Laser cleaning prior to aerospace additive MIG welding and welding apparatus, method and device

Abstract

The application provides a laser cleaning and welding equipment before aviation additive MIG welding, a front-end management control assembly includes a sample information input module, a control module, a pre-welding cleaning process library, a welding permission interlocking module and a data recording and tracing module; a tail-end execution assembly includes a laser cleaning module, a visual detection module, a MIG welding module and a dust removal / protection gas module; the control module is in communication connection with the sample information input module, the laser cleaning module, the visual detection module, the MIG welding module, the pre-welding cleaning process library, the welding permission interlocking module, the dust removal / protection gas module and the data recording and tracing module, cleaning quality determination and process library compensation are completed in the process establishment mode flow stage, and verified process parameters are called to continuously clean and weld in the production execution mode flow stage, so that the problems of surface quality control before additive and cleaning and welding integration efficiency are solved, and the problems that continuous production efficiency and quality stability before additive are difficult to be considered are also solved.

Description

Technical Field

[0001] This invention relates to the field of laser cleaning and welding technology, and in particular to a laser cleaning and welding device for aerospace additive manufacturing MIG welding. Background Technology

[0002] In aerospace additive manufacturing and aerospace component repair, arc additive manufacturing, arc welding, or arc cladding repair are commonly used for the manufacturing and joining of large or complex structural components such as aluminum alloys and titanium alloys. During additive deposition, interlayer dwell, transfer, clamping, and pre-weld preparation, oxide films, black ash, spatter, oil, adsorbed contaminants, or interlayer contamination residues can easily form on the surface of the area to be welded. If these contaminants are not stably removed before MIG (metal inert gas) welding, they can easily enter the molten pool and affect molten pool flow, gas escape, and interlayer bonding, leading to problems such as porosity, inclusions, unstable fusion, or decreased joint performance.

[0003] Traditional pre-welding treatment methods mainly include manual grinding, mechanical brushing, sandpaper treatment, solvent wiping, or chemical cleaning. While these methods can remove surface contaminants from the area to be welded to some extent, they suffer from problems such as poor cleaning consistency, high labor intensity, significant dust pollution, easy introduction of secondary contamination, and difficulty in adapting to complex additive manufacturing surfaces. Laser cleaning, due to its non-contact nature, high controllability, and ease of integration with robots or motion platforms, is suitable for surface treatment before MIG welding in aerospace additive manufacturing. However, simply integrating the laser cleaning module and the MIG welding module onto the same device cannot automatically guarantee that the surface condition after cleaning meets the requirements for MIG welding.

[0004] Currently, the widely used technical solutions mainly include the following categories.

[0005] The first category is an integrated laser cleaning and welding system.

[0006] For example, publication number CN110102897A proposes an integrated laser cleaning and laser welding system for curved thin-walled structures. This system utilizes a cleaning laser beam, a welding laser beam, a ranging system, a delay system, an automatic focusing system, and a slag removal device to achieve laser cleaning before welding and subsequent laser welding of the curved thin-walled structure. Its key features lie in the spatial arrangement between the cleaning and welding laser beams, ranging and focusing, delay control, and adaptation to curved surfaces.

[0007] For example, publication number CN108422086A proposes an integrated welding system and method that combines laser cleaning and welding. This solution includes a welding unit, a laser cleaning unit, a monitoring unit, and an integrated control unit, enabling simultaneous laser cleaning and welding, one after the other. The monitoring unit detects the cleaning status or the distance between laser cleaning points.

[0008] The aforementioned solutions have achieved structural integration, synchronous movement, or distance monitoring of cleaning and welding. However, their primary objective remains addressing the question of "how to continuously and collaboratively perform cleaning and welding." These solutions lack a cleaning quality evaluation system for aluminum and titanium alloy areas to be welded before aerospace additive manufacturing (MIG) welding. They also fail to disclose how to use post-cleaning visual images to determine if the surface condition meets MIG welding requirements. Furthermore, they do not disclose how to call upon a pre-welding cleaning process library for compensatory cleaning when cleaning fails, based on defect types such as residue, missed cleaning, overheating, unevenness, or boundary abnormalities. Therefore, these solutions cannot solve the problem of "whether cleaning meets MIG welding requirements, and how to automatically compensate for non-compliance when cleaning is not required."

[0009] The second category consists of combined equipment with laser cleaning, arc welding, or multiple processing capabilities.

[0010] For example, publication number CN208644390U proposes a laser-arc multi-purpose welding equipment with integrated laser cleaning function. This design incorporates a laser cleaning device, a laser welding device, an arc welding device, and corresponding worktables and motion mechanisms within the same equipment, enabling the equipment to possess multiple processing capabilities.

[0011] The focus of this type of solution is the combined configuration of multiple processing devices, meaning the equipment can simultaneously perform laser cleaning, laser welding, and arc welding. However, this type of solution does not establish pre-welding cleaning quality standards for oxide film, black ash, spatter, oil stains, or oxide color in the welding area of ​​aerospace additive components; it does not disclose post-cleaning visual quality judgment methods; it does not disclose process library compensation strategies when cleaning is unqualified; and it does not disclose a permission interlocking mechanism to prohibit the MIG welding module from entering the corresponding area when the cleaning quality does not meet the standards. Therefore, this type of solution addresses the question of "what processing functions the equipment can perform," while this invention addresses the question of "how to achieve closed-loop control of pre-welding surface quality."

[0012] The third category is laser cleaning and welding combined processing equipment and methods.

[0013] For example, publication number CN116673272A proposes an integrated equipment and method for laser cleaning and welding combined processing. This solution realizes laser cleaning and welding combined processing through mechanical structures, distance adjustment devices, cleaning worktables and other components, and pays attention to issues such as post-cleaning temperature, pre-welding distance adjustment, processing time and re-oxidation.

[0014] This type of solution, like the present invention, belongs to the field of combined cleaning and welding processing, but it mainly focuses on mechanical structure, the transition from cleaning to welding, distance adjustment, post-cleaning temperature, and re-oxidation issues. This type of solution does not establish image-based quality criteria for interlayer contamination, black ash residue, spatter residue, and material oxidation color in aerospace additive manufacturing (MIG) welding scenarios. It also does not disclose how to identify defect types such as residue, incomplete cleaning, overheating, or unevenness based on post-cleaning visual images and use process library parameters for compensatory cleaning accordingly. Therefore, this type of solution struggles to address the problem that locally unqualified cleaning in long-path, complex-shaped aerospace additive components may still lead to welding.

[0015] The fourth category is cleaning quality monitoring or welding process monitoring solutions.

[0016] Existing technologies also include methods for monitoring laser cleaning or welding processes using images, spectra, temperature, acoustics, plasma emission, or reflected light signals. These methods can reflect the cleaning or welding status to a certain extent and can also be used for alarms, recording, or auxiliary judgment.

[0017] However, standalone cleaning monitoring solutions typically only answer the questions of "whether the current cleaning process is abnormal" or "whether the cleaning status has changed," without necessarily answering "whether this area is permitted for subsequent MIG welding." Even when cleaning anomalies are detected, existing solutions mostly rely on alarms, pauses, or manual intervention, lacking a rule base for proactively adjusting cleaning parameters and rescanning based on the type of non-compliance. In other words, current cleaning monitoring technologies have not yet integrated cleaning quality assessment results, process library compensation strategies, post-compensation re-inspection, and MIG welding permit interlocking into a complete closed loop.

[0018] In summary, existing technologies have disclosed integrated cleaning and welding structures, synchronized cleaning and welding movements, distance measurement and focusing, delay control, multi-functional welding equipment, and some cleaning monitoring solutions. However, the common shortcoming of these existing technologies is that they mostly focus on "how to integrate or synchronize cleaning and welding," without addressing the issues of "whether the surface to be welded after cleaning meets the requirements for MIG welding, how to automatically compensate when it does not meet the requirements, and whether welding should be prohibited before it meets the requirements."

[0019] Therefore, it is necessary to design a new laser cleaning and welding equipment, method and apparatus for aerospace additive MIG welding to overcome the above-mentioned technical defects. Summary of the Invention

[0020] The purpose of this invention is to provide a laser cleaning and welding equipment, method, and apparatus for aerospace additive manufacturing MIG welding. This invention can perform visual inspection and cleaning quality assessment of the cleaned area to be welded in process setup mode, and call compensation parameters from the pre-additive cleaning process library according to the defect type when cleaning is unqualified, forming a verified process entry after successful re-inspection. Furthermore, in production execution mode, it can call verified process entries to achieve continuous operation of pre-laser cleaning and post-MIG welding, and avoid quality drift caused by long-term fixed parameter calls through first-piece confirmation, periodic sampling inspection, and abnormal trigger re-inspection.

[0021] To achieve the above objectives, the present invention provides a laser cleaning and welding apparatus for pre-welding of aerospace additive manufacturing MIG welding, comprising: The front-end management and control component includes a sample information input module, a control module, a pre-welding cleaning process library, a welding permit interlocking module, and a data recording and traceability module. The end effector assembly includes a laser cleaning module, a vision inspection module, a MIG welding module, and a dust removal / protective gas module; The control module is communicatively connected to the sample information input module, laser cleaning module, visual inspection module, MIG welding module, pre-welding cleaning process library, welding permit interlocking module, dust removal / protective gas module, and data recording and traceability module, and the welding permit interlocking module is communicatively connected between the control module and the MIG welding module.

[0022] Preferably, the feature information includes material type, material grade, material batch, component type, surface condition, welding path, and welding area range.

[0023] Preferably, the laser cleaning module includes a laser, a beam transmission component, a scanning galvanometer, a field lens, and a laser cleaning head. The beam transmission component is connected between the laser and the laser cleaning head. The scanning galvanometer is installed inside the laser cleaning head. The field lens is installed at the beam output end of the scanning galvanometer and located at the light outlet of the laser cleaning head.

[0024] Preferably, the end effector further includes a mounting bracket, on which the laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module are integrated and mounted.

[0025] Preferably, the laser cleaning and welding equipment before aerospace additive MIG welding further includes a data recording and traceability module that is communicatively connected to the control module. The data recording and traceability module is used to record the full-process business dataset in the process establishment mode and production execution mode.

[0026] Preferably, the main power supply is electrically connected to the lighting source, control module, laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module, providing working power to the lighting source, control module, laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module, and the lighting source is the light illuminating the area to be welded.

[0027] A method for laser cleaning and welding equipment before MIG welding in aerospace additive manufacturing includes the following steps: Process establishment model flow and production execution model flow; After the control module obtains the feature information from the sample information input module and determines the cleaning area and visual inspection and evaluation area, it calls the initial cleaning parameters stored in the pre-welding cleaning process library. The control module controls the laser cleaning module to perform the first laser cleaning in the cleaning area. The vision detection module collects visual images of the vision detection and evaluation area and sends them to the control module. The control module extracts cleaning quality features and determines whether the cleaning quality meets the MIG welding permit conditions based on key indicator threshold rules and comprehensive scoring rules. If the MIG welding permission conditions are met, the control module outputs a permission signal to the welding permission interlock module, and the welding permission interlock module outputs a welding enable signal to the MIG welding module, enabling the MIG welding module to perform welding along the corresponding welding path. If the MIG welding permit conditions are not met, the control module identifies the type of unqualified cleaning and then calls the corresponding compensation cleaning parameters from the pre-welding cleaning process library to enable the laser cleaning module to perform local re-scanning of the unqualified area or to re-scan the entire cleaning path for compensation laser cleaning. After compensation cleaning, the vision inspection module performs visual inspection and re-inspection. If the re-inspection is qualified, the verified process item is formed or updated, and the control module outputs a permission signal to allow the MIG welding module to perform welding. If the re-inspection is still unqualified, compensation continues or the manual review process is initiated. When the control module determines that the sample to be processed matches the verified process item in the pre-welding cleaning process library, it enters the production execution mode process. The control module obtains the material type, material grade, component type, surface condition and welding path information of the current sample from the sample information input module, and retrieves the verified process entries that match the current working condition from the pre-welding cleaning process library. The control module calls the cleaning parameters in the verified process entry and confirms the trigger conditions for first-piece inspection, periodic sampling inspection, or abnormal trigger re-inspection according to the set key indicator threshold rules or comprehensive scoring rules. If the result is confirmed to be acceptable, the control module controls the laser cleaning module and the MIG welding module to run continuously along the path to be welded; if the result is confirmed to be unacceptable, the control module switches back to the process establishment mode, performs visual judgment again, and calls the corresponding compensation parameters from the pre-welding cleaning process library to perform compensated laser cleaning.

[0028] Preferably, the process includes the following steps: when the control module determines that the current sample to be processed does not match, it directly calls an existing process library entry, for example: The first processing of a certain aluminum alloy or titanium alloy material; The first processing of a component structure or welding path; The first appearance of a surface contamination state; The batch of materials has changed; Significant changes occur in the interlayer state of additive manufacturing, the path to be soldered, or the surface oxidation state. Only when the first piece confirmation, periodic sampling inspection, or abnormal trigger re-inspection in the production execution mode fails will it enter the process establishment mode, which can proactively request to re-establish or modify the process establishment mode process.

[0029] An electronic device includes a memory and a processor, wherein when the processor executes a program stored in the memory, it implements the steps of a laser cleaning and welding method prior to MIG welding in aerospace additive manufacturing.

[0030] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the laser cleaning and welding method prior to the aforementioned aerospace additive MIG welding.

[0031] Compared with existing technologies, the advantages are as follows: 1) For materials, surface conditions, and welding paths that have been established and verified, the control module can directly call the verified cleaning process parameters, enabling the laser cleaning module and the MIG welding module to operate continuously and collaboratively; at the same time, through the first article confirmation, periodic sampling inspection, and abnormal trigger re-inspection mechanism, the quality drift that may be caused by long-term use of fixed parameters is constrained; when the confirmation result is unqualified, it automatically switches back to the process establishment mode. In this way, it is possible to perform visual inspection and cleaning quality judgment on the weldable area after cleaning in the process establishment mode, call the compensation parameters in the pre-additive cleaning process library according to the defect type when the cleaning is unqualified, and form a verified process entry after the re-inspection is qualified; and in the production execution mode, it is possible to call the verified process entry to produce verified similar samples, realize the continuous operation of pre-laser cleaning and post-MIG welding, and avoid the quality drift caused by long-term use of fixed parameters through first article confirmation, periodic sampling inspection, and abnormal trigger re-inspection.

[0032] 2) The cleaning quality judgment and process library compensation are completed in the process establishment mode process stage. In the production execution mode process stage, the verified process parameters are called for continuous cleaning and welding, thereby solving the problem of surface quality control before additive manufacturing and the efficiency of integrated cleaning and welding at the same time. It can also solve the problem of difficulty in balancing continuous production efficiency and quality stability before additive manufacturing.

[0033] Other features and advantages of the invention will be set forth in the following description, and in part will be apparent from the description, or may be learned by practice of the invention. The features and advantages of the invention may be realized and obtained by means of the elements and combinations specifically pointed out in the appended claims. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the laser cleaning and welding equipment for vacuum additive MIG welding.

[0036] Figure 2 A schematic diagram of the laser cleaning and welding method before vacuum additive MIG welding.

[0037] Figure 3 This is a schematic diagram of the area to be welded and the inspection and evaluation area.

[0038] Figure 4 This is a photo showing a typical contamination state of an aluminum alloy before cleaning.

[0039] Figure 5 This is a typical contamination state of a titanium alloy before cleaning.

[0040] Figure 6 This is a schematic diagram for judging the quality of visual image cleaning.

[0041] Figure 7 This is a schematic diagram showing the comparison before and after residual non-conforming cleaning. Figure 7 (a) is a defective image before compensation, showing a local residual area in the area to be welded; Figure 7 (b) is a schematic diagram of the compensation cleaning area and compensation path, showing the local cleaning area and compensation path; Figure 7 (c) is the qualified image after compensation.

[0042] Figure 8 This is a schematic diagram of the production execution mode process.

[0043] Figure 9 These are comparison images of the weld appearances of welds that are unqualified after cleaning and those that are qualified after cleaning. Figure 9 (a) Appearance results of MIG welding after unqualified cleaning. Figure 9 (b) The appearance result of MIG welding after the cleaning is qualified. Detailed Implementation

[0044] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are merely for explaining the invention and are not intended to limit the invention.

[0045] It should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present 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. Therefore, they should not be construed as limitations on the present invention.

[0046] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" and "several" mean two or more, unless otherwise explicitly specified.

[0048] To better understand this technical solution, the technical terms used in this solution are explained below: Aerospace additive manufacturing and repair: A process that uses heat sources such as electric arcs to melt metal wires or other filler materials to deposit and manufacture, repair, weld, or connect aerospace components layer by layer.

[0049] The area to be welded: The area that needs to be melted by the electric arc or directly adjacent to the molten pool before the next arc additive deposition, including the weld centerline, the bevel area, the interlayer deposition surface, and the preset width range on both sides of the weld.

[0050] Laser cleaning before additive manufacturing: A treatment method that uses a laser to remove oxide film, black ash, spatter, oil, adsorbed contaminants, or other surface deposits that affect welding quality from the surface of the area to be welded before arc welding.

[0051] Inspection and evaluation area: This area is used to visually assess the quality of the cleaned area to be welded. In typical applications of this invention, the inspection and evaluation area can be the entire area to be cleaned; for longer paths, curved paths, or local defect location requirements, it can also be divided into several sub-areas based on the visual field of view, path length, or process segment. The inspection and evaluation area is primarily used for cleaning quality assessment and compensatory cleaning location, and is not intended to limit the main process of this invention.

[0052] Visual inspection module: An inspection module used to acquire surface images of the area to be welded after cleaning. It may include an industrial camera, a coaxial vision camera, a side camera, a line scan camera, a light source, a filter, and an image processing unit.

[0053] Cleaning quality score: A quantitative evaluation result based on indicators such as the percentage of residual area extracted from visual images, color or grayscale uniformity, coverage of the cleaning zone width, and abnormal area of ​​overburning or oxidation.

[0054] Pre-additive cleaning process library: A parameter recommendation table or rule library established based on material type, surface defect type, cleaning quality deviation and laser parameters, used to find compensatory cleaning strategies when cleaning does not meet the standards.

[0055] Compensation cleaning: Perform secondary or multiple laser cleanings on local areas or the entire cleaning path that do not meet the welding permit standards after cleaning, and adjust the laser power, scanning speed, scanning line width or compensation cleaning times according to the defect type.

[0056] MIG welding module: A module that performs MIG welding, MIG arc additive deposition, or local repair operations after the cleaning quality meets the permissible conditions. This article uses the MIG process as a preferred embodiment, but the core of this invention does not lie in the optimization of the MIG welding parameters themselves.

[0057] Please see below Figure 1 This invention provides a laser cleaning and welding device for aerospace additive manufacturing MIG welding, comprising: The front-end management and control component includes a sample information input module, a control module, a pre-welding cleaning process library, a welding permit interlocking module, and a data recording and traceability module. The end effector assembly includes a laser cleaning module, a vision inspection module, a MIG welding module, and a dust removal / protective gas module; The control module is communicatively connected to the sample information input module, laser cleaning module, visual inspection module, MIG welding module, pre-welding cleaning process library, welding permit interlocking module, dust removal / protective gas module, and data recording and traceability module, and the welding permit interlocking module is communicatively connected between the control module and the MIG welding module.

[0058] The sample information input module is used to input or call the feature information of the current sample (workpiece) to be processed and provide it to the control module. The control module determines whether the current sample to be processed is a sample with the first material, the first structure, the first contamination state, or the working condition changes. It is also the basis for the control module to determine whether the cleaning quality of the current sample to be processed can match the verified process entries in the pre-welding cleaning process library. The laser cleaning module is used for pre-welding laser cleaning; the vision inspection module is used to acquire images of the area to be welded and send them to the control module; the MIG welding module is used to perform MIG welding after the cleaning quality meets the welding permit conditions; the pre-welding cleaning process library is used to store the correspondence between feature information, initial cleaning parameters, compensation parameters, visual judgment indicators, defect types (e.g., residue, incomplete cleaning, overheating, unevenness, etc.), re-inspection results, and process confirmation status. The welding permit interlocking module controls whether the MIG welding module is allowed to start based on the cleaning quality judgment result output by the control module. The dust removal / protective gas module is used to remove process residues (e.g., fumes, particulate matter, oxide residues, or spatter) generated during laser cleaning. The control module is used to complete mode switching, cleaning parameter calling, triggering visual inspection, cleaning quality judgment, defect type identification, compensation cleaning control, re-inspection result judgment, and welding permit output. The control module can output a light enable signal to the laser cleaning module, so that the cleaning laser of the laser cleaning module acts on the area to be welded; the vision inspection module acquires the image after cleaning and sends the image or judgment data to the control module; the control module is used to call cleaning parameters, control the laser cleaning module, control the vision inspection module to trigger vision inspection, start / stop or link control the dust removal / protective gas module, and interact with the pre-welding cleaning process library (parameter query, entry information writing).

[0059] In actual implementation, the control module calls the corresponding initial cleaning parameters or compensation cleaning parameters based on the material type, surface condition, and process library entries.

[0060] The control module outputs a permission or prohibition signal to the welding permission interlocking module based on the current visual judgment result (i.e., extracting cleaning quality features from the image and judging cleaning quality according to key indicator threshold rules and comprehensive scoring rules) or the production execution permission status, controlling whether the MIG welding module is allowed to start. When the control module determines that the cleaning quality does not meet the MIG welding permission conditions, the control module outputs a prohibition signal to the welding permission interlocking module, which in turn outputs a welding prohibition signal to the MIG welding module, prohibiting the MIG welding module from performing welding on the area to be welded. When the cleaning quality meets the MIG welding permission conditions, the control module outputs a permission signal to the welding permission interlocking module, which in turn outputs a welding enable signal to the MIG welding module, enabling the MIG welding module to perform welding along the corresponding welding path.

[0061] In some specific embodiments, the feature information includes material type, material grade, material batch, component type, surface condition, welding path, and welding area. The material type includes aluminum alloy and titanium alloy; the surface condition includes oxide film, black ash, spatter, oil stains, adsorbed contaminants, oxidation color, or interlayer contamination residue.

[0062] In some specific embodiments, the laser cleaning module includes a laser, a beam transmission component, a scanning galvanometer, a field lens, and a laser cleaning head. The beam transmission component is connected between the laser and the laser cleaning head. The scanning galvanometer is installed inside the laser cleaning head. The field lens is installed at the beam output end of the scanning galvanometer and located at the light outlet of the laser cleaning head.

[0063] The laser generates a laser beam that is directed into a beam transmission component. The beam transmission component then directs the shaped laser beam toward a scanning galvanometer inside the laser cleaning head. The scanning galvanometer deflects the beam, which is then focused by a field lens and emitted from the light outlet of the cleaning head to act on the workpiece to be processed.

[0064] In some specific embodiments, the laser parameters of the laser cleaning module include at least one of laser power, scanning speed, repetition frequency, pulse width, scan linewidth, number of cleaning cycles, and the travel speed of the motion actuator. Specifically, the scan linewidth of the laser cleaning module is 30 mm, and the cleaning area covers the MIG welding path and a preset range on both sides. This scan linewidth is only one example and does not limit the invention to using a fixed-width cleaning area.

[0065] It should be noted that the pre-welding cleaning process library is preferably a lookup table-based rule library, but it can also be a parameter recommendation model based on historical data. This invention preferably uses a lookup table-based process library because its adjustment logic is clear, its on-site interpretability is strong, and it facilitates engineering applications and subsequent quality traceability.

[0066] In some specific embodiments, the visual inspection module can be any of an industrial camera, a line scan camera, or similar devices. Specifically, the visual inspection module collects images of the area to be welded during process setup, first-piece confirmation, periodic sampling, or abnormal trigger re-inspection, and sends these images to the control module. The control module extracts cleaning quality features from the images, such as the percentage of residual area, color or grayscale uniformity, cleaning band width coverage, percentage of overheated or abnormally oxidized area, and edge integrity, and determines whether the cleaning quality meets the MIG welding permit requirements.

[0067] In some specific embodiments, the main component of the MIG welding module is the MIG welding torch. In this invention, the MIG welding module is mainly used as a post-execution module after the cleaning quality meets the standards, and the optimization of the MIG welding parameters themselves is not the main point of invention.

[0068] In some specific embodiments, the dust removal / protective gas module can also be used to reduce the risk of recontamination of the area to be welded after cleaning. The dust removal / protective gas module can be started synchronously with the laser cleaning module, or it can be controlled by the control module according to the cleaning status, welding status or process requirements.

[0069] In some specific embodiments, the end effector component further includes a mounting bracket, on which the laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module are integrated and mounted and maintain a preset relative positional relationship.

[0070] The structure of the end effector is not limited to the specific shape, installation direction, installation distance and fixing method of each component; as long as it can achieve the sequential coordination of pre-welding laser cleaning, post-cleaning visual inspection and MIG welding, and ensure that the MIG welding module acts on the area to be welded that has met the welding permission conditions, it is an embodiment of the present invention.

[0071] The motion actuator drives the end effector to move along the path to be welded. The control module determines the start-up timing control of laser cleaning, visual image acquisition and MIG welding based on the motion trajectory of the end effector, the spacing between the components of the end effector, the moving speed of the motion actuator and the path to be welded, so that the laser cleaning head, visual inspection sensor and MIG welding gun act on the same path to be welded.

[0072] It should be noted that the present invention does not limit the specific motion actuator. The laser cleaning module, vision inspection module and MIG welding module can be installed on a robot, gantry platform, or CNC slide, or they can be integrated into the same motion actuator, or installed separately in different motion actuators.

[0073] In some specific embodiments, the laser cleaning and welding equipment before aerospace additive MIG welding also includes a data recording and traceability module that is communicatively connected to the control module. The control module interacts with the pre-welding cleaning process library and the data recording and traceability module. The data recording and traceability module is used to record the full-process business dataset in the process establishment mode and production execution mode, and interacts with the control module.

[0074] Through the data recording and traceability module, sample information, cleaning parameters, visual judgment results, compensation cleaning records, re-inspection results, welding permit status, and MIG welding records can be linked to form traceable data on pre-welding cleaning quality and subsequent welding processes.

[0075] In some specific embodiments, the full-process business dataset recorded by the data recording and traceability module includes: sample number, material type, material grade, material batch, component type, welding path information, welding area width, surface condition, called process entry number, initial cleaning parameters, compensation cleaning parameters, compensation times, post-cleaning visual image, residual area percentage A_r, grayscale or color uniformity Uc, cleaning band width coverage Wc, overheated or abnormally oxidized area percentage Ab, edge integrity Ec, comprehensive cleaning quality score Q, cleaning quality level, welding permit status, MIG welding parameters, and welding execution results.

[0076] The above records are used for pre-weld quality traceability and for subsequent revision of the pre-weld cleaning process library. When an appearance or quality abnormality occurs in a certain welding area, the corresponding pre-weld cleaning parameters, cleaning quality score, compensation cleaning record, and welding permit status can be retrieved by using the sample number, path segment number, or process item number. This allows us to determine whether the abnormality is related to insufficient pre-weld cleaning, insufficient cleaning coverage, overheating, or abnormal process item call.

[0077] In some specific embodiments, the laser cleaning and welding equipment before aerospace additive MIG welding also includes a main power supply and an illumination source. The main power supply is electrically connected to the illumination source, control module, laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module, providing working power to the illumination source, control module, laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module. The illumination source is the light that illuminates the area to be welded.

[0078] like Figure 2 As shown, the present invention also provides a laser cleaning and welding method before MIG welding in aerospace additive manufacturing, comprising the following steps: Process establishment model flow and production execution model flow; The specific process of the process establishment mode flow is as follows: the control module obtains the feature information (e.g., material type, material grade, material batch, component type, surface condition, welding path and welding area range) from the sample information input module, determines the cleaning area and visual inspection and evaluation area, and then calls the initial cleaning parameters stored in the pre-welding cleaning process library. The control module controls the laser cleaning module to perform the first laser cleaning in the cleaning area. The vision detection module collects visual images of the vision detection and evaluation area and sends them to the control module. The control module extracts the cleaning quality features in the images and determines whether the cleaning quality meets the MIG welding permit conditions based on the key indicator threshold rules and comprehensive scoring rules. If the MIG welding permission conditions are met, the control module outputs a permission signal to the welding permission interlock module, and the welding permission interlock module outputs a welding enable signal to the MIG welding module, enabling the MIG welding module to perform welding along the corresponding welding path and form a verified process entry which is written into the pre-welding cleaning process library by the control module. If the MIG welding permit conditions are not met, the control module identifies the type of unqualified cleaning and then calls the corresponding compensation cleaning parameters from the pre-welding cleaning process library to enable the laser cleaning module to perform local re-scanning of the unqualified area or to re-scan the entire cleaning path for compensation laser cleaning. After compensation cleaning, the visual inspection module performs visual inspection and re-inspection. If the re-inspection is qualified, the verified process item is formed or updated and written into the pre-welding cleaning process library by the control module. The control module outputs a permission signal to allow the MIG welding module to perform welding. If the re-inspection is still unqualified, compensation continues or the manual review process is initiated.

[0079] When the control module determines that the sample to be processed matches the verified process entry in the pre-welding cleaning process library, it enters the production execution mode process.

[0080] The specific process of the production execution mode is as follows: the control module obtains the material type, material grade, component type, surface condition and welding path information of the current sample from the sample information input module, and retrieves the verified process entries that match the current working condition from the pre-welding cleaning process library. The control module calls the cleaning parameters in the verified process entry and confirms the trigger conditions for first-piece inspection, periodic sampling inspection, or abnormal trigger re-inspection according to the set key indicator threshold rules or comprehensive scoring rules. If the result is confirmed to be qualified, the control module controls the laser cleaning module and the MIG welding module to run continuously along the path to be welded, and establishes the production execution permission status of the current batch or the current continuous production cycle; if the result is confirmed to be unqualified, the control module switches back to the process establishment mode flow, performs visual judgment again, and calls the corresponding compensation parameters from the pre-welding cleaning process library to perform compensated laser cleaning.

[0081] In some specific embodiments, the laser cleaning and welding method before aerospace additive MIG welding includes the following steps: when the control module determines that the current sample to be processed does not match and directly calls an existing process library entry, for example: The first processing of a certain aluminum alloy or titanium alloy material; The first processing of a component structure or welding path; The first appearance of a surface contamination state; The batch of materials has changed; Significant changes occur in the interlayer state of additive manufacturing, the path to be soldered, or the surface oxidation state. The process will only enter the process establishment mode if the first piece confirmation, periodic sampling inspection, or abnormal trigger re-inspection in the production execution mode fails. Operators can proactively request to re-establish or modify the process establishment mode process.

[0082] In this invention, the process establishment mode is used for establishing, compensating for, and verifying cleaning processes in cases of abnormalities in the initial prototype, initial operating conditions, or production execution mode. In the process establishment mode, the control module first acquires the material type, material grade, component type, welding path, and welding area range.

[0083] The path to be welded can be obtained through offline programming, robot teaching, CNC programming, or visual positioning. In a typical application of this invention, the area to be welded is a strip-shaped region extending along the MIG welding path. The laser cleaning module completes pre-welding cleaning along this strip-shaped region, and the MIG welding module then completes welding along the same path.

[0084] The width of the area to be welded can be determined based on the weld width, heat-affected zone, and pre-welding cleaning requirements. For straight welding paths, the system can treat the entire area to be welded as a single visual inspection and evaluation area for cleaning quality assessment. For longer welds, curved paths, or situations requiring local defect location, the area to be welded can be divided into several sub-areas based on the visual inspection field of view, path length, or process segment. These sub-areas are primarily used for cleaning quality assessment and local compensation positioning, without altering the invention's main operating principle of overall cleaning of the area to be welded and continuous coordination of the MIG welding path.

[0085] like Figure 3 As shown, Figure 3 This is a schematic diagram of the area to be welded and the inspection and evaluation area. Figure 3The diagram shows the MIG welding path, the area to be welded, the width of the cleaning area, the visual inspection and evaluation area, and optional inspection sub-areas. The area to be welded extends along the welding direction, the cleaning area covers the welding path and preset areas on both sides, the inspection and evaluation area is used to visually determine the surface condition after cleaning, and the inspection sub-areas can be used to determine the location for compensatory cleaning when there are localized residues, missed cleaning, or boundary abnormalities.

[0086] For aluminum alloys, typical materials include 2219 aluminum alloy, ER2319 aluminum alloy additive deposition material, 5A06 / 5083 aluminum-magnesium alloy, 6061 aluminum alloy, and AlSi10Mg aluminum alloy, etc. The focus of pre-welding cleaning for aluminum alloys can include removing natural oxide films, black ash, spatter residue, oil, and surface adsorbed contaminants. The goal of pre-welding cleaning for aluminum alloys is to reduce the impact of surface oxide films and contaminant residues on arc stability, molten pool flow, and porosity formation in the area to be welded.

[0087] like Figure 4 As shown, Figure 4 These are typical photos of aluminum alloy before cleaning, showing its contamination state. Figure 4 The image can show the state of the aluminum alloy surface of the area to be welded, including the natural oxide film, black ash, spatter residue, oil stains, or adsorbed contaminants.

[0088] For titanium alloys, typical materials include TC4 titanium alloy, Ti-6Al-4V titanium alloy, TA15 titanium alloy, and TC11 titanium alloy. The focus of pre-weld cleaning for titanium alloys can be on removing oxide discoloration, heat-affected oxide layers, oil stains, adsorbed contaminants, and interlayer contamination residues. The goal of pre-weld cleaning for titanium alloys is to reduce the impact of residual oxides and contaminants on weld formation, joint performance, and subsequent service stability.

[0089] like Figure 5 As shown, Figure 5 This is a typical contamination state of a titanium alloy before cleaning. Figure 5 The image can show the surface condition of the titanium alloy welding area, including its oxidation color, heat-affected oxide layer, spatter residue, or interlayer contamination residue.

[0090] In some specific embodiments, the pre-welding laser cleaning module for aluminum alloys uses a single cleaning cycle as the initial cleaning process. The initial cleaning parameters can be: laser power 210 W, repetition frequency 150 kHz, pulse width 350 ns, scanning speed 12 m / s, and scanning line width 30 mm.

[0091] The initial cleaning parameters described above illustrate one specific implementation of the laser cleaning module in this invention. In actual implementation, the control module can call different initial cleaning parameters from the pre-weld cleaning process library according to the material type, surface condition, and pre-weld cleaning requirements.

[0092] Under normal operating conditions, a single cleaning pass is prioritized as the initial cleaning process to reduce pre-welding treatment time and ensure integrated cleaning and welding efficiency. Only when visual inspection results indicate that the cleaning quality does not meet the MIG welding permit requirements will the control module initiate a compensatory cleaning process. Compensatory cleaning can adjust laser power, scanning speed, scanning linewidth, or the number of cleaning passes based on the defect type, with a maximum of three passes.

[0093] Table 1 Initial Cleaning Parameters for Aluminum Alloy and Titanium Alloy

[0094] Table 1 shows examples of initial cleaning parameters for different materials and surface conditions, illustrating the organization of initial process entries in the pre-weld cleaning process library. In practical applications, the control module can call the corresponding initial parameters based on the material grade, contamination state, welding path, and cleaning quality requirements; if the visual judgment after cleaning is unqualified, the subsequent defect type identification and process library compensation process will then be initiated.

[0095] In process setup mode, after the laser cleaning module completes the cleaning of the area to be welded, the vision inspection module acquires a post-cleaning image of the area to be welded or the inspection and evaluation area. The control module processes the image and determines whether the cleaning quality meets the MIG welding permit requirements based on the image features.

[0096] In some specific embodiments, the image processing may include brightness normalization, welding area localization, noise removal, edge extraction, color space conversion, and image segmentation. Through the above processing, the control module obtains information such as the cleaning area, residual area, abnormal oxidation area, cleaning boundary, and actual cleaning width.

[0097] In some specific embodiments, the cleaning quality features extracted by the control module include any one or more of the following: residual area ratio Ar, grayscale or color uniformity Uc, cleaning band width coverage Wc, overburned or abnormally oxidized area ratio Ab, and edge integrity Ec.

[0098] Among them, the residual area percentage Ar: represents the percentage of the area of ​​the area where the oxide film, black ash, splashes, oil stains or other contaminants that have not been removed in the detection and evaluation area. The larger Ar is, the higher the degree of inadequacy in cleaning. Grayscale or color uniformity Uc: This indicates the degree of grayscale or color fluctuation in the area after cleaning. This indicator can be used to determine whether there are local residues, abnormal oxidation colors, overburning marks, or uneven cleaning in the cleaned area. The higher the Uc, the more uniform the surface color or grayscale after cleaning. Cleaning band width coverage Wc: This indicates the correspondence between the actual cleaning width and the preset pre-welding cleaning width. If the cleaning band does not cover the weld and the preset range on both sides, the current area to be welded does not meet the MIG welding permit conditions. Overheating or abnormal oxidation area percentage Ab: This indicates the percentage of the surface area that shows overheating, abnormal oxidation color, or abnormal heat-affected zone after cleaning. The larger Ab is, the higher the cleaning heat input or the more obvious the abnormal oxidation on the surface. Edge integrity Ec: indicates whether the edge of the cleaning zone is continuous and whether there are any missed scans, discontinuities or path deviations. The higher the Ec, the more continuous the cleaning path and the more complete the boundary.

[0099] In some specific embodiments, the cleaning quality characteristics are calculated as follows: The percentage of residual area Ar = Sr / St (1); In formula (1) above, Sr is the area of ​​the residual area within the detection and evaluation area, and St is the total area of ​​the detection and evaluation area.

[0100] The cleaning belt width coverage Wc = min(Wa / Ws, 1) (2); In equation (2) above, Wa is the actual width of the cleaning belt, and Ws is the preset width of the cleaning belt. In this embodiment, the cleaning belt width coverage Ws can be set to 30 mm.

[0101] The percentage of overheated or abnormally oxidized area Ab = Sb / St (3); In formula (3), Sb represents the area of ​​overheated, abnormally oxidized, or thermally affected abnormal regions.

[0102] The grayscale or color uniformity Uc can be determined based on the dispersion of grayscale or color values ​​within the detection and evaluation area. For example, it can be normalized using the following formula: Gray-scale or color uniformity Uc = 1 - σg / σg0 (4); In equation (4) above, σg is the standard deviation of grayscale within the detection and evaluation area after cleaning, and σg0 is the grayscale fluctuation reference value or the maximum grayscale fluctuation benchmark value used for normalization. When the calculation result is less than 0, Uc takes 0; when the calculation result is greater than 1, Uc takes 1.

[0103] Edge integrity Ec can be determined based on the ratio of the continuous length of the cleaning zone boundary to the theoretical boundary length. For example: Edge integrity Ec = Lc / Lt (5); In equation (5) above, L_c is the continuous effective length of the cleaning zone boundary, and Lt is the theoretical boundary length.

[0104] Based on the aforementioned characteristics and according to the set key indicator threshold rules, the control module determines whether the cleaning quality meets the MIG welding permit standards. The cleaning quality can be judged using either key indicator threshold rules or a comprehensive scoring system.

[0105] The control module sets a comprehensive score for cleaning quality. (Q) Q = k1·(1-Ar) + k2·Uc + k3·Wc + k4·(1-Ab) + k5·Ec (6); In the above formula (6), k1, k2, k3, k4, and k5 are weighting coefficients, which can be set as follows: k1 = 0.35, k2 = 0.20, k3 = 0.20, k4 = 0.15, and k5 = 0.10.

[0106] In this weighting setting, the residual area ratio A_r has the highest weight because oxide film, black ash, oil stains or spatter residue directly affect the stability of the molten pool, gas escape and inclusion risk during MIG welding; the cleaning band width coverage Wc and gray scale or color uniformity Uc are used to judge the cleaning coverage and overall uniformity; the overheated or abnormal oxidation area ratio Ab is used to limit excessive heat input; and the edge integrity Ec is used to judge whether the cleaning path is continuous and whether there are any missed scans.

[0107] The above formula is only an example. In actual implementation, hierarchical rules, lookup table rules, or other image determination rules can also be used.

[0108] Specifically, according to Table 2 below, the following key indicator threshold rules can be set: Table 2 Cleaning quality evaluation indicators and example thresholds

[0109] The cleaning quality can be divided into four levels: Level 1: Insufficient Cleaning. At this level, the residual area (Ar) significantly exceeds the threshold, or the cleaning band width (Wc) is significantly insufficient, manifested as noticeable residue of oxide film, black ash, spatter, oil, or other contaminants. This level disqualifies the user from MIG welding and requires compensation cleaning using process library parameters.

[0110] Level 2: Basic Cleaning. At this level, most areas to be welded have been cleaned, but some local residue, insufficient cleaning band width, minor missed areas, or uneven cleaning may still exist. This level does not directly lead to MIG welding; local compensation cleaning or a full path re-scan is required depending on the defect type.

[0111] Level 3: Cleaning qualified. At this level, the overall cleaning quality score Q reaches the preset threshold, and key indicators such as residual area percentage, cleaning zone width coverage, and overheated or abnormally oxidized area percentage all meet requirements. This level allows entry into MIG welding.

[0112] Level 4: Over-cleaning. At this level, although the residual area may be low, the surface exhibits obvious abnormal oxidation, overheating marks, abnormal heat-affected zones, or suspected surface damage after cleaning. Direct entry into MIG welding is not permitted at this level. The cleaning parameters must be re-established after reducing the heat input, or a manual review process must be initiated.

[0113] The rules for determining the cleaning quality level are shown in Table 3 below. Table 3 is the table for determining the cleaning quality level.

[0114] When Q ≥ Qth (preset threshold) and key indicators such as residual area ratio, cleaning zone width coverage, and overheated or abnormally oxidized area all meet the preset threshold, the control module marks the current area to be welded or the inspection and evaluation area as qualified and outputs a welding permission signal to the welding permission interlock module.

[0115] When Q < Qth, or any key indicator fails to meet the threshold, the control module marks the current area to be welded or the inspection and evaluation area as unqualified and enters the defect classification and compensation cleaning process.

[0116] like Figure 6 As shown, Figure 6 This is a schematic diagram for judging the quality of visual image cleaning. Figure 6 The system can display images acquired by the vision inspection module after cleaning, and the control module extracts cleaning quality features such as Ar, Uc, Wc, Ab, and Ec. Based on a comprehensive score or threshold rules, it outputs judgment results such as "cleaning qualified," "cleaning insufficient," "cleaning over-cleaning," or "insufficient coverage." These judgment results are used to determine whether to output a MIG welding permission signal or whether to proceed to the subsequent process library compensation process.

[0117] When the cleaning quality of the area to be welded or the area to be inspected and evaluated is not up to standard, the control module identifies the type of cleaning failure based on the features of the visual image collected by the vision inspection module, and calls the corresponding compensation parameters from the pre-welding cleaning process library.

[0118] The compensation cleaning method in this invention does not employ a complex multi-parameter self-optimization approach. Instead, it prioritizes ease of implementation on-site, controllable parameters, and clear compensation logic, and preferentially adjusts the laser power, scanning speed, scanning linewidth, and number of compensation cleaning cycles.

[0119] In this invention, the types of non-conformities include at least residual, incomplete cleaning, overheating, uneven cleaning, and boundary abnormalities. All of these non-conformities are determined by cleaning quality characteristics in the visual inspection images.

[0120] Residual defects refer to situations where the residual area percentage (Ar) exceeds the threshold, and oxide film, black ash, splatter, oil, or other contaminants remain in the image. This type of defect indicates insufficient cleaning and requires the application of compensation parameters to enhance cleaning, such as increasing laser power, reducing scanning speed, or performing localized rescanning of the residual areas.

[0121] Missing areas are considered defects when the cleaning band width coverage (Wc) is below a threshold, or when the image contains insufficient cleaning band width, path offset, or uncovered local areas. This type of defect indicates insufficient cleaning coverage and requires adjusting compensation parameters to increase coverage, such as increasing the scan line width or performing additional scanning on the missing edges.

[0122] Overheating defects are defined as an overheated or abnormally oxidized area (Ab) exceeding the threshold, or the image showing obvious abnormal oxidation color, overheating marks, abnormal heat effects, or suspected surface damage. This type of defect indicates that the current cleaning heat input is too high, and compensation parameters to reduce heat effects should be applied, such as reducing laser power or increasing scanning speed. If significant surface damage has already occurred, the current area should not be further scanned, and the process should proceed to manual review. Furthermore, the MIG welding module should be prohibited from performing welding on this area.

[0123] Non-uniformity defects refer to grayscale or color uniformity (Uc) below the threshold, with obvious differences in brightness within the cleaning area, insufficient cleaning in certain areas, or abnormal local heat effects. For this type of defect, it is necessary to first determine the dominant defect type: if the non-uniform area shows local residue, it should be treated as a residue type; if it shows local abnormal oxidation color or abnormal heat effects, it should be treated as an overburning type; if it mainly occurs at the edge of the cleaning zone, it should be treated as a missed cleaning type or a boundary abnormality type.

[0124] Boundary anomaly defects refer to edge integrity (Ec) below the threshold, indicating discontinuity, offset, or localized missing areas at the cleaning zone boundary. This type of defect indicates insufficient coverage of the cleaning path boundary and requires the application of compensation parameters to increase boundary coverage, such as increasing the scan line width or performing localized supplementary scanning on the abnormal boundary side.

[0125] The initial cleaning parameters for aluminum alloys and titanium alloys can differ, but their compensation logic remains consistent. Specifically: when the image shows residue, the control module applies compensation parameters to enhance the cleaning effect; when the image shows overheating, abnormal oxidation color, or abnormal heat-affected zones, the control module applies compensation parameters to reduce the heat-affected zones; when the image shows incomplete cleaning, missing boundaries, or insufficient cleaning band width, the control module applies compensation cleaning parameters to increase the coverage area. After compensation cleaning is completed, the vision inspection module re-acquires the image and performs a re-inspection. Only after passing the re-inspection is the process allowed to proceed to the MIG welding stage.

[0126] In one specific embodiment, typical initial cleaning parameters for aluminum alloy are: laser power 210 W, repetition frequency 150 kHz, pulse width 350 ns, scanning speed 12 m / s, and scanning line width 30 mm; typical initial cleaning parameters for titanium alloy are: laser power 150 W, repetition frequency 150 kHz, pulse width 150 ns, scanning speed 12 m / s, and scanning line width 30 mm. Based on the above initial parameters, compensation cleaning rules can be set as shown in Table 4 below.

[0127] Table 4 Correspondence between Defect Type, Defect Severity, and Compensation Cleaning Parameters

[0128] The parameters in Table 4 are merely examples of compensation cleaning parameters, used to illustrate the correspondence between defect types, defect severity, and compensation parameters in the pre-welding cleaning process library. In practical applications, the control module can adjust the parameters in the table or call adjacent process entries based on material grade, surface contamination status, width of the area to be welded, equipment power range, and visual judgment results.

[0129] After the control module calls the compensation parameters, it determines the compensation cleaning method according to the defect type. For residual defects, local re-scanning is prioritized for the residual area; when the residue is continuously distributed along a long path or the residual area significantly exceeds the limit, the entire cleaning path is re-scanned. For incomplete cleaning and boundary abnormality defects, the scan line width is increased or the edge of the incomplete cleaning side is re-scanned; if the cleaning path is significantly inconsistent with the path to be welded, the path is reconfirmed before re-scanning. For overheating defects, the heat input is not directly increased in the abnormal area, but the heat input is reduced and the parameters are re-established; if there is obvious surface damage, MIG welding is prohibited and manual review is initiated.

[0130] The number of compensation cleaning cycles can be set according to the severity of the defect. Minor defects are usually compensated once; moderate defects can be compensated one to two times; severe residue or insufficient coverage can be compensated two to three times. The number of compensation cleaning cycles should preferably not exceed three. If the MIG welding permission conditions are still not met after three compensation cycles, the control module will not output a welding permission signal and will mark the current area, current path segment, or current sample as a manual review status.

[0131] Through the aforementioned non-conformity identification and process library compensation methods, this invention can transform cleaning non-conformity results into explicit compensation actions. Compared to methods that only trigger alarms or rely on manual experience for re-cleaning, this invention can distinguish different causes such as residue, missed cleaning, over-burning, unevenness, and boundary abnormalities based on visual inspection results, and call corresponding compensation parameters for processing, thereby forming a closed-loop control of "visual judgment - defect classification - process library compensation - re-inspection confirmation".

[0132] When the cleaning quality fails to meet the MIG welding permit requirements, the control module calls upon compensation parameters from the pre-weld cleaning process library based on the type and degree of cleaning non-compliance, and performs compensatory cleaning on the non-compliant area or the entire cleaning path. After the compensatory cleaning is completed, the vision inspection module re-acquires the post-cleaning image, and the control module recalculates the cleaning quality indicators or performs threshold judgment. Only when the re-inspection result meets the MIG welding permit requirements will the welding permit interlock module output a welding permit signal.

[0133] In some specific embodiments, the initial cleaning typically involves a single pass. When the cleaning quality does not meet the MIG welding permit requirements, the control module can perform compensatory cleaning. Compensatory cleaning can be a partial refresh or a full refresh along the entire cleaning path. Partial refresh is suitable for situations where the residual area, missed areas, or boundary abnormalities are small; full refresh is suitable for situations where the residue is continuously distributed along the cleaning path, the cleaning is uneven over a large area, or multiple defects are scattered throughout.

[0134] The control module can determine the compensation method based on the distribution range of the non-conforming areas. When the non-conforming areas are concentrated in a localized area and their length accounts for a small proportion of the total length of the welding path, localized re-scanning is preferred. When the non-conforming areas are continuously distributed along the cleaning zone, or when multiple non-conforming areas appear scattered and affect the overall cleaning quality, re-scanning of the entire path is preferred. This method can reduce unnecessary repeated cleaning while ensuring the compensation effect. The re-inspection rules after compensation cleaning are shown in Table 5 below. Table 5 shows examples of compensation cleaning execution methods and re-inspection rules.

[0135] The following example of a non-compliance due to residue is used to illustrate the compensatory cleaning and re-inspection process. Before compensation, there were localized residual areas within the evaluation area. Visual inspection results showed that the residual area accounted for Ar = 6.2%, the cleaning zone width coverage Wc = 0.98, the overheated or abnormally oxidized area accounted for Ab = 0.3%, and the overall cleaning quality score Q = 0.72.

[0136] The coverage of the cleaning zone width and the proportion of overheated or abnormally oxidized area in the detection and evaluation area did not exceed the limit threshold, but the proportion of residual area A_r exceeded the threshold, and the comprehensive cleaning quality score Q was lower than the preset threshold. Therefore, the control module judged the area to be welded as a residual unqualified area.

[0137] The control module calls compensation parameters from the pre-welding cleaning process library based on the location and extent of the residual area. If the residual area is concentrated in a small local area, a local rescan is performed on the residual area; if the residual area is continuously distributed along the cleaning path, a rescan is performed on the entire cleaning path. After the compensated cleaning is completed, the vision inspection module re-acquires the image of the area and recalculates the cleaning quality indicators.

[0138] After compensation, the residual area within the detection and evaluation area was significantly reduced, the coverage of the cleaning zone remained within the preset requirements, and no new overheated or abnormally oxidized areas appeared. Re-inspection results showed that the residual area percentage Ar = 1.4%, the cleaning zone width coverage Wc = 0.98, the overheated or abnormally oxidized area percentage Ab = 0.2%, and the overall cleaning quality score Q = 0.89. Since Q reached the preset threshold and all key indicators met the MIG welding permit conditions, the control module marked the area to be welded as qualified and allowed the MIG welding module to perform welding.

[0139] like Figure 7 As shown, Figure 7 This is a schematic diagram comparing the before and after cleaning for residual non-conforming products. Figure 7 (a) is a defective image before compensation, showing a local residual area in the area to be welded; Figure 7 (b) is a schematic diagram of the compensation cleaning area and compensation path, showing the local cleaning area and compensation path; Figure 7 (c) is a qualified image after compensation, showing that the residual area has been removed after compensation cleaning and the area to be welded meets the MIG welding permission conditions. Figure 7 The evaluation data is used as example data to illustrate the relationship between the changes in cleaning quality indicators before and after compensated cleaning.

[0140] Through the aforementioned compensation cleaning and re-inspection process, the control module can link visual inspection results, non-conformity types, compensation parameters, and welding permit status. Compared to methods that only trigger alarms or require manual rework, this invention can provide a clear compensation action after cleaning failure and confirm the compensation result through re-inspection, thereby ensuring that areas awaiting welding that do not meet MIG welding permit conditions will not directly enter subsequent welding processes.

[0141] When a material, surface condition, and welding path complete initial cleaning, visual judgment, necessary compensation cleaning, and re-inspection in the process establishment mode, and the re-inspection results meet the MIG welding permission conditions, the control module records the qualified process as a verified process item.

[0142] The verified process entry is not simply a record of laser cleaning parameters, but a data entry that links sample information, surface condition, cleaning parameters, visual judgment results, compensation cleaning records, re-inspection results, and welding permit status. This entry is used for subsequent similar samples to be directly called upon in production execution mode, thereby avoiding the need to repeat the entire process establishment process for each similar sample.

[0143] In some specific embodiments, the verified process items may include the following information: material type, material grade, material batch, component type, type of path to be welded, width of the area to be welded, surface condition, initial cleaning parameters, compensation cleaning parameters, number of compensations, re-inspection cleaning quality indicators, cleaning quality level, welding permit status, and verification status. The re-inspection cleaning quality indicators may include residual area percentage Ar, grayscale or color uniformity Uc, cleaning band width coverage Wc, overheated or abnormally oxidized area percentage Ab, edge integrity Ec, and comprehensive cleaning quality score Q.

[0144] The data format for the verified process items is shown in Table 6 below. Table 6. Example of verified process items

[0145] The overall cleaning quality score Q in the verified process item is calculated according to the aforementioned cleaning quality scoring formula based on the present invention, and the cleaning quality level is determined according to the level determination rules shown in Table 3. Only process items that meet the cleaning qualification conditions in terms of overall cleaning quality score and all key indicators, have a cleaning quality level of "Level 3: Cleaning Qualified", a welding permit status of "MIG Welding Allowed" and a verification status of "Verified" are allowed to be directly invoked in production execution mode.

[0146] The data in Table 6 is only an example of how verified process entries are organized. In practical applications, the control module can generate multiple verified process entries based on different materials, surface conditions, welding paths, and process verification results, and store them in the pre-welding cleaning process library.

[0147] When a subsequent sample enters the production execution mode, the control module first reads the current sample's material type, material grade, surface condition, and welding path information, and matches it with the verified process entries. If the match is successful, the control module calls the corresponding verified cleaning parameters, causing the laser cleaning module to perform pre-welding cleaning according to those parameters. If the current sample does not match the existing entries, or if the first piece confirmation, periodic sampling inspection, or abnormal trigger re-inspection results are unqualified, the control module does not directly call the entry but switches back to the process establishment mode.

[0148] Through the above method, this invention converts the qualified cleaning parameters and re-inspection results obtained from the process establishment mode into repeatedly usable, verified process entries. These entries improve the consistency of subsequent cleaning and welding of similar samples and reduce the efficiency losses caused by repeatedly performing complete inspections and compensation processes for each sample.

[0149] When the subsequent sample to be processed meets the matching conditions with the verified process entries in the pre-welding cleaning process library in terms of material type, material grade, component type, surface condition, type of welding path, and allowable working conditions, the control module enters the production execution mode.

[0150] Before entering production execution mode, the control module compares at least the following information: material type, material grade, component type, surface contamination type, type of path to be welded, scan linewidth, allowable operating range, and process item verification status. When the above information meets the invocation conditions and the corresponding process item's verification status is "verified," the control module allows the invocation of that process item to enter production execution mode. If no matching item exists, or the matching item's status is "pending review" or "invalid," the control module does not enter production execution mode but switches to process establishment mode.

[0151] In production execution mode, the control module sends cleaning parameters to the laser cleaning module according to the verified process items. The laser cleaning module performs pre-cleaning along the path to be welded to the area to be welded; the MIG welding module then performs welding along the same path. Any continuous operation of "pre-cleaning - subsequent welding" that can be completed according to the set path and set timing is an embodiment of the present invention.

[0152] In some specific embodiments, the laser cleaning module first performs pre-welding cleaning on the area to be welded; the MIG welding module then performs welding on the cleaned area. For continuous processing along the same path, the control module can set the start sequence of laser cleaning and MIG welding based on the movement speed, the distance between the laser cleaning module and the MIG welding module, and the welding start position, to ensure that the MIG welding module always acts on the area to be welded that has been cleaned and is in a weldable state.

[0153] For non-sampling samples during the validity period of the production execution license, the welding license interlocking module uses "verified process item matching, first piece confirmation of qualification, current working conditions within the allowable range and no abnormal triggering state" as the basis for welding license, and does not require each sample to re-perform a complete visual inspection, defect classification and compensation cleaning; For periodically sampled parts, abnormally triggered re-inspection parts, or designated verification path segments, the control module uses the visual judgment result of the current area to be welded as the basis for direct welding permission. Only when the current visual judgment result meets the MIG welding permission conditions will the welding permission interlock module allow the MIG welding module to perform welding on the part or path segment. When the welding permission signal is output, the laser cleaning module performs cleaning according to the verified process item, and the MIG welding module then performs welding along the same welding path. The data recording and traceability module records the current sample information, the called process item number, cleaning parameters, production execution permission status, first piece confirmation or sampling inspection results, welding permission status and MIG welding record. When any of the following situations occur: process item mismatch, process item failure, current operating condition exceeding the allowable range, first piece confirmation failure, periodic sampling failure, or abnormal trigger re-inspection failure, the control module immediately cancels the production execution permission status, outputs a welding prohibition signal, prohibits the MIG welding module from continuing to enter the corresponding area where welding has not yet been completed, and switches the current sample, current path segment, or current batch back to the process establishment mode.

[0154] In production execution mode, it is not required that every workpiece or every cleaning and welding path undergo complete visual inspection, defect classification, and compensatory cleaning. For similar materials, surface conditions, and welding paths, the system can directly call verified cleaning parameters to perform continuous cleaning and welding. However, to avoid cleaning quality drift due to changes in material batches, surface contamination, clamping positions, path deviations, or equipment conditions, the control module still incorporates first-piece verification, periodic sampling inspection, and anomaly-triggered re-inspection mechanisms to constrain the quality of the production execution mode. This part can be executed according to the subsequent "First-piece Verification, Periodic Sampling Inspection, and Anomaly-Triggered Re-inspection" section.

[0155] It should be noted that the basis for welding permission in the production execution mode differs from that in the process establishment mode. In the process establishment mode, as well as during first article confirmation, periodic sampling inspection, and anomaly-triggered re-inspection, the visual assessment of the current area to be welded serves as the direct basis for welding permission. For non-sampling samples in the production execution mode, the basis for welding permission is a valid verified process item, a satisfactory first article confirmation result, current operating conditions within acceptable limits, and the absence of anomaly triggering conditions. Once the production execution permission status becomes invalid due to a failed sampling inspection, exceeding operating limits, or equipment malfunction, subsequent samples must not continue to use the original welding permission status.

[0156] like Figure 8 As shown, Figure 8 This is a schematic diagram of the production execution mode process. Figure 8 The process flow can be shown as follows: Input current sample information, match with the process library; determine if a verified process item exists; if it exists and its status is verified, and the current operating condition is within the allowable range, then the verified cleaning parameters are invoked; the laser cleaning module performs pre-cleaning according to the verified parameters, and the welding permit interlock module outputs a welding permit signal; the MIG welding module continuously welds along the same path, and the data recording and traceability module records production data. If no matching item exists, the item status is pending review or invalid, the current operating condition exceeds the allowable range, or the first piece confirmation, periodic sampling inspection, and abnormal trigger re-inspection fail, then the control module switches back to the process establishment mode flow.

[0157] Through the aforementioned production execution mode, this invention enables the use of validated process entries established in the initial process setup for the continuous production of similar samples. This approach avoids repeatedly performing the complete inspection, compensation, and re-inspection process for each workpiece, thereby improving the efficiency of integrated cleaning and welding. Simultaneously, through process library call conditions, welding permit interlocking, and anomaly rollback mechanisms, it prevents the continued execution of MIG welding when cleaning quality deviates.

[0158] Triggering conditions for first-piece confirmation, periodic sampling inspection, and anomaly-triggered re-inspection: In production execution mode, the control module can call verified process entries, enabling the laser cleaning module and MIG welding module to operate continuously and collaboratively. However, to avoid drift in cleaning quality caused by changes in material batches, surface contamination status, clamping position, path deviation, or equipment status, this invention sets up a first-piece verification, periodic sampling inspection, and anomaly-triggered re-inspection mechanism.

[0159] First article confirmation (CIBC) refers to the visual inspection performed on the first sample or the first section of the welding path after cleaning when a certain batch, material, or validated process item first enters the production execution mode. If the CIBC result meets the MIG welding permission conditions, the control module allows subsequent similar samples to continue using the validated process item; if the CIBC result fails, the control module prohibits the MIG welding module from continuing welding and switches the current sample or batch back to the process establishment mode.

[0160] Periodic sampling inspection refers to the visual inspection performed by the control module on a portion of samples or path segments after cleaning, according to a preset number of workpieces, preset time intervals, or preset path lengths during continuous operation in production execution mode. Periodic sampling inspection is used to determine the stability of verified process items in continuous production. If the periodic sampling inspection result is qualified, the production execution mode continues; if the periodic sampling inspection result is unqualified, the control module suspends the continued invocation of the currently verified process items and switches back to the process establishment mode to re-identify defect types, compensate for process libraries, and re-inspect.

[0161] Anomaly-triggered re-inspection refers to a situation where, when the system detects changes in material batches, deviations in the welding path, abnormal robot operation, abnormal laser power, abnormal cleaning head position, abnormal visual images, abnormal dust removal status, or when the operator actively triggers a re-inspection, the control module no longer directly continues production according to the previously verified process items. Instead, it performs a post-cleaning visual inspection on the current welding area or current path segment. If the re-inspection result is satisfactory, production can continue; if the re-inspection result is unsatisfactory, it switches back to the process establishment mode.

[0162] Specifically, the rules for first-piece confirmation, periodic sampling inspection, and abnormal trigger re-inspection are shown in Table 7 below.

[0163] Table 7 shows the trigger conditions for mode switching.

[0164] The results of first article confirmation, periodic sampling inspection, and abnormal trigger re-inspection are all recorded in the data recording and traceability module. The recorded content may include sample number, material batch, number of verified process item called, inspection time, inspection path segment, cleaning quality index, judgment result, whether MIG welding is allowed, and whether to switch back to process establishment mode.

[0165] Through the above mechanism, this invention can maintain high efficiency of continuous cleaning operations in production execution mode, while avoiding quality drift caused by long-term use of fixed cleaning parameters. When the cleaning quality deviates from the MIG welding permit conditions, the system can promptly exit the production execution mode and return to the process establishment mode to re-perform visual judgment, process library compensation, and re-inspection.

[0166] This invention directly links the cleaning quality assessment result with the start-up conditions of the MIG welding module through a welding permission interlock module. After laser cleaning is completed, the MIG welding module does not immediately perform welding. Only when the current area to be welded or the inspection and evaluation area meets the MIG welding permission conditions will the control module output a welding permission signal to the welding permission interlock module.

[0167] For samples in process setup mode, the control module determines whether to output a welding permission signal only after completing initial cleaning, visual inspection, cleaning quality judgment, necessary compensatory cleaning, and re-inspection. If the re-inspection result meets the MIG welding permission conditions, the welding permission interlock module allows the MIG welding module to perform welding on the area to be welded; if the re-inspection result still does not meet the permission conditions, the welding permission interlock module remains in a prohibited state and prohibits the MIG welding module from entering the area to perform welding.

[0168] For similar samples in production execution mode, the welding permission interlock module does not require a complete post-cleaning visual assessment to be performed on every sample. Instead, it controls whether the MIG welding module is allowed to start based on the production execution permission status. The conditions for establishing a production execution permission status include at least the following: the current sample matches a verified process item; the verification status of the process item is "verified"; the welding permission status of the process item is "MIG welding permitted"; the first piece of the current batch or the current continuous production cycle is confirmed to be qualified; the current material, surface condition, welding path, and equipment operating status are within the allowable operating range of the process item; and there are no abnormal conditions that require triggering a re-inspection.

[0169] When the above conditions are met simultaneously, the welding permit interlocking module can maintain production execution permits for non-sampling samples within the current batch or current continuous production cycle, enabling the laser cleaning module and MIG welding module to operate continuously and collaboratively. In this case, the MIG welding module should always operate on the areas to be welded that have already undergone pre-cleaning according to verified process steps.

[0170] For first-piece confirmation samples, periodic sampling samples, abnormally triggered re-inspection samples, or designated verification path segments, the visual judgment result of the current area to be welded serves as the direct basis for welding permission. The control module only outputs a welding permission signal when the visual inspection result meets the preset index threshold and comprehensive cleaning quality score requirements; if the visual judgment is unqualified, no welding permission signal is output, and the module switches back to process establishment mode.

[0171] When any of the following situations occur: process item mismatch, verification status changes to "pending review" or "invalid," current operating conditions exceed allowable range, first piece confirmation fails, periodic sampling fails, abnormal trigger re-inspection fails, or equipment malfunctions, the control module revokes the production execution permit status. The welding permit interlock module then stops outputting welding permit signals and prevents areas that have not yet met the permit conditions from entering the MIG welding process by pausing the robot path, turning off the welding power enable, stopping wire feeding, pausing the welding program, or prohibiting the welding torch from entering the corresponding path segment.

[0172] The MIG welding module can only receive the welding start signal and execute welding when the control module outputs a welding permission signal; when the control module does not output a welding permission signal, or outputs a welding prohibition signal, the MIG welding module remains in a prohibited start state. Through this interlocking relationship, areas with insufficient cleaning, inadequate cleaning coverage, abnormal oxidation, overheating, or suspected surface damage can be prevented from directly entering the MIG welding process.

[0173] In some specific embodiments, the welding parameters of the MIG welding module can be set as follows: welding current 210 A, welding voltage 22 V, welding speed 13 mm / s, wire feed speed 0.9 m / min, shielding gas 99.999% high-purity argon, and shielding gas flow rate 40 L / min. These parameters are used to illustrate a specific implementation of the MIG welding module in this invention.

[0174] It should be noted that the main inventive point of this invention lies not in the optimization of the MIG welding parameters themselves, but in the pre-weld laser cleaning quality assessment, identification of unqualified cleaning types, process library compensation cleaning, post-compensation re-inspection, and the interlocking control between cleaning quality and MIG welding permits. The MIG welding module, as a post-execution module after the cleaning quality meets the standards, allows its welding parameters to be adjusted according to material type, component structure, weld type, and actual welding process requirements.

[0175] For the process establishment mode, the data recording and traceability module focuses on recording the initial cleaning results, non-conformance types, compensating cleaning parameters, visual judgment results before and after compensation, and whether a validated process item has been formed. For the production execution mode, the data recording and traceability module focuses on recording the validated process items called, first article confirmation results, periodic sampling inspection results, abnormal trigger re-inspection results, and whether it reverts to the process establishment mode.

[0176] like Figure 9 As shown, Figure 9 These are comparison images of the weld appearances of welds that are unsatisfactory after cleaning and those that are properly cleaned. Figure 9 (a) is a visual diagram of the appearance of MIG welding performed after the cleaning process failed. Figure 9 (b) is a schematic diagram of the appearance of MIG welding after the cleaning is qualified.

[0177] like Figure 9 As shown in (a), when the laser cleaning power is too low or the cleaning effect is insufficient, the surface contaminants in the area to be welded are not fully removed. This type of situation can be classified as residual cleaning failure. After welding, obvious black ash, soot-like contamination areas or local residual traces are visible on both sides of the weld, indicating that insufficient pre-weld cleaning will affect the appearance stability of the welded area.

[0178] like Figure 9As shown in (b), when typical cleaning parameters are used and the MIG welding permit conditions are met by visual inspection, the amount of black ash and contaminant residue around the welding area is significantly reduced, and the weld appearance is more uniform. This comparative result demonstrates that linking the cleaning quality assessment results with the MIG welding permit helps prevent unqualified cleaning areas from directly entering the welding process.

[0179] It should be noted that, Figure 9 The comparison shown primarily illustrates the impact of pre-weld cleaning quality on the post-weld appearance, and the necessity of the cleaning quality assessment and welding permit interlocking in this invention. This comparison is not intended to limit MIG welding parameters, nor to directly demonstrate specific changes in weld porosity, inclusion quantity, or mechanical properties. Through the aforementioned data recording and post-weld appearance comparison, this invention can link pre-weld cleaning quality, compensatory cleaning process, welding permit status, and subsequent welding results. This approach not only facilitates the creation of traceable process records but also provides a basis for subsequent revisions to the pre-weld cleaning process library and updates to verified process entries.

[0180] The present invention also provides an electronic device, including a memory and a processor, wherein when the processor executes a program stored in the memory, it implements the steps of a laser cleaning and welding method prior to MIG welding in aerospace additive manufacturing.

[0181] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the laser cleaning and welding method prior to the aforementioned aerospace additive MIG welding.

[0182] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media containing computer-usable program code (but not limited to phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other optical, magnetic storage media, etc.).

[0183] The computer-readable storage medium provided in the above embodiments of this application and the method provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.

[0184] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0185] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0186] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0187] The present invention is not limited to the description in the specification and embodiments, and thus other advantages and modifications can be readily realized by those skilled in the art. Therefore, the present invention is not limited to the specific details, representative devices and illustrated examples shown and described herein without departing from the spirit and scope of the general concept as defined by the claims and their equivalents.

Claims

1. A laser cleaning and welding device for aerospace additive manufacturing MIG welding, characterized in that, include: The front-end management and control component includes a sample information input module, a control module, a pre-welding cleaning process library, a welding permit interlocking module, and a data recording and traceability module. The end effector assembly includes a laser cleaning module, a vision inspection module, a MIG welding module, and a dust removal / protective gas module; The control module is communicatively connected to the sample information input module, laser cleaning module, visual inspection module, MIG welding module, pre-welding cleaning process library, welding permit interlocking module, dust removal / protective gas module, and data recording and traceability module, and the welding permit interlocking module is communicatively connected between the control module and the MIG welding module.

2. The laser cleaning and welding equipment for aerospace additive MIG welding as described in claim 1, characterized in that, The feature information includes material type, material grade, material batch, component type, surface condition, welding path, and welding area range.

3. The laser cleaning and welding equipment for aerospace additive MIG welding as described in claim 1, characterized in that, The laser cleaning module includes a laser, a beam transmission component, a scanning galvanometer, a field lens, and a laser cleaning head. The beam transmission component is connected between the laser and the laser cleaning head. The scanning galvanometer is installed inside the laser cleaning head. The field lens is installed at the beam output end of the scanning galvanometer and located at the light outlet of the laser cleaning head.

4. The laser cleaning and welding equipment for aerospace additive MIG welding as described in claim 1, characterized in that, The end effector also includes a mounting bracket, on which the laser cleaning module, vision inspection module, MIG welding module and dust removal / protective gas module are integrated.

5. The laser cleaning and welding equipment for aerospace additive MIG welding as described in claim 1, characterized in that, The laser cleaning and welding equipment before aerospace additive MIG welding also includes a data recording and traceability module that is connected to the control module. The data recording and traceability module is used to record the full-process business dataset in the process establishment mode and production execution mode.

6. The laser cleaning and welding equipment for aerospace additive MIG welding as described in claim 1, characterized in that, The main power supply is electrically connected to the lighting source, control module, laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module, providing working power to the lighting source, control module, laser cleaning module, vision inspection module, MIG welding module, and dust removal / protective gas module. The lighting source provides light to illuminate the area to be welded.

7. A method for laser cleaning and welding equipment before aerospace additive MIG welding as described in any one of claims 1-6, comprising the following steps: Process establishment model flow and production execution model flow; After the control module obtains the feature information from the sample information input module and determines the cleaning area and visual inspection and evaluation area, it calls the initial cleaning parameters stored in the pre-welding cleaning process library. The control module controls the laser cleaning module to perform the first laser cleaning in the cleaning area. The vision detection module collects visual images of the vision detection and evaluation area and sends them to the control module. The control module extracts cleaning quality features and determines whether the cleaning quality meets the MIG welding permit conditions based on key indicator threshold rules and comprehensive scoring rules. If the MIG welding permission conditions are met, the control module outputs a permission signal to the welding permission interlock module, and the welding permission interlock module outputs a welding enable signal to the MIG welding module, enabling the MIG welding module to perform welding along the corresponding welding path. If the MIG welding permit conditions are not met, the control module identifies the type of unqualified cleaning and then calls the corresponding compensation cleaning parameters from the pre-welding cleaning process library to enable the laser cleaning module to perform local re-scanning of the unqualified area or to re-scan the entire cleaning path for compensation laser cleaning. After compensation cleaning, the vision inspection module performs visual inspection and re-inspection. If the re-inspection is qualified, the verified process item is formed or updated, and the control module outputs a permission signal to allow the MIG welding module to perform welding. If the re-inspection is still unqualified, compensation continues or the manual review process is initiated. When the control module determines that the sample to be processed matches the verified process item in the pre-welding cleaning process library, it enters the production execution mode process. The control module obtains the material type, material grade, component type, surface condition and welding path information of the current sample from the sample information input module, and retrieves the verified process entries that match the current working condition from the pre-welding cleaning process library. The control module calls the cleaning parameters in the verified process entry and confirms the trigger conditions for first-piece inspection, periodic sampling inspection, or abnormal trigger re-inspection according to the set key indicator threshold rules or comprehensive scoring rules. If the result is deemed acceptable, the control module controls the laser cleaning module and the MIG welding module to run continuously along the path to be welded; if the result is deemed unacceptable, the control module switches back to the process establishment mode, performs visual judgment again, and calls the corresponding compensation parameters from the pre-welding cleaning process library to perform compensating laser cleaning.

8. The laser cleaning and welding method before MIG welding in aerospace additive manufacturing as described in claim 7, characterized in that, This includes the following steps: When the control module determines that the current sample to be processed does not match, it directly calls an existing process library entry, for example: The first processing of a certain aluminum alloy or titanium alloy material; The first processing of a component structure or welding path; The first appearance of a surface contamination state; The batch of materials has changed; Significant changes occur in the interlayer state of additive manufacturing, the path to be soldered, or the surface oxidation state. Only when the first piece confirmation, periodic sampling inspection, or abnormal trigger re-inspection in the production execution mode fails will it enter the process establishment mode, which can proactively request to re-establish or modify the process establishment mode process.

9. An electronic device comprising a memory and a processor, characterized in that, When the processor executes the program stored in the memory, it implements the steps of the laser cleaning and welding method before MIG welding in aerospace additive manufacturing as described in any one of claims 7-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the laser cleaning and welding method prior to aerospace additive MIG welding as described in any one of claims 7-8.

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