Intelligent laser welding equipment and control methods

Abstract

This invention relates to the field of laser welding, specifically providing an intelligent laser welding device and control method, aiming to solve the problem that existing laser welding equipment is unable to weld parts with three-dimensional seams. To this end, the laser welding device of this invention includes a laser emitting unit, a worktable, a reflector, and a ranging probe. The reflector is rotatable and is used to receive the laser beam emitted from the laser emitting unit and reflect it to the seam, thereby increasing the irradiation angle of the laser beam on the part to be welded, thus enabling the welding of three-dimensional seams. The ranging probe is rotatable and is used to measure the distance between the reflector and the laser beam irradiation position. The ranging probe rotates coaxially with the reflector, and the rotation angle of the ranging probe is twice the rotation angle of the reflector, ensuring that the ranging direction of the ranging probe is always parallel to the laser beam directed towards the seam. The focusing mechanism, based on the focal length of the laser beam measured by the ranging probe, ensures that the laser beam is focused to the same degree at different positions on the seam.

Description

Technical Field

[0001] This invention relates to the field of laser welding technology, and specifically provides an intelligent laser welding device and control method. Background Technology

[0002] Laser welding, as an important welding method in modern industry, has gradually matured and is widely used in the welding of parts in various fields. Laser welding is a non-contact welding method, characterized by high welding precision, fast welding speed, short processing time, wide material tolerance, and consistent weld quality, making it suitable for mass production.

[0003] Current laser welding equipment includes a laser emitting unit and a processing table. The parts to be welded are fixed on the processing table, and the laser beam emitted by the laser emitting unit has a fixed direction. Planar welding is performed by controlling the movement of the processing table in the horizontal plane (including the X and Y directions). This type of laser welding equipment is only suitable for joints arranged in a planar manner. For parts with three-dimensional joints (such as the joints between U-shaped photovoltaic brackets), current laser welding equipment is difficult to adapt to.

[0004] There are two main reasons why current laser welding equipment struggles to weld parts with three-dimensional seams. First, the laser beam emitted by the laser emitting unit has a fixed direction, and the processing table can only move the parts within two degrees of freedom in the horizontal plane (including the X and Y directions). This results in an excessively large angle at which the laser beam irradiates the seam located on the side, causing the laser beam to be too dispersed across the seam, affecting the welding temperature and quality. This is especially true for seams on vertical planes, where the laser beam barely reaches them. Second, because the seams are three-dimensionally distributed, the distance (optical path) at which the laser beam irradiates the seam varies at different locations. Since laser beam focusing is crucial in laser welding, variations in the optical path lead to different degrees of focusing at different seam locations, resulting in different material heating rates and melting ranges, severely impacting the consistency of weld quality.

[0005] Therefore, there is an urgent need for an intelligent laser welding equipment and control method to solve the problem that existing laser welding equipment is unable to weld parts with three-dimensional seams. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problem that existing laser welding equipment is difficult to weld parts with three-dimensional seams.

[0007] In a first aspect, the present invention provides an intelligent laser welding device, comprising: a laser emitting unit capable of emitting a laser beam, the laser emitting unit having a focusing mechanism for adjusting the focal length of the laser beam emitted by the laser emitting unit; a worktable for fixing a component to be welded, the component having a seam; a reflector rotatable for receiving the laser beam emitted from the laser emitting unit and reflecting it to the seam; a ranging probe rotatable for measuring the distance between the reflector and the laser beam irradiation position; wherein the ranging probe rotates coaxially with the reflector, the rotation angle of the ranging probe being twice the rotation angle of the reflector, so that the ranging direction of the ranging probe is always parallel to the laser beam directed towards the seam; the focusing mechanism adjusts the focal length of the laser beam emitted by the laser emitting unit according to the measurement result of the ranging probe, so that the laser beam is focused to the same degree at different positions of the seam.

[0008] In a specific embodiment of the above-mentioned intelligent laser welding equipment, the worktable has at least the degrees of freedom to move along a first direction, move along a second direction, and rotate along the first direction.

[0009] In a specific embodiment of the above-mentioned intelligent laser welding equipment, the laser welding equipment further includes a brazing filler metal conveying mechanism. The brazing filler metal conveying mechanism includes a guide sleeve and a guide sleeve adjustment structure. The guide sleeve adjustment structure is used to adjust the angle of the guide sleeve so that the brazing filler metal passing through the guide sleeve is delivered to the irradiation position of the laser beam.

[0010] In a specific embodiment of the above-mentioned intelligent laser welding equipment, the brazing filler metal conveying mechanism further includes a ranging unit. The ranging unit is used to measure the distance from the rotating shaft of the guide sleeve to the laser beam irradiation position, so as to adjust the angle of the guide sleeve and send the brazing filler metal passing through the guide sleeve to the laser beam irradiation position.

[0011] In a specific embodiment of the above-mentioned intelligent laser welding equipment, the guide sleeve and the laser beam directed toward the joint satisfy the following... Wherein, φ is the angle between the guide sleeve and the horizontal plane, θ is the angle between the laser beam directed toward the worktable and the horizontal plane, D is the distance between the rotation axis of the reflector and the rotation axis of the guide sleeve in the second direction, L is the optical path of the laser beam directed toward the worktable after being reflected by the reflector, and s is the distance from the rotation axis of the guide sleeve to the laser beam irradiation position.

[0012] In a specific embodiment of the above-mentioned intelligent laser welding equipment, the ranging unit can also simultaneously measure the distance from the rotating shaft of the guide sleeve to the joint within a preset range after the laser beam irradiation position. The laser welding equipment changes the feeding speed of the brazing filler metal to compensate for the length of the brazing filler metal so that the end of the brazing filler metal is always located at the irradiation position of the laser beam.

[0013] In a second aspect, the present invention provides a control method for the intelligent laser welding equipment as described above, comprising: obtaining the distance between the reflector and the laser beam irradiation position; adjusting the focal length of the laser beam emitted by the focusing mechanism laser emitting unit according to the distance between the reflector and the laser beam irradiation position, so that the laser beam is focused to the same degree at different positions of the joint.

[0014] In a specific embodiment of the control method for the above-mentioned intelligent laser welding equipment, the laser welding equipment further includes a brazing filler metal conveying mechanism, which includes a guide sleeve, a guide sleeve adjustment structure, and a ranging unit. The guide sleeve adjustment structure is used to adjust the angle of the guide sleeve. The control method further includes: obtaining the distance from the rotation axis of the guide sleeve to the laser beam irradiation position; adjusting the angle of the guide sleeve according to the distance from the rotation axis of the guide sleeve to the laser beam irradiation position, so that the brazing filler metal passing through the guide sleeve is sent to the laser beam irradiation position.

[0015] In a specific embodiment of the control method for the aforementioned intelligent laser welding equipment, adjusting the angle of the guide sleeve according to the distance from the rotation axis of the guide sleeve to the laser beam irradiation position includes: the guide sleeve and the laser beam directed towards the joint satisfying the following conditions: Wherein, φ is the angle between the guide sleeve and the horizontal plane, θ is the angle between the laser beam directed toward the worktable and the horizontal plane, D is the distance between the rotation axis of the reflector and the rotation axis of the guide sleeve in the second direction, L is the optical path of the laser beam directed toward the worktable after being reflected by the reflector, and s is the distance from the rotation axis of the guide sleeve to the laser beam irradiation position.

[0016] In a specific embodiment of the control method for the above-mentioned intelligent laser welding equipment, the control method further includes: obtaining the distance from the rotating shaft of the guide sleeve to the joint within a preset range after the laser beam irradiation position; adjusting the feeding speed of the brazing filler metal according to the distance from the rotating shaft of the guide sleeve to the joint within the preset range after the laser beam irradiation position, so as to compensate for the length of the brazing filler metal so that the end of the brazing filler metal is always located at the irradiation position of the laser beam.

[0017] Compared with the prior art, the present invention has at least the following advantages: The intelligent laser welding equipment provided by this invention includes a laser emitting unit, a worktable, a reflector, and a ranging probe. The laser emitting unit emits a laser beam and has a focusing mechanism to adjust the focal length of the laser beam emitted by the laser emitting unit. The worktable is used to fix the component to be welded, which has a seam. The reflector is rotatable and is used to receive the laser beam emitted from the laser emitting unit and reflect it to the seam, thereby increasing the irradiation angle of the laser beam on the component to be welded, thus enabling the welding of three-dimensional seams. The ranging probe is rotatable and is used to measure the distance between the reflector and the laser beam irradiation position. The ranging probe rotates coaxially with the reflector, and the rotation angle of the ranging probe is twice the rotation angle of the reflector, so that the ranging direction of the ranging probe is always parallel to the laser beam directed towards the seam. The focusing mechanism adjusts the focal length of the laser beam emitted by the laser emitting unit according to the measurement result of the ranging probe, so that the laser beam is focused to the same degree at different positions of the seam. Attached Figure Description

[0018] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which: Figure 1 This is a simplified structural diagram of one state of the first intelligent laser welding equipment provided by the present invention; Figure 2 This is a simplified structural diagram of another state of the first intelligent laser welding equipment provided by the present invention; Figure 3 This is a simplified structural diagram of one state of the second type of intelligent laser welding equipment provided by the present invention; Figure 4 This is a simplified structural diagram of one state of the third type of intelligent laser welding equipment provided by the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Workbench; 2. Laser emitting unit; 21. Laser beam; 3. Reflector; 4. Range measuring probe; 5. Guide sleeve; 6. Brazing filler metal; 7. Part to be welded; 71. Base plate; 72. Side plate. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0021] It should be noted that in the description of this invention, terms such as "upper," "lower," "left," "right," "inner," and "outer," indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] To address the challenge of welding components with three-dimensional seams using existing laser welding equipment, such as... Figure 1 As shown, the present invention provides an intelligent laser welding device, which includes a worktable 1, a laser emitting unit 2, and a reflector 3.

[0024] The worktable 1 is used to fix the component 7 to be welded. The component 7 has a seam, wherein the seam of the component 7 to be welded is a three-dimensional seam, and the following content of the instruction manual is directed to the welding of the component 7 to be welded with a three-dimensional seam. Of course, it is understood that welding equipment capable of welding components with three-dimensional seams can also weld components with planar seams.

[0025] In this example, the component 7 to be welded is a U-shaped photovoltaic support, having a base plate 71 and two side plates 72, thus forming a U-shaped cross-section. Of course, the above-described component 7 to be welded is merely an example and not a specific limitation of this invention. Without departing from the principles of this invention, the component 7 to be welded can be any other component or material capable of laser welding.

[0026] Laser emitting unit 2 emits a laser beam 21. Reflector 3 is rotatable, used to receive the laser beam 21 emitted from laser emitting unit 2 and reflect it onto the joint of the component 7 to be welded, heating and melting the material near the joint to complete the welding of the component 7. Reflector 3 can be driven by a micro-electro-mechanical system (MEMS), and its rotation axis is located on the extension line of the laser beam 21 emitted by laser emitting unit 2.

[0027] Combination Figure 1 and Figure 2 As shown, with the rotation of the reflector 3, the angle and position of the laser beam 21 reflected from the reflector 3 towards the component 7 to be welded change, and the range of angles at which the laser beam 21 irradiates the component 7 to be welded is larger. In particular, the change in the angle at which the laser beam 21 irradiates the component 7 to be welded (specifically the seam) can minimize the angle between the laser beam 21 and the normal of the part to be welded (e.g., the normal of the side plate 72), thereby increasing the concentration of the laser beam 21 at the irradiation position. This helps to ensure the consistency of welding quality, enabling the intelligent laser welding equipment to more easily weld the component 7 to be welded with a three-dimensional seam.

[0028] Furthermore, changes in the position of the laser beam 21 irradiating the component 7 to be welded will cause changes in the overall optical path of the laser beam 21, thereby affecting its focusing degree. Specifically, the distance from the laser emitting unit 2 to the reflector 3 remains constant; what changes is the distance from the reflector 3 to the irradiation position of the laser beam 21. Based on this, the intelligent laser welding equipment of the present invention also includes a ranging probe 4, used to measure the distance between the reflector 3 and the irradiation position of the laser beam 21, thereby adjusting the focal length of the laser beam 21 to ensure that the focusing degree of the laser beam 21 is the same at different irradiation positions (specifically, at different positions of the joint), enabling the intelligent laser welding equipment provided by the present invention to more easily weld the component 7 with a three-dimensional joint. Specifically, the ranging probe 4 is rotatable, and its rotation axis is parallel to the rotation axis of the reflector 3.

[0029] Considering that the angle between the incident laser beam 21 and the reflected laser beam 21 changes inconsistently with the rotation angle of the reflector 3 after the reflector 3 rotates, ensuring that the detection direction of the ranging probe 4 is always parallel to the direction of the laser beam 21 directed towards the seam is a challenge. In the example of this invention, the rotation angle of the ranging probe 4 is set to twice the rotation angle of the reflector 3, so that the ranging direction of the ranging probe 4 is always parallel to the laser beam 21 directed towards the seam. For example, the laser beam 21 emitted by the laser emitting unit 2 is emitted horizontally, the initial angle of the reflector 3 is 45° with the horizontal direction, and the initial angle of the ranging probe 4 is vertical.

[0030] The worktable 1 has at least two degrees of freedom: one to move along a first direction (X-axis) and the other along a second direction (Y-axis). The movement of the worktable 1 moves the component 7 to be welded, bringing the weld joint position of the component 7 to the irradiation position of the laser beam 21. Furthermore, the laser beam 21's irradiation direction can be adjusted along a first plane (specifically the YZ plane), allowing the laser beam 21 to irradiate the surface to be processed in a direction that is as close as possible to perpendicular to the surface to be processed.

[0031] In some examples, such as Figure 3 As shown, the worktable 1 has at least three degrees of freedom: movement along a first direction (X-axis), movement along a second direction (Y-axis), and rotation along the first direction (X-axis). When welding the seam on the side of the component 7 to be welded, by rotating the component 7 along the first direction (X-axis), the component 7 can be positioned more quickly, making the laser beam 21 more likely to approach the surface perpendicular to the workpiece. Combined with... Figure 2 and Figure 3 As shown, compared to a worktable 1 that has only the degrees of freedom to move along the first direction (X direction) and the second direction (Y direction), when achieving the same effect (i.e., the laser beam 21 irradiates the same seam at the same angle), the worktable 1 moves less along the second direction (Y direction) and the mirror 3 rotates less, thus achieving a faster response.

[0032] like Figure 3 As shown, the intelligent laser welding equipment provided by this invention can perform laser fusion welding, that is, after heating the component 7 to be welded by the laser beam 21, the material of the component 7 to be welded melts, and the molten material fills the joint, thereby welding the component 7 to be welded. Of course, as... Figure 4 As shown, the intelligent laser welding equipment provided by this invention can also perform laser brazing, that is, the laser beam 21 heats the filler metal 6 located on the weld seam, causing the filler metal 6 to melt and fill the joint, thereby achieving welding. Laser brazing has a lower welding temperature and causes less damage to the parts 7 to be welded.

[0033] like Figure 4 As shown, the intelligent laser welding equipment employing laser brazing includes a brazing filler metal conveying mechanism. This mechanism comprises a conveyor (not shown), a guide sleeve 5, and a guide sleeve adjusting structure (not shown). The conveyor conveys the brazing filler metal 6, which passes through the guide sleeve 5. The guide sleeve adjusting structure adjusts the angle of the guide sleeve 5 to change the conveying position of the brazing filler metal 6, ensuring that the brazing filler metal 6 passing through the guide sleeve 5 is directed towards the irradiation position of the laser beam 21. Both the conveyor and the guide sleeve adjusting structure are known structures, and this invention does not improve upon them. For example, the guide sleeve adjusting structure includes a guide sleeve drive and a gear set. One gear in the gear set is fixed to the guide sleeve 5, and the other gear is fixed to the guide sleeve drive. The guide sleeve drive drives the guide sleeve 5 to rotate via the gear set, thereby changing the angle of the guide sleeve 5.

[0034] In order to deliver the solder 6 more accurately to the irradiation position of the laser beam 21, the solder delivery mechanism of the present invention also includes a ranging unit. The ranging unit is used to measure the distance between the rotating shaft of the guide sleeve 5 and the irradiation position of the laser beam 21. The guide sleeve adjustment structure adjusts the angle of the guide sleeve 5 according to the distance, so that the solder 6 passing through the guide sleeve 5 is accurately delivered to the irradiation position of the laser beam 21.

[0035] Specifically, such as Figure 4 As shown, the guide sleeve 5 and the reflector 3 are arranged on the same vertical plane, and the guide sleeve 5 and the laser beam 21 directed towards the seam satisfy the following conditions: Wherein, φ is the angle between the guide sleeve 5 and the horizontal plane; θ is the angle between the laser beam 21 directed towards the worktable 1 and the horizontal plane, which is related to the rotation angle of the reflector 3 and can be directly calculated from the rotation angle of the reflector 3; D is the distance between the rotation axis of the reflector 3 and the rotation axis of the guide sleeve 5 in the second direction (Y direction), which is a known fixed value, where it is negative when the rotation axis of the guide sleeve 5 is closer to the part to be welded 7 than the rotation axis of the reflector 3, and positive when the rotation axis of the guide sleeve 5 is farther away from the part to be welded 7 than the rotation axis of the reflector 3; L is the optical path of the laser beam 21 directed towards the worktable 1 after being reflected by the reflector 3, which is a known quantity measured by the ranging probe 4; s is the distance from the rotation axis of the guide sleeve 5 to the irradiation position of the laser beam 21, which is a known quantity measured by the ranging unit. Therefore, when the angle and irradiation position of the laser beam 21 change after the reflector 3 rotates, the angle of the guide sleeve 5 can be changed more accurately, so that the brazing filler 6 is accurately delivered to the irradiation position of the laser beam 21.

[0036] For example, the ranging unit is a visual inspection unit that determines the distance between the illumination point of the laser beam 21 and the rotation axis of the guide sleeve 5 by image analysis. It should be noted that visual inspection and ranging techniques are known and conventional. The ranging unit provided in this invention is merely an application of known technology and does not involve any improvement to the visual inspection unit. Of course, in other possible examples, the ranging unit can also be other types of ranging units, as long as they can detect the distance between the illumination point of the laser beam 21 and the rotation axis of the guide sleeve 5, and all of these should be included within the scope of protection of this invention.

[0037] In some examples, the ranging unit can also simultaneously measure the distance from the guide sleeve 5 pivot to the seam within a preset range after the laser beam 21 irradiation position, and adjust the feed speed of the compensating solder 6 based on this data to compensate for the solder 6 length so that the end of the solder 6 is always located at the irradiation position of the laser beam 21. For example, if the laser beam 21 is currently irradiating point A, the ranging unit can simultaneously measure the distance between the guide sleeve 5 pivot (point O) and point A, and also the distance between any position of the seam between point A and point B and point O, where points A and B are both located on the seam and the welding direction is from point A to point B. As the component 7 to be welded moves from point A to point B, if the distance from point O to the laser beam 21 irradiation position changes, the length of the solder 6 also needs to change accordingly; otherwise, the solder 6 may be too long or too short. If the filler metal 6 is too short, the amount of filler metal 6 at the solder joint will be insufficient, affecting the reliability of the soldering; if the filler metal 6 is too long, the amount of filler metal 6 at the solder joint will be excessive, affecting the consistency of the soldering quality.

[0038] In this invention, after measuring the distance from point O to any position of the joint between points A and B, a functional model of the distance from point O to the joint between points A and B is established. As the solder joint moves from point A to point B, the rate of change of the distance between point O and the solder joint can be calculated. The feed speed of the solder 6 is adjusted according to this rate of change to compensate for the length of the solder 6, ensuring that the end of the solder 6 is always positioned under the illumination of the laser beam 21. It is important to note that the change in the feed speed of the solder 6 is only used to compensate for the length of the solder 6 and does not change the feed speed of the solder 6 towards the solder joint, thus ensuring consistent welding quality.

[0039] In summary, the intelligent laser welding equipment provided by this invention has at least the following advantages: (1) A rotatable reflector 3 is provided. As the reflector 3 rotates, the angle and position of the laser beam 21 reflected from the reflector 3 to the component 7 to be welded will change, and the range of angles at which the laser beam 21 irradiates the component 7 to be welded will be larger. In particular, the change in the angle at which the laser beam 21 irradiates the component 7 to be welded (specifically the seam) can reduce the angle between the laser beam 21 and the normal of the part to be welded (e.g., the normal of the side plate 72) as much as possible, thereby increasing the concentration of the laser beam 21 at the irradiation position, which helps to ensure the consistency of welding quality, and enables the intelligent laser welding equipment to weld the component 7 with three-dimensional seams more easily.

[0040] (2) A ranging probe 4 is set up to measure the distance between the reflector 3 and the laser beam 21 irradiation position, so as to adjust the focal length of the laser beam 21 and make the laser beam 21 focus at different irradiation positions (specifically at different positions of the joint) the same, so that the intelligent laser welding equipment provided by the present invention can more easily weld the component 7 to be welded with a three-dimensional joint; in addition, the rotation angle of the ranging probe 4 is set to twice the rotation angle of the reflector 3, so that the ranging direction of the ranging probe 4 is always parallel to the laser beam 21 irradiated towards the joint.

[0041] (3) A brazing material conveying mechanism is set up. The brazing material conveying mechanism includes a conveyor, a guide sleeve 5, a guide sleeve adjustment structure and a distance measuring unit. The distance measuring unit is used to measure the distance between the rotating shaft of the guide sleeve 5 and the laser beam 21 irradiation position. The guide sleeve adjustment structure adjusts the angle of the guide sleeve 5 according to the distance so that the brazing material 6 passing through the guide sleeve 5 is accurately delivered to the laser beam 21 irradiation position.

[0042] (4) The ranging unit can also simultaneously measure the distance from the guide sleeve 5 to the seam within a preset range after the laser beam 21 irradiation position, and change the conveying speed of the compensating solder 6 based on these data to compensate the length of the solder 6 so that the end of the solder 6 is always located at the irradiation position of the laser beam 21.

[0043] This invention also provides a control method for an intelligent laser welding device. Using the aforementioned intelligent laser welding device, the control method specifically includes: S1. Obtain the distance between the reflector 3 and the position of the laser beam 21.

[0044] S2. Adjust the focal length of the laser beam 21 emitted by the laser emitting unit 2 of the focusing mechanism according to the distance between the reflector 3 and the laser beam 21 irradiation position, so that the laser beam 21 is focused to the same degree at different positions of the joint. Among them, the rotation axis of the ranging probe 4 is parallel to the rotation axis of the reflector 3, and the rotation angle of the ranging probe 4 is set to twice the rotation angle of the reflector 3, so that the ranging direction of the ranging probe 4 is always parallel to the laser beam 21 directed towards the joint.

[0045] S3. Obtain the distance between the rotating shaft of the guide sleeve 5 and the position irradiated by the laser beam 21.

[0046] S4. Adjust the angle of the guide sleeve 5 according to the distance from the rotation axis of the guide sleeve 5 to the irradiation position of the laser beam 21, so that the brazing filler metal 6 passing through the guide sleeve 5 is sent to the irradiation position of the laser beam 21.

[0047] Specifically, such as Figure 4 As shown, the guide sleeve 5 and the laser beam 21 directed towards the seam satisfy... Wherein, φ is the angle between the guide sleeve 5 and the horizontal plane; θ is the angle between the laser beam 21 directed towards the worktable 1 and the horizontal plane, which is related to the rotation angle of the reflector 3 and can be directly calculated from the rotation angle of the reflector 3; D is the distance between the rotation axis of the reflector 3 and the rotation axis of the guide sleeve 5 in the second direction (Y direction), which is a known fixed value; L is the optical path of the laser beam 21 directed towards the worktable 1 after being reflected by the reflector 3, which is a known quantity measured by the ranging probe 4; s is the distance from the rotation axis of the guide sleeve 5 to the irradiation position of the laser beam 21, which is a known quantity measured by the ranging unit. Therefore, when the reflector 3 rotates and the angle and irradiation position of the laser beam 21 change, the angle of the guide sleeve 5 can be changed more accurately, so that the brazing filler 6 is accurately delivered to the irradiation position of the laser beam 21.

[0048] S5. Obtain the distance from the pivot of the guide sleeve 5 to the seam within a preset range after the laser beam irradiation position.

[0049] S6. Adjust the feeding speed of the brazing filler metal 6 according to the distance from the rotating shaft of the guide sleeve 5 to the joint within a preset range after the laser beam irradiation position, so as to compensate for the length of the brazing filler metal 6 and ensure that the end of the brazing filler metal 6 is always located at the irradiation position of the laser beam 21.

[0050] Specifically, after measuring the distance from point O to any point on the seam between points A and B, a functional model is established to represent the distance from point O to the seam between points A and B. As the solder joint moves from point A to point B, the rate of change of the distance between point O and the solder joint can be calculated. The feed speed of the solder 6 is then adjusted according to this rate of change to compensate for its length, ensuring that the end of the solder 6 is always positioned under the illumination of the laser beam 21. It is important to note that the change in the feed speed of the solder 6 is only used to compensate for its length and does not alter the speed at which it is fed towards the solder joint, thus ensuring consistent welding quality.

[0051] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An intelligent laser welding device, characterized in that, include: The laser emitting unit (2) is capable of emitting a laser beam (21). The laser emitting unit (2) has a focusing mechanism, which is used to adjust the focal length of the laser beam (21) emitted by the laser emitting unit (2). A workbench (1) is used to fix the component (7) to be welded, the component (7) having a seam; The reflector (3) is rotatable and its axis of rotation is located on the extension line of the laser beam (21) emitted by the laser emitting unit (2). The reflector (3) is used to receive the laser beam (21) emitted from the laser emitting unit (2) and reflect it to the seam. The ranging probe (4) is rotatable and its axis of rotation is parallel to the axis of rotation of the reflector (3), and is used to measure the distance between the reflector (3) and the position irradiated by the laser beam (21); The ranging probe (4) rotates coaxially with the reflector (3), and the rotation angle of the ranging probe (4) is twice the rotation angle of the reflector (3), so that the ranging direction of the ranging probe (4) is always parallel to the laser beam (21) directed toward the seam. The focusing mechanism adjusts the focal length of the laser beam (21) emitted by the laser emitting unit (2) according to the measurement results of the ranging probe (4), so that the laser beam (21) is focused at the same degree at different positions of the seam.

2. The intelligent laser welding equipment according to claim 1, characterized in that, The worktable (1) has at least the degrees of freedom to move along a first direction, move along a second direction, and rotate along the first direction.

3. The intelligent laser welding equipment according to claim 1, characterized in that, The laser welding equipment also includes a brazing filler metal conveying mechanism, which includes a guide sleeve (5) and a guide sleeve adjustment structure. The guide sleeve adjustment structure is used to adjust the angle of the guide sleeve (5) so that the brazing filler metal (6) passing through the guide sleeve (5) is sent to the irradiation position of the laser beam (21).

4. The intelligent laser welding equipment according to claim 3, characterized in that, The brazing filler metal conveying mechanism also includes a ranging unit, which is used to measure the distance from the rotating shaft of the guide sleeve (5) to the irradiation position of the laser beam (21) in order to adjust the angle of the guide sleeve (5) so that the brazing filler metal (6) passing through the guide sleeve (5) is sent to the irradiation position of the laser beam (21).

5. The intelligent laser welding equipment according to claim 4, characterized in that, The guide sleeve (5) and the laser beam (21) directed toward the joint satisfy the following conditions: ; Wherein, φ is the angle between the guide sleeve (5) and the horizontal plane, θ is the angle between the laser beam (21) directed toward the worktable (1) and the horizontal plane, D is the distance between the rotation axis of the reflector (3) and the rotation axis of the guide sleeve (5) in the second direction, L is the optical path of the laser beam (21) directed toward the worktable (1) after being reflected by the reflector (3), and s is the distance from the rotation axis of the guide sleeve (5) to the irradiation position of the laser beam (21).

6. The intelligent laser welding equipment according to claim 4, characterized in that, The ranging unit can also simultaneously measure the distance from the rotating shaft of the guide sleeve (5) to the seam within a preset range after the laser beam (21) irradiation position. The laser welding equipment changes the feeding speed of the brazing filler metal (6) to compensate for the length of the brazing filler metal (6) so that the end of the brazing filler metal (6) is always located at the irradiation position of the laser beam (21).

7. A control method for the intelligent laser welding equipment as described in claim 1, characterized in that, include: Obtain the distance between the reflector (3) and the laser beam (21) irradiation position; Adjust the focal length of the laser beam (21) emitted by the laser emitting unit (2) of the focusing mechanism according to the distance between the reflector (3) and the laser beam (21) irradiation position, so that the laser beam (21) is focused to the same degree at different positions of the seam.

8. The control method for the intelligent laser welding equipment according to claim 7, characterized in that, The laser welding equipment also includes a brazing filler metal feeding mechanism, which includes a guide sleeve (5), a guide sleeve adjustment structure, and a ranging unit. The guide sleeve adjustment structure is used to adjust the angle of the guide sleeve (5). The control method further includes: Obtain the distance from the rotation axis of the guide sleeve (5) to the irradiation position of the laser beam (21); Adjust the angle of the guide sleeve (5) according to the distance from the rotation axis of the guide sleeve (5) to the irradiation position of the laser beam (21), so that the brazing filler metal (6) passing through the guide sleeve (5) is sent to the irradiation position of the laser beam (21).

9. The control method for the intelligent laser welding equipment according to claim 8, characterized in that, Adjusting the angle of the guide sleeve (5) according to the distance from the rotation axis of the guide sleeve (5) to the irradiation position of the laser beam (21) includes: The guide sleeve (5) and the laser beam (21) directed toward the joint satisfy the following conditions: ; Wherein, φ is the angle between the guide sleeve (5) and the horizontal plane, θ is the angle between the laser beam (21) directed toward the worktable (1) and the horizontal plane, D is the distance between the rotation axis of the reflector (3) and the rotation axis of the guide sleeve (5) in the second direction, L is the optical path of the laser beam (21) directed toward the worktable (1) after being reflected by the reflector (3), and s is the distance from the rotation axis of the guide sleeve (5) to the irradiation position of the laser beam (21).

10. The control method for the intelligent laser welding equipment according to claim 7, characterized in that, The control method further includes: Obtain the distance from the pivot of the guide sleeve (5) to the seam within a preset range after the laser beam irradiation position; The feeding speed of the brazing filler metal (6) is adjusted according to the distance from the rotating shaft of the guide sleeve (5) to the seam within a preset range after the laser beam irradiation position, so as to compensate for the length of the brazing filler metal (6) so that the end of the brazing filler metal (6) is always located at the irradiation position of the laser beam (21).

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