The first support frame 108 is fixed on the rotating disk 106, the laser welding gun 109 is disposed inside the first support frame 108, the second support frame 110 is disposed on one side of the first support frame 108, the arc welding gun 111 is disposed on the second support frame 110, and the gas protective nozzle 112 is disposed on one side of the arc welding gun 111.

[0030] In this embodiment, the worktable 102 is fixedly connected to the base 101 by high-strength bolts or welding, and is located on top of the base 101 to provide a stable support platform for the entire device. The surface of the worktable 102 may be provided with mounting reference holes or guide rail structures to facilitate the positioning and clamping of the workpiece to be welded.

[0031] The position adjustment component is used to achieve precise positioning and attitude adjustment of the welding head in three-dimensional space. Specifically, the lateral adjuster 103 is mounted on the worktable 102 along the X-axis and uses a servo motor to drive a ball screw transmission mechanism to achieve precise horizontal (left / right) movement; the longitudinal adjuster 104 is mounted on the lateral adjuster 103 and runs along the Y-axis, also composed of a precision linear module, to complete the position adjustment in the front-back direction; the lifting device 105 is located above the longitudinal adjuster 104 and moves vertically along the Z-axis, using a stepper motor in conjunction with a guide rail and a screw structure to achieve height adjustment of the welding assembly; the rotating disk 106 is rotatably connected to the end of the lifting device 105 via bearings, and can rotate continuously 360° around the vertical axis under the action of a rotary drive device (such as a harmonic reduction motor), thereby achieving flexible adjustment of the azimuth angle; the fine-tuning seat 107 is slidably mounted on the annular guide rail or linear guide groove of the rotating disk 106, and can be adjusted radially by a manual knob or a micro electric push rod to compensate for assembly errors or achieve fine correction of the welding path, significantly improving the repeatability and positioning accuracy of the welding trajectory.

[0032] The first support frame 108 is fixedly installed on one side or in the center of the rotating disk 106, serving as the main load-bearing structure of the laser welding unit. The laser welding gun 109 is embedded inside the first support frame 108 or fixed thereon via a quick-change interface. It can be a high-power semiconductor laser or a YAG laser with fiber optic transmission, featuring a small focused spot and high energy density. The second support frame 110 is located on one side of the first support frame 108, installed independently but maintaining a preset spatial relationship with the laser gun to ensure the synergistic effect of the two heat sources during the welding process. The arc welding gun 111 (such as a MIG / MAG welding gun) is installed on the second support frame 110 and can adjust its relative distance and angle with the laser beam according to process requirements. The gas protection nozzle 112 is located on one side of the arc welding gun 111 and is used to deliver inert or mixed protective gases (such as Ar, CO2, etc.) to the molten pool area to prevent high-temperature metal oxidation and improve weld formation quality.

[0033] The axes of the laser welding gun 109 and the arc welding gun 111 can intersect at a single point in the same plane, forming a "T"-shaped or parallel composite heat source layout. This effectively enhances penetration depth and bridging gap capability, while reducing porosity and cracking tendency. The control system can synchronously coordinate the start-up timing, power parameters, and motion trajectory of both, achieving intelligent welding process management. This allows for convenient and flexible adjustment of the welding gun according to the required welding position, making it more convenient to use.

[0034] The rotating disk 106 includes a disk body 113, a first gear ring 114, a first gear 115, and a first motor 116. The disk body 113 is rotatably mounted on the output end of the lifting device 105. The first gear ring 114 is fixedly connected to the disk body 113. The first gear 115 meshes with the first gear ring 114. The output end of the first motor 116 is connected to the first gear 115.

[0035] The disc 113 is rotatably mounted on the output end of the lifter 105 via a high-precision angular contact bearing or crossed roller bearing, allowing the disc 113 to rotate 360° omnidirectionally relative to the lifter 105 under driving action. This drives the fine-tuning seat 107 and welding components mounted on it to rotate synchronously, enabling flexible adjustment of the welding direction. The disc 113 is made of high-strength aluminum alloy or cast iron, possessing good rigidity and torsional resistance. Its surface is provided with a mounting reference surface and a positioning stop to ensure assembly accuracy with the upper structure.

[0036] The first gear ring 114 is a ring gear structure with continuous teeth on its outer or inner edge. The first gear ring 114 is fixedly connected to the outer peripheral wall or side end face of the disk body 113 by bolts or interference fit, and rotates synchronously with the disk body 113. The first gear 115 is a small-module spur gear or helical gear, meshing with the first gear ring 114 to form an external or internal meshing transmission pair, used to efficiently transmit the rotational power of the first motor 116 to the disk body 113. The first motor 116 is a servo motor or stepper motor, fixedly mounted on the housing or bracket of the lifting device 105. Its output shaft is connected to the rotating shaft of the first gear 115 via a coupling or directly to drive the first gear 115 to rotate, thereby driving the first gear ring 114 and the disk body 113 to achieve precise angle adjustment. The control system can perform closed-loop control of the first motor 116 according to a preset welding trajectory, achieving an angle positioning accuracy within ±0.05°, meeting the requirements of high-precision welding.

[0037] The rotating disk 106 also includes a clamp, which is disposed on one side of the disk body 113 and is used to fix the disk body 113 after it has been adjusted into place.

[0038] The clamp is located on one side of the disc 113, near the connection area between the disc 113 and the lifter 105, and is used to lock the disc 113 in the current position after it is rotated to the target angle, thereby enhancing the stability of the overall structure.

[0039] The clamping device includes a friction ring 117, an elastic element 118, a permanent magnet 119, and an electromagnet 120. The friction ring 117 is slidably disposed on one side of the disc body 113. The permanent magnet 119 is disposed on the friction ring 117. The electromagnet 120 is disposed on one side of the permanent magnet 119. The elastic element 118 is disposed on one side of the friction ring 117.

[0040] The friction ring 117 is a ring-shaped metal component that is slidably disposed on the side wall or outer circumference of the disk 113. Its inner surface forms a mating surface with the disk 113, generating frictional force in the axial or radial direction. The permanent magnet 119 is embedded or fixed to one side of the friction ring 117, providing a continuous pre-tightening magnetic force. The electromagnet 120 is disposed outside the permanent magnet 119 and is electrically connected to the control system, allowing the direction and intensity of the magnetic field to be controlled by switching the power on and off.

[0041] During operation, when the first motor 116 drives the disc 113 to rotate to the required angle, the control system issues a command to shut down the first motor 116 and start the electromagnet 120. By rationally designing the excitation direction of the electromagnet 120, the magnetic field it generates is superimposed or canceled out by the magnetic field of the permanent magnet 119: when clamping is required, the electromagnet 120 is energized to enhance the overall magnetic attraction force, pushing the friction ring 117 to press against the disc 113. The buffer and pre-pressure provided by the elastic element 118 (such as a spring, disc spring, or rubber pad) generate a sufficiently large static friction torque between the friction ring 117 and the disc 113, thereby achieving reliable locking of the disc 113; when it is necessary to loosen for the next adjustment, the electromagnet 120 is energized in the reverse direction or de-energized, weakening or canceling the magnetic force of the permanent magnet, causing the friction ring 117 to return to its original position under the reset action of the elastic element 118, releasing the clamping state and restoring the free rotation capability of the disc 113.

[0042] The fine-tuning base 107 includes an adjusting screw 121, a sliding base 122, an adjusting motor 123, a distance sensor 124, and a control module 125. The sliding base 122 is slidably mounted on the disc body 113. The adjusting screw 121 is threadedly connected to the sliding base 122. The output end of the adjusting motor 123 is connected to the adjusting screw 121. The distance sensor 124 is mounted on the sliding base 122. The control module 125 is connected to the distance sensor 124 and is used to control the adjusting motor 123 based on distance data.

[0043] The sliding seat 122 is slidably mounted on the annular slide rail or radial guide groove of the disk body 113 via a precision linear guide rail, ball bearing groove, or dovetail groove structure. It can perform linear reciprocating motion in the radial direction within the plane of the disk body 113, with its motion direction pointing towards or away from the center of the disk body 113, thereby driving the welding assembly mounted on it to make minute displacement adjustments. The sliding seat 122 is made of high-strength stainless steel or aluminum alloy material, and its surface is hardened, giving it good wear resistance and dimensional stability.

[0044] The adjusting screw 121 is arranged radially and connected to the sliding seat 122 via a threaded connection, forming a screw-nut transmission mechanism. When the adjusting screw 121 rotates, the sliding seat 122 is restricted to linear motion by the guide rail, thus achieving precise axial feed under the push of the thread. The adjusting motor 123 is a high-precision stepper motor or closed-loop servo motor, fixedly mounted on the support structure of the disc 113 or the lifting device 105. Its output end is connected to one end of the adjusting screw 121 via a coupling or gear set to drive the adjusting screw 121 to rotate. The adjusting motor 123 has a microstepping control function, which can achieve micron-level step control, ensuring a smooth adjustment process without creep.

[0045] The ranging sensor 124 is mounted on the sliding seat 122, and is preferably a non-contact displacement sensor, such as a laser triangulation ranging sensor 124, a capacitive displacement sensor, or an ultrasonic ranging module, used to detect the actual distance between the current position of the sliding seat 122 and a set reference point in real time. The sensor emits measurement signals toward a fixed reference surface (such as the edge of the worktable 102, a dedicated calibration target plate, or the edge of the workpiece), and transmits the collected distance data to the control module 125 in the form of analog voltage or digital signals.

[0046] The control module 125 is the core intelligent unit for the closed-loop automatic adjustment of the fine-tuning seat 107. It is electrically connected to the distance sensor 124, and is used to receive and process distance data. It also issues commands to the adjustment motor 123 according to the preset control logic to realize the automatic calibration and dynamic compensation of the position of the sliding seat 122.

[0047] The control module 125 includes a data acquisition unit 126, a judgment unit 127, and a control unit 128. The data acquisition unit 126 is used to acquire distance data from the ranging sensor 124. The judgment unit 127 is used to calculate the difference between the distance data and preset data. The control unit 128 is used to control the adjusting motor 123 based on the difference.

[0048] The data acquisition unit 126 collects distance data output by the ranging sensor 124 in real time. It features signal filtering, noise reduction, and sample-and-hold functions, and can average multiple consecutive sets of data to eliminate random errors and improve measurement accuracy. This unit can also communicate via an interface (such as RS485, CAN bus, or I / O). 2 C) Synchronize timestamps and coordinate information with the main control system to ensure data timing consistency. The judgment unit 127 compares the currently acquired actual distance data with the system-preset target distance data (i.e., the value corresponding to the ideal position) and calculates the deviation value (difference) between the two. This difference reflects the degree of deviation of the current position of the sliding seat 122 from the target position; it can be positive or negative, and the unit is usually micrometers (μm). The judgment unit 127 also has a threshold comparison mechanism. When the difference is less than the set tolerance range (e.g., ±5μm), the position is determined to be within the acceptable range, and no adjustment is needed; when the difference exceeds the threshold, an adjustment action is triggered. The control unit 128 generates corresponding motor control signals based on the magnitude and direction of the difference output by the judgment unit 127. For example, if the actual position is too small (i.e., the sliding seat 122 is too close to the center), the control unit 128 drives the adjustment motor 123 to rotate forward, causing the adjustment screw 121 to move the sliding seat 122 outward; conversely, it rotates backward. The control algorithm can adopt a PID (proportional-integral-derivative) control strategy to dynamically adjust the motor speed and acceleration, achieve fast response and overshoot-free positioning, and ensure that the adjustment process is both efficient and stable.

[0049] The second support frame 110 includes a driver 129, a rotating ring 130, and a support frame body 131. The rotating ring 130 is rotatably mounted on the first support frame 108. The driver 129 is used to drive the rotating ring 130 to rotate. The support frame body 131 is fixed on the rotating ring 130. The arc welding gun 111 is mounted on the support frame body 131.

[0050] The rotating ring 130 is coaxially mounted on the outer peripheral sidewall of the first support frame 108 via a high-precision rolling bearing or sliding bearing, forming a rotatable connection structure. The rotating ring 130 has an annular or semi-annular structure and is precision-machined from high-strength alloy steel or aluminum alloy, possessing good rigidity and rotational accuracy. The support frame body 131 is a rigid frame structure, fixedly installed on the outer edge or side of the rotating ring 130, and can be securely assembled through bolt connection or integrated casting. The arc welding torch 111 (such as a MIG / MAG welding torch or a TIG welding torch) is mounted on the support frame body 131 via a quick-change clamp or adjusting flange, and its spatial orientation changes synchronously with the rotation of the rotating ring 130, thereby achieving circumferential angle adjustment of the arc beam direction relative to the laser beam.

[0051] The second support frame 110 also includes a protective plate 132 and a locking screw 133. The protective plate 132 is slidably disposed on the rotating ring 130 and located on one side of the laser welding gun 109. The locking screw 133 is threadedly connected to the protective plate 132 and passes through the protective plate 132.

[0052] To enhance equipment safety and prevent damage to the laser welding gun 109 from spatter, high-temperature metal particles, or strong light radiation generated during welding, the second support frame 110 further includes a protective plate 132 and locking screws 133. The protective plate 132 is an arc-shaped or fan-shaped metal baffle, typically made of high-temperature resistant stainless steel, ceramic-coated steel plate, or quartz glass composite material, possessing excellent impact resistance, heat resistance, and optical isolation properties. The protective plate 132 is slidably mounted on the guide groove or slide rail of the rotating ring 130, and its position can be adjusted radially or circumferentially to ensure it is always located on one side of the laser welding gun 109, forming a physical barrier that effectively blocks the path of spatter ejected from the arc welding area, protecting the laser optical system from contamination or damage.

[0053] The locking screw 133 is threadedly connected to the protective plate 132, passes through the body of the protective plate 132, and abuts against the surface of the rotating ring 130. After the protective plate 132 is adjusted to the desired position, the locking screw 133 is tightened, and the friction at its end or the action of the set screw securely locks the protective plate 132 onto the rotating ring 130, preventing displacement during equipment movement or vibration. One or more locking screws 133 can be provided, distributed at different positions on the protective plate 132 to ensure clamping stability and sealing. In some embodiments, the locking screw 133 may also be equipped with a spring washer or a self-locking nut to further enhance anti-loosening performance.

[0054] The driver 129 includes a second motor 134, a second gear 135, and a second gear ring 136. The second gear ring 136 is fixed on the rotating ring 130. The second gear 135 meshes with the second gear ring 136. The output end of the second motor 134 is connected to the second gear 135.

[0055] The driver 129 includes a second motor 134, a second gear 135, and a second gear ring 136. The second gear ring 136 is a ring gear, fixedly sleeved on the outer circumference or inner wall of the rotating ring 130. It can be circumferentially fixed using interference fit, key connection, or screw fastening, and rotates synchronously with the rotating ring 130. The second gear 135 is a small-module spur or helical gear, meshing with the second gear ring 136 to form an external or internal meshing transmission pair, offering advantages such as smooth transmission, low noise, and small backlash. The second motor 134 is a servo motor or stepper motor, mounted on a reserved mounting base on the first support frame 108. Its output shaft is connected to the rotating shaft of the second gear 135 via a coupling or directly. Under the command of the control system, it drives the second gear 135 to rotate, thereby driving the second gear ring 136 and the entire rotating ring 130 to achieve precise angle control. The control system can automatically set the optimal angle based on the welding process database (e.g., laser leading the arc by 10°~30°) and achieve closed-loop control through encoder feedback, with an angle adjustment accuracy of within ±0.1°.

[0056] Second Embodiment The present invention also provides a control method for a multi-degree-of-freedom laser-arc hybrid welding robot, which employs the aforementioned multi-degree-of-freedom laser-arc hybrid welding robot.

[0057] Before welding begins, an external 3D vision scanning system (such as a structured light camera or laser profilometer) scans the surface morphology of the workpiece to be welded, acquiring key parameters such as its geometric dimensions, joint type (butt joint, lap joint, corner joint, etc.), assembly gap, and misalignment. The control system compares the collected point cloud data with the preset CAD model, automatically identifies the actual weld trajectory, and, combined with material properties (such as steel plate, aluminum alloy, or stainless steel) and plate thickness information, calls the built-in process database to generate the optimal combination of composite welding process parameters, including laser power, arc current / voltage, welding speed, distance between the two heat sources, relative angle, and shielding gas flow rate. Simultaneously, based on the spatial orientation of the weld, the system uses inverse kinematics algorithms to calculate the motion trajectory curves of each degree of freedom of the robot (X / Y / Z axis movement, rotation of the rotary disk 106, radial adjustment of the fine-tuning seat 107, and circumferential adjustment of the second support frame 110) throughout the welding process, and decomposes them into an executable servo control command sequence.

[0058] After the robot is started, the control system drives the position adjustment components to complete the initial positioning according to a predetermined program. Specifically, the lateral adjuster 103, the longitudinal adjuster 104, and the lifter 105 work together to move the welding assembly to a preset height above the weld start point; the rotating disk 106 rotates to the target azimuth angle under the drive of the first motor 116; the fine-tuning seat 107 drives the sliding seat 122 to move radially slightly through the adjustment motor 123, so that the laser beam focus is precisely aligned with the weld centerline. At the same time, the driver 129 in the second support frame 110 works, and the second motor 134 drives the rotating ring 130 to rotate through the second gear 135 and the second gear ring 136, thereby adjusting the spatial angle of the support frame body 131 and the arc welding gun 111, ensuring that the laser beam and the arc maintain a preset spatial angle (such as the laser leading the arc by 15°~30°), and achieving precise spatial coupling of the two heat sources.

[0059] During welding, factors such as localized thermal deformation of the workpiece due to heat input, loosening of the fixture, or original assembly errors may cause the weld position to shift. To address this, the control system integrates online monitoring, using coaxial or lateral vision sensors installed near the welding head to continuously capture the molten pool shape and weld shift. When the actual weld deviates from the preset trajectory, the system immediately activates a dynamic compensation mechanism. If the offset is lateral, the adjustment motor 123 of the fine-tuning seat 107 drives the sliding seat 122 to perform radial fine-tuning, thereby correcting the relative position of the laser and the electric arc in real time. If the angle changes, the angle of the rotating ring 130 is adjusted by the second motor 134 to change the direction of the arc welding gun 111 and maintain the optimal heat source configuration. Meanwhile, the horizontal, vertical and lifting components 105 in the position adjustment assembly can also be finely adjusted in a coordinated manner to ensure that the entire welding head is always in the ideal welding posture.

[0060] In addition, in long welds or multi-pass welding scenarios, the control system can also adjust the welding speed or power parameters in advance based on the temperature field distribution prediction model to prevent overheating or incomplete fusion defects.

[0061] Throughout the operation, the control system monitors the working status of each actuator in real time. For example, when the electromagnet 120 in the clamp is energized, the system confirms that the friction ring 117 has pressed the disc 113 tightly before allowing high-power welding to start; if abnormal vibration or position drift is detected, an alarm is automatically triggered and welding is suspended until manual intervention or automatic reset before resuming operation. Although the protective plate 132 is a passive structure, its presence is also included in the safety logic judgment—the system assumes that the protective plate 132 is in a correct installation state; otherwise, the laser is prohibited from starting to prevent splashes from damaging optical components.

[0062] As the core of hybrid welding, the control system also needs to achieve coordinated energy management of the two major heat sources: laser and electric arc. Through digital communication interfaces (such as EtherCAT or Profinet), the main control module synchronously sends start / stop signals, power curves, and modulation frequencies to the laser generator and the arc power supply. For example, during the arc initiation stage of the weld, the electric arc is first activated to establish a stable molten pool, and then the laser is introduced to enhance the penetration depth; the arc termination stage operates in reverse to avoid shrinkage defects. For the pulsed laser and pulsed arc hybrid mode, the system can set the phase relationship (in-phase or out-of-phase) of the pulse frequencies of the two, further optimizing the droplet transfer behavior and molten pool flow characteristics.

[0063] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A multi-degree-of-freedom laser-arc hybrid welding robot, comprising a base and a worktable, wherein the worktable is fixedly connected to the base and located on top of the base, characterized in that, It also includes a position adjustment assembly and a welding assembly. The position adjustment assembly includes a lateral adjuster, a longitudinal adjuster, a lifter, a rotary table, and a fine-tuning seat. The lateral adjuster is disposed on the worktable, the longitudinal adjuster is disposed on the lateral adjuster, the lifter is disposed on the longitudinal adjuster, the rotary table is rotatably disposed on the lifter, and the fine-tuning seat is slidably disposed on the rotary table. The welding assembly includes a first support frame, a laser welding gun, a second support frame, an arc welding gun, and a gas protective nozzle. The first support frame is fixed on the rotating disk, the laser welding gun is disposed inside the first support frame, the second support frame is disposed on one side of the first support frame, the arc welding gun is disposed on the second support frame, and the gas protective nozzle is disposed on one side of the arc welding gun.

2. The multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 1, characterized in that, The rotating disk includes a disk body, a first gear ring, a first gear, and a first motor. The disk body is rotatably mounted on the output end of the lifting device. The first gear ring is fixedly connected to the disk body. The first gear meshes with the first gear ring. The output end of the first motor is connected to the first gear.

3. The multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 2, characterized in that, The rotating disk also includes a clamp, which is disposed on one side of the disk body and is used to fix the disk body after it has been adjusted into place.

4. The multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 3, characterized in that, The clamping device includes a friction ring, an elastic element, a permanent magnet, and an electromagnet. The friction ring is slidably disposed on one side of the disc body, the permanent magnet is disposed on the friction ring, the electromagnet is disposed on one side of the permanent magnet, and the elastic element is disposed on one side of the friction ring.

5. The multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 4, characterized in that, The fine-tuning base includes an adjusting screw, a sliding base, an adjusting motor, a distance sensor, and a control module. The sliding base is slidably mounted on the disc body. The adjusting screw is threadedly connected to the sliding base. The output end of the adjusting motor is connected to the adjusting screw. The distance sensor is mounted on the sliding base. The control module is connected to the distance sensor and is used to control the adjusting motor based on distance data.

6. The multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 5, characterized in that, The control module includes a data acquisition unit, a judgment unit, and a control unit. The data acquisition unit is used to acquire distance data from the ranging sensor. The judgment unit is used to calculate the difference between the distance data and preset data. The control unit is used to control the adjusting motor based on the difference.

7. A multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 6, characterized in that, The second support frame includes a driver, a rotating ring, and a support frame body. The rotating ring is rotatably mounted on the first support frame. The driver is used to drive the rotating ring to rotate. The support frame body is fixed on the rotating ring. The arc welding gun is mounted on the support frame body.

8. The multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 7, characterized in that, The second support frame also includes a protective plate and a locking screw. The protective plate is slidably disposed on the rotating ring and located on one side of the laser welding gun. The locking screw is threadedly connected to the protective plate and passes through the protective plate.

9. A multi-degree-of-freedom laser-arc hybrid welding robot as described in claim 8, characterized in that, The driver includes a second motor, a second gear, and a second gear ring. The second gear ring is fixed on the rotating ring, the second gear meshes with the second gear ring, and the output end of the second motor is connected to the second gear.

10. A control method for a multi-degree-of-freedom laser-arc hybrid welding robot, characterized in that, The multi-degree-of-freedom laser-arc hybrid welding robot described in any one of claims 1 to 9 is adopted.

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