Laser device and laser system

Abstract

The utility model provides laser equipment and a laser system. The laser equipment comprises a laser head and a first connecting piece, the first end of the first connecting piece is connected with one end of the laser head away from the nozzle; the second end of the first connecting piece is connected with one end of a motion shaft of the robot; a first side surface of one end of the laser head away from the first connecting piece is connected with one end of the moving shaft away from the first connecting piece; the laser head is configured to form a set angle with the motion axis; the motion shaft is configured to rotate around the axis of the motion shaft. The end, away from the nozzle, of the laser head is spaced from the moving shaft by a certain distance through the first connecting piece, and the end, close to the nozzle, of the laser head is directly connected with the moving shaft, so that the laser head and the moving shaft keep a set angle. In the movement process of the movement shaft, the laser head can be driven to rotate around the axis of the movement shaft, so that the laser head can accurately machine to-be-machined objects in special shapes such as circles and arcs, and the machining precision and accuracy of the laser equipment are improved.

Description

Technical Field

[0001] This application relates to the field of laser processing, and more specifically, to a laser device and a laser system. Background Technology

[0002] In modern manufacturing, laser processing technology is widely used in processes such as cutting, welding, and marking of various materials due to its high efficiency, high precision, and flexibility. In current laser processing equipment, the processing of circular or ring-shaped workpieces (such as welding, cutting, cladding, etc.) usually requires multi-axis linkage control (such as X / Y / Z linear axes combined with rotary axes) to coordinate the relative movement of the laser head and the workpiece.

[0003] However, this process not only increases the complexity of the system but also easily introduces errors. Any speed mismatch or positional deviation of any axis can lead to a decrease in the accuracy of the final product. Furthermore, as the number of machining paths increases, the cumulative error also increases accordingly, further affecting the machining quality. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a laser device and laser system that can improve processing precision and accuracy.

[0005] In a first aspect, embodiments of this application provide a laser device, including: a laser head and a first connector; a first end of the first connector is connected to the end of the laser head away from the nozzle, and a second end of the first connector is connected to one end of a robot's motion axis; a first side of the end of the laser head away from the first connector is connected to the end of the motion axis away from the first connector; wherein, the laser head is configured to form a set angle with the motion axis; and the motion axis is configured to rotate about the axis of the motion axis.

[0006] In the above implementation process, by setting a first connecting member, the end of the laser head furthest from the nozzle is spaced a certain distance from the motion axis through the first connecting member, while the end of the laser head closest to the nozzle is directly connected to the motion axis. This allows the laser head and the motion axis to maintain a set angle. During the movement of the motion axis, the laser head can be driven to rotate around the axis of the motion axis, enabling the laser head to perform precise processing on objects with special shapes such as circles and arcs. This eliminates the need to adjust individual axes to process objects with special shapes such as circles and arcs, thereby improving the processing precision and accuracy of the laser equipment.

[0007] In one embodiment, the laser head includes: a cavity and a nozzle; the nozzle is disposed at the end of the cavity away from the first connector; the nozzle is movably connected to the cavity; wherein the nozzle is configured to be adjustable along the extension direction of the cavity to adjust the distance between the nozzle and the laser focus.

[0008] In the above implementation process, by setting the nozzle to be adjustable along the cavity extension direction, the distance between the nozzle and the laser focus can be adjusted, ensuring that the distance between the nozzle tip and the laser focus remains consistent. This helps to ensure that the laser energy is applied evenly to the workpiece during processing, thus improving processing quality. Furthermore, by adjusting the nozzle, the distance between the nozzle tip and the laser focus can be flexibly adjusted, allowing the laser head to be used in different scenarios and expanding its application range.

[0009] In one embodiment, the laser head includes: a focusing lens and a focusing element; the focusing lens is disposed on a lens mount inside the cavity; the focusing element extends through the cavity interior and the cavity exterior; the portion of the focusing element located inside the cavity is connected to the lens mount; wherein the focusing lens is configured to move along the cavity extension direction under the action of the focusing element.

[0010] In the above implementation process, by setting a focusing component and a focusing lens, the position of the focusing lens can be adjusted through the focusing component, thereby adjusting the position of the laser focus. The distance between the nozzle end and the laser focus can be flexibly adjusted, so that the laser head can meet different laser head processing scenarios, increasing the application scenarios of the laser equipment.

[0011] In one embodiment, the laser head is further comprising: a weld seam tracking module; the weld seam tracking module is connected to a second side of the laser head; the weld seam tracking module includes a data acquisition unit; wherein the data acquisition unit is configured to acquire weld seam position information in real time during the operation of the laser device, and the position information is used to adjust the motion trajectory of the laser head; the motion axis is configured to drive the laser head to move along the motion trajectory.

[0012] In the above implementation process, by setting up a weld seam tracking module, the weld seam tracking module can acquire weld seam parameters in real time during the operation of the laser equipment, and adjust the welding parameters of the welding gun in real time based on the weld seam parameters, thereby improving welding flexibility and welding quality.

[0013] In one embodiment, a second connector is further included; wherein the second connector includes: a rotating member, a slide rail, and a sliding member; the slide rail is connected to a third side of the laser head; one end of the sliding member is disposed within the slide rail; the sliding member is configured to slide within the slide rail; the rotating member is disposed at the end of the sliding member away from the slide rail; the weld seam tracking module is connected to the rotating member and moves with the rotating member.

[0014] In the above implementation process, by setting up a slide rail and a sliding component, and connecting the weld seam tracking module to the sliding component via a rotating component, the distance between the weld seam tracking module and the workpiece can be adjusted by adjusting the position of the sliding component on the slide rail. Furthermore, the rotating component allows the weld seam tracking module to rotate along it, thereby adjusting the angle of the weld seam tracking module, improving the flexibility of its position, and ultimately enhancing the accuracy of its data processing.

[0015] In one embodiment, the device further includes: a wire feeding device; the wire feeding device is connected to the first side of the laser head and is disposed at one end of the nozzle of the laser head; the wire feeding device includes a clamping portion; the clamping portion is disposed at one end of the wire feeding device near the nozzle; wherein the clamping portion is configured to clamp welding wire.

[0016] In the above implementation process, by setting up a wire feeding device, the molten metal can be effectively filled into the weld by directly controlling parameters such as the wire feeding speed and angle, resulting in a fuller weld and improved welding quality. Furthermore, by controlling the wire feeding device, the laser focus and the welding wire path can be made coaxial, improving energy utilization and welding accuracy.

[0017] In one embodiment, the wire feeding device includes a third connector; the third connector includes a first adjusting portion, a second adjusting portion, a third adjusting portion, and a fourth adjusting portion; the first adjusting portion is connected to a fourth side surface of the laser head; the first adjusting portion is configured to adjust the position of the wire feeding device along a first direction; one end of the second adjusting portion is connected to one end of the first adjusting portion, and the other end of the second adjusting portion is connected to one end of the third adjusting portion; the second adjusting portion is configured to adjust the position of the wire feeding device along a second direction; the other end of the third adjusting portion is connected to one end of the fourth adjusting portion; the third adjusting portion is configured to adjust the position of the wire feeding device along a third direction; the other end of the fourth adjusting portion is connected to the clamping portion; the clamping portion is configured to rotate along the fourth adjusting portion; wherein the first direction, the second direction, and the third direction are perpendicular to each other.

[0018] In the above implementation process, by setting a third connecting member including a first adjusting part, a second adjusting part, a third adjusting part, and a fourth adjusting part, the position of the wire feeding device in various directions can be realized through the first adjusting part, the second adjusting part, and the third adjusting part, and the angle of the wire feeding device can be adjusted through the fourth adjusting part. Through the cooperation of the various components in the third connecting member, the position and angle of the wire feeding device in various directions can be adjusted, thereby improving the accuracy of wire feeding and the welding quality.

[0019] In one embodiment, the device further includes: an image acquisition device disposed at the end of the laser head away from the nozzle; wherein the image acquisition device is configured to acquire the state of the molten pool.

[0020] In the above implementation process, by setting up an image acquisition device to obtain the state of the molten pool, the laser power and / or welding speed can be adjusted according to the feedback of the molten pool state, so as to accurately control the size and shape of the molten pool, improve the uniformity and consistency of the weld, and thus improve the welding quality.

[0021] Secondly, embodiments of this application also provide a laser system, including: a robot and a laser device as described in the first aspect, or any embodiment of the first aspect; the laser device is connected to the motion axis of the robot; wherein the motion axis is configured to drive the laser device to move along a set path, and the laser device is configured to emit laser light to a set position.

[0022] In the above implementation process, by setting a first connecting member, the end of the laser head furthest from the nozzle is spaced a certain distance from the motion shaft through the first connecting member, while the end of the laser head closest to the nozzle is directly connected to the motion shaft. This allows the laser head and the motion shaft to maintain a set angle. During the movement of the motion shaft, the laser head can be driven to rotate around the axis of the motion shaft, enabling the laser head to perform precise processing even when facing objects with special shapes such as circles and arcs, thereby improving the processing precision and accuracy of the laser equipment.

[0023] In one embodiment, it further includes: a transmission device; the motion shaft is disposed on the transmission device; wherein the motion shaft is configured to move along the transmission device.

[0024] In the above implementation process, by setting up a transmission device and placing the motion shaft on the transmission device, the motion shaft can be driven to move along the transmission device, thereby increasing the usable range of the laser equipment and expanding the working scenarios of the laser equipment.

[0025] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, 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 this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1This is a schematic diagram of the connection of a laser device provided in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the structure of the laser device provided in the embodiments of this application;

[0029] Figure 3 This is a schematic diagram of the structure of the second connector provided in an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of the wire feeding device provided in the embodiments of this application;

[0031] Figure 5 This is a schematic diagram of the wire feeding system provided in an embodiment of this application.

[0032] Figure descriptions: 10-Laser equipment, 100-Laser head, 110-Cavity, 120-Nozzle, 130-Focusing component, 200-First connecting component, 300-Weld seam tracking module, 400-Second connecting component, 410-Slide rail, 420-Sliding component, 430-Limiting component, 500-Wire feeding device, 510-Clamping part, 520-First adjusting part, 530-Second adjusting part, 540-Third adjusting part, 550-Fourth adjusting part, 600-Image acquisition device, 20-Robot, 21-Motion axis, 30-Transmission device. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed when in use. They are only for the convenience of describing this application 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 of this application.

[0037] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0038] As laser technology matures, it is being widely applied in industrial manufacturing. Robots are a crucial force driving the upgrading of intelligent manufacturing in industry. By combining lasers with robots, intelligent manufacturing can develop towards higher quality and higher levels.

[0039] However, existing laser robots typically employ a "teach-and-playback" model, where they repeat pre-taught actions within the workspace with high precision during processing. This model has certain limitations: the robot's adaptability is relatively weak, and it requires high precision in workpiece assembly and consistency with the base material. Processing quality can only be ensured under relatively stable processing conditions.

[0040] In actual processing, when processing conditions change, such as dimensional errors, positional deviations, or deformation caused by heating during the processing and assembly of the workpiece, the joint position will deviate from the taught path, thereby affecting the welding quality and even potentially causing welding failure.

[0041] Especially when laser robots are moving along high-precision trajectories such as circles, they need to work in multiple axes. If they change their posture too quickly, they may shake, which will affect the welding quality and precision of the product.

[0042] In view of this, this application proposes a laser device. By setting a first connecting member, the end of the laser head furthest from the nozzle is spaced a certain distance from the motion shaft through the first connecting member, while the end of the laser head closest to the nozzle is directly connected to the motion shaft. This allows the laser head and the motion shaft to maintain a set angle. During the movement of the motion shaft, the laser head can be driven to rotate around the axis of the motion shaft, enabling the laser head to perform precise processing on objects with special shapes such as circles and arcs. This eliminates the need to adjust individual axes to process objects with special shapes, thereby improving the processing precision and accuracy of the laser device.

[0043] like Figure 1 The diagram shown is a schematic of a laser device 10 provided in an embodiment of this application, including a laser head 100 and a first connector 200.

[0044] Wherein, the first end of the first connector 200 is connected to the end of the laser head 100 away from the nozzle 120, and the second end of the first connector 200 is connected to one end of the motion axis 21 of the robot 20; the first side of the end of the laser head 100 away from the first connector 200 is connected to the end of the motion axis 21 away from the first connector 200.

[0045] Laser head 100 is a high-precision optical device that utilizes the interaction between a laser beam and matter to achieve information reading or processing. By focusing the laser beam, light energy is converted into localized high temperature or reflected signals, thereby enabling material processing or data reading. Laser head 100 may include a laser generator, an optical focusing system (e.g., objective lens, lens), a photoelectric sensor, a servo mechanism, etc. The laser can be used for laser cutting, laser welding, laser marking, etc., and the application scenario of laser head 100 can be selected according to the actual situation.

[0046] Robot 20 is an intelligent device capable of automatically performing tasks, simulating or extending human capabilities through perception, decision-making, and execution. By connecting laser head 100 to robot 20, robot 20 can analyze and judge external information perceived in real time, make corresponding decisions, and drive laser head 100 to perform the corresponding tasks based on the decision results.

[0047] Optionally, one or more motion axes 21 may be provided on the robot 20, and the laser head 100 may be connected to one of the motion axes 21.

[0048] Among them, the motion axis 21 connected to the laser head 100 is the sixth axis of the robot 20, which is a rotation axis.

[0049] The laser head 100 is configured to be at a set angle to the motion axis 21, which is configured to rotate around its axis. This set angle can be 60°, 30°, 90°, 120°, etc., and can be selected according to actual conditions.

[0050] The directions of the aforementioned motion shaft 21, first connector 200, and laser head 100 can be considered as a triangle. That is, the end of the laser head 100 furthest from the nozzle 120 is separated from the motion shaft 21 by a certain distance through the first connector 200. The end of the laser head 100 closest to the nozzle 120 is in direct contact with the motion shaft 21, so that the laser head 100 maintains a set angle relative to the motion shaft 21.

[0051] Since the laser head 100 is at a set angle to the motion axis 21, the laser head 100 rotates along the axis of the motion axis 21 during the motion axis 21, so that the laser head 100 can accurately process items with round, arc and other shapes.

[0052] The aforementioned first connector 200 can be a connecting rod, connecting post, connecting rope, etc., and the first connector 200 can be in the shape of an "I". Figure 1 (not shown in the image), or it can be an "L" shaped structure ( Figure 1 (As shown in the diagram). The specific structure of the first connector 200 can be selected according to the actual situation.

[0053] In one embodiment, the first connector 200 is a telescopic structure, and the set angle between the laser head 100 and the motion axis 21 can be adjusted by telescopically extending the first connector 200.

[0054] In the above implementation process, by setting the first connecting member 200, the end of the laser head 100 away from the nozzle 120 is spaced a certain distance from the motion shaft 21 through the first connecting member 200, while the end of the laser head 100 near the nozzle 120 is directly connected to the motion shaft 21, thereby allowing the laser head 100 and the motion shaft 21 to maintain a set angle. During the movement of the motion shaft 21, the laser head 100 can be driven to rotate around the axis of the motion shaft 21, so that the laser head 100 can also perform precise processing when facing special-shaped workpieces such as circles and arcs, without the need to adjust each axis to process special-shaped workpieces such as circles and arcs, thereby improving the processing accuracy and precision of the laser equipment 10.

[0055] In one possible implementation, such as Figure 2 As shown, the laser head 100 includes a cavity 110 and a nozzle 120.

[0056] The nozzle 120 is located at the end of the cavity 110 away from the first connector 200; the nozzle 120 is movably connected to the cavity 110.

[0057] The cavity 110 can be used to house structures such as the optical focusing system, photoelectric sensor, and servo mechanism of the laser head 100. Examples include objective lenses, lenses, focusing lenses, protective lenses, and lens mounts. The components in the cavity 110 can be selected according to the specific requirements.

[0058] In one embodiment, the first end of the first connector 200 is connected to the cavity 110, and the end of the motion shaft 21 away from the first connector 200 is connected to the cavity 110.

[0059] The nozzle 120 is located close to the workpiece and is used to assist in the rapid ejection of gas, forming a high-pressure airflow that accurately directs the focused laser and high-pressure airflow onto the workpiece. The nozzle 120 is configured to be adjustable along the extension direction of the cavity 110 to adjust the distance between the nozzle 120 and the laser focal point.

[0060] The nozzle 120 has an internal thread (or external thread) on the side that contacts the cavity 110, and the cavity 110 has an external thread (or internal thread) on the side that contacts the nozzle 120. By engaging the internal thread on the nozzle 120 with the external thread on the cavity 110, the distance between the nozzle 120 and the workpiece can be adjusted according to the number of turns the internal thread makes into the external thread. Alternatively, by engaging the external thread on the nozzle 120 with the internal thread on the cavity 110, the distance between the nozzle 120 and the laser focus can be adjusted according to the number of turns the external thread makes into the internal thread. By adjusting the nozzle 120 along the extension direction of the cavity 110, a certain distance can be maintained between the end of the nozzle 120 and the laser focus.

[0061] It should be understood that maintaining a consistent distance between the laser focus and the end of nozzle 120 helps ensure that laser energy is applied uniformly to the workpiece during processing. If the distance is unstable, the laser focus position may change, resulting in uneven weld (or, cut) width. When the distance is constant, the energy density distribution of the laser beam is relatively stable, enabling the weld (or, cut) width to remain uniform.

[0062] Furthermore, by adjusting the distance between the nozzle 120 and the laser focus, the laser head 100 can be used in different processing scenarios. For example, when the laser focus is a certain distance below the end of the nozzle 120, the laser head 100 can be used for laser welding. When the laser focus is flush with the end of the nozzle 120, the laser head 100 can be used for laser cutting.

[0063] In the above implementation process, by setting the nozzle 120 to be adjustable along the extension direction of the cavity 110, the distance between the nozzle 120 and the laser focus can be adjusted, ensuring that the distance between the end of the nozzle 120 and the laser focus remains consistent. This helps to ensure that the laser energy is applied uniformly to the workpiece during processing, thereby improving processing quality. Furthermore, by adjusting the nozzle 120, the distance between the end of the nozzle 120 and the laser focus can be flexibly adjusted, allowing the laser head 100 to be used in different scenarios, thus expanding the application scenarios of the laser head 100.

[0064] In one possible implementation, such as Figure 2 As shown, the laser head 100 includes a focusing lens (not shown) and a focusing element 130.

[0065] The focusing lens is mounted on a lens holder inside the cavity 110; the focusing element 130 passes through the inside of the cavity 110 and the outer shell of the cavity 110; the part of the focusing element 130 located inside the cavity 110 is connected to the lens holder.

[0066] The focusing lens is a core component of the laser head 100, used to focus the laser beam onto a single spot, thereby achieving high energy density in applications such as cutting, welding, and marking. Its core function is to control the laser focal point position and spot size, adjusting processing accuracy and efficiency.

[0067] A lens mount is a mechanical structure used to fix and adjust the focusing lens to ensure precise focusing of the laser beam, while also providing functions such as cooling, protection, and alignment.

[0068] The focusing component 130 is used to adjust the position of the laser focus. The focusing component 130 includes a focusing knob, a threaded focusing ring, a micrometer focusing mechanism, a focusing base, etc., and can be selected according to actual needs.

[0069] The focusing principle of the focusing element 130 is to move the focusing lens along the extension direction of the cavity 110, thereby changing the distance between the focusing lens and the workpiece to be processed, and thus adjusting the laser focal point position. Specifically, the focusing lens is configured to move along the extension direction of the cavity 110 under the action of the focusing element 130.

[0070] It should be understood that, since the focusing lens is configured to move along the extension direction of the cavity 110 under the action of the focusing element 130, the change in the position of the focusing lens during the adjustment of the laser focus will affect the position of the laser focus, and thus affect the distance between the laser focus and the end of the nozzle 120. By adjusting the distance between the nozzle 120 and the laser focus, the laser head 100 can be adapted for different processing scenarios.

[0071] For example, when the laser device 10 is to be used in a laser welding scenario, the position of the focusing lens can be adjusted by the focusing element 130, thereby adjusting the position of the laser focus. Simultaneously, the position of the nozzle 120 can be adjusted based on the position of the laser focus, so that the end of the nozzle 120 is located at a certain distance from the end of the laser focus away from the workpiece. Alternatively, the position of the nozzle 120 can be adjusted first, and then the position of the focusing lens can be adjusted by the focusing element 130, thereby adjusting the position of the laser focus, so that the end of the nozzle 120 is located at a certain distance from the end of the laser focus away from the workpiece. Or, the position of the nozzle 120 can be kept unchanged, and only the position of the focusing lens can be adjusted by the focusing element 130, thereby adjusting the position of the laser focus, so that the end of the nozzle 120 is located at a certain distance from the end of the laser focus away from the workpiece.

[0072] When the laser device 10 is used for laser cutting, the position of the focusing lens can be adjusted via the focusing element 130, thereby adjusting the position of the laser focus. Simultaneously, the position of the nozzle 120 can be adjusted based on the position of the laser focus, so that the end of the nozzle 120 is flush with the laser focus. Alternatively, the position of the nozzle 120 can be adjusted first, and then the position of the focusing lens can be adjusted via the focusing element 130, thereby adjusting the position of the laser focus so that the end of the nozzle 120 is flush with the laser focus. Alternatively, the position of the nozzle 120 can remain unchanged, and only the position of the focusing lens can be adjusted via the focusing element 130, thereby adjusting the position of the laser focus so that the end of the nozzle 120 is flush with the laser focus.

[0073] In the above implementation process, by setting the focusing element 130 and the focusing lens, the position of the focusing lens can be adjusted by the focusing element 130, thereby adjusting the position of the laser focus. The distance between the end of the nozzle 120 and the laser focus can be flexibly adjusted, so that the laser head 100 can meet different laser head 100 processing scenarios, increasing the application scenarios of the laser device 10.

[0074] In one possible implementation, such as Figure 2 As shown, the laser device 10 also includes a weld seam tracking module 300.

[0075] The weld seam tracking module 300 is connected to the second side of the laser head 100; the weld seam tracking module 300 includes a data acquisition unit.

[0076] The weld seam tracking module 300 described here is a component that detects the weld seam position in real time and automatically adjusts the movement trajectory of the laser head 100 or the workpiece to be processed, ensuring processing accuracy. The weld seam tracking module 300 may include: a sensing system, a signal processing unit, a motion control unit, etc.

[0077] The sensing system may include an image acquisition subunit, a sensor subunit, etc. The image acquisition subunit may include an industrial camera, a scanner, etc. The sensor subunit may include capacitive sensors, inductive sensors, ultrasonic sensors, etc.

[0078] The signal processing unit may include an image processing subunit, which processes the real-time data acquired by the sensing system using a built-in algorithm to obtain corresponding processing results. Furthermore, the signal processing unit can determine appropriate execution strategies based on the processing results.

[0079] The motion control unit can control the actions of the actuators according to the execution strategy. For example, it can control the servo motor to adjust the position of the laser head 100 along the XY axis (with an accuracy of ±0.01mm). It can control the galvanometer system to deflect the laser beam at high speed, and then control the robot 20-axis coordinated motion.

[0080] The acquisition unit here is configured to acquire the position information of the weld in real time during the operation of the laser device 10, and adjust the movement trajectory of the laser head 100 based on the position information; the motion axis 21 is configured to drive the laser head 100 to move along the movement trajectory.

[0081] Understandably, during the operation of the laser device 10, the weld seam tracking module 300 can first capture the geometric features of the weld seam through the sensing system, such as the shape and position changes of the laser stripes, and the weld seam position. The signal processing unit processes the data acquired by the sensing system and extracts key parameters of the weld seam, such as the weld seam centerline, bevel angle, and gap width. Extraction algorithms include edge detection, grayscale analysis, and triangulation. Finally, the motion control unit transmits the processing results to the robot 20. The robot 20 corrects the spatial coordinates, moving speed, and welding parameters (such as current and voltage) of the laser head 100 based on the processing results, forming a closed-loop control. This ensures that the laser head 100 is always aligned with the weld seam center, achieving high-quality welding.

[0082] In the above implementation process, by setting up a weld seam tracking module 300, the weld seam tracking module 300 can acquire weld seam parameters in real time during the operation of the laser equipment 10, and adjust the welding parameters of the welding gun in real time based on the weld seam parameters, thereby improving welding flexibility and welding quality.

[0083] In one possible implementation, such as Figure 3 As shown, the laser device 10 also includes a second connector 400.

[0084] The second connecting member 400 includes: a rotating member ( Figure 3(Not shown in the image) slide rail 410 and slider 420. Slide rail 410 is connected to the third side of laser head 100; one end of slider 420 is disposed inside slide rail 410; rotating component is disposed at the end of slider 420 away from slide rail 410; weld seam tracking module 300 is connected to rotating component and moves with rotating component.

[0085] In one embodiment, a slide rail 410 is fixedly disposed on the third side of the laser head 100, and the slide rail 410 can be disposed along the extension direction of the cavity 110 of the laser head 100.

[0086] The slider 420 is configured to slide within the slide rail 410. When the slider 420 slides within the slide rail 410, it drives the weld seam tracking module 300 to move along the extension direction of the slide rail 410, thereby adjusting the distance between the weld seam tracking module 300 and the workpiece to be processed.

[0087] Optionally, the slider 420 can be a slider, ball bearing, etc., and the slider 420 can be set according to the actual situation.

[0088] To ensure that the slider 420 can be fixed at a corresponding position after sliding in the slide rail 410, a limiting member 430 can also be provided in the slide rail 410. The limiting member 430 can be used to fix the slider 420 in the slide rail 410. The limiting member 430 can be a limiting pin, a snap-fit ​​limiting structure, etc., and the limiting member 430 can be selected according to the actual situation.

[0089] The aforementioned rotating component can be a cylindrical pin. The weld seam tracking module 300 has a hole adapted to the cylindrical pin. By inserting the cylindrical pin into the hole, the weld seam tracking module 300 is connected to the sliding component 420. After the weld seam tracking module 300 is connected to the sliding component 420, the weld seam tracking module 300 can rotate along the cylindrical pin, thereby adjusting the angle of the weld seam tracking module 300.

[0090] Of course, the rotating component can also be a first gear fixed on the sliding component 420. The weld seam tracking module 300 can also be equipped with a second gear that is adapted to the first gear. The connection between the weld seam tracking module 300 and the sliding component 420 is realized through the cooperation of the first gear and the second gear. The angle of the weld seam tracking module 300 can be adjusted by adjusting the relative rotation of the second gear and the first gear.

[0091] The structure of the rotating component described above is merely exemplary, and the structure of the rotating component can be selected according to the actual situation.

[0092] It should be understood that the rotating component can realize the movable connection between the sliding component 420 and the weld seam tracking module 300, so that the weld seam tracking module 300 can rotate along the rotating component, thereby realizing the adjustment of the angle of the weld seam tracking module 300.

[0093] In the above implementation process, by setting up a slide rail 410 and a sliding member 420, and connecting the weld seam tracking module 300 to the sliding member 420 via a rotating member, the distance between the weld seam tracking module 300 and the workpiece can be adjusted by adjusting the position of the sliding member 420 on the slide rail 410. Furthermore, the rotating member allows the weld seam tracking module 300 to rotate along it, thereby adjusting its angle, improving the flexibility of its position, and ultimately enhancing the accuracy of its data processing.

[0094] In one possible implementation, the laser device 10 further includes a wire feeding device 500.

[0095] The wire feeding device 500 is connected to the first side of the laser head 100, and the wire feeding device 500 is disposed at one end of the nozzle 120 of the laser head 100; the wire feeding device 500 includes a clamping part 510; the clamping part 510 is disposed at one end of the wire feeding device 500 near the nozzle 120.

[0096] The clamping part 510 here is configured to clamp the welding wire. The clamping part 510 is at a certain angle to the nozzle 120 so that the end of the welding wire clamped by the clamping part 510 is located at the nozzle 120.

[0097] During the operation of the laser device 10, the laser emitted from the nozzle 120 melts the welding wire, thereby forming a molten pool in the processing area of ​​the workpiece. After the laser head 100 is removed, the molten pool cools and solidifies, forming a weld.

[0098] The wire feeder 500 is used to feed the welding wire into the molten pool to compensate for insufficient material and avoid incomplete penetration or depression defects. By controlling parameters such as the speed and angle at which the wire feeder 500 feeds the welding wire into the molten pool, the molten metal can effectively fill the weld seam during the welding process, improving welding quality. In addition, by setting the wire feeder 500 and the nozzle 120 to be coaxial, the laser focus can be made coaxial with the welding wire path, improving energy utilization and welding accuracy.

[0099] In the above implementation process, by setting up the wire feeding device 500, the molten metal can be effectively filled into the weld by directly controlling the wire feeding speed, angle, and other parameters of the wire feeding device 500, resulting in a fuller weld and improved welding quality. In addition, by controlling the wire feeding device 500, the laser focus and the welding wire path can be made coaxial, improving energy utilization and welding accuracy.

[0100] In one possible implementation, such as Figure 4As shown, the wire feeding device 500 includes a third connector, which includes a first adjusting part 520, a second adjusting part 530, a third adjusting part 540, and a fourth adjusting part 550.

[0101] The first adjustment part 520 is connected to the fourth side of the laser head 100; one end of the second adjustment part 530 is connected to one end of the first adjustment part 520, and the other end of the second adjustment part 530 is connected to one end of the third adjustment part 540; the other end of the third adjustment part 540 is connected to one end of the fourth adjustment part 550; and the other end of the fourth adjustment part 550 is connected to the clamping part 510.

[0102] The first adjustment unit 520 is configured to adjust the position of the wire feeding device 500 along a first direction; the second adjustment unit 530 is configured to adjust the position of the wire feeding device 500 along a second direction; and the third adjustment unit 540 is configured to adjust the position of the wire feeding device 500 along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0103] Optionally, the specific structures of the first adjustment part 520, the second adjustment part 530, and the third adjustment part 540 can include various combinations. The following examples illustrate the specific configurations of the first adjustment part 520, the second adjustment part 530, and the third adjustment part 540:

[0104] Example 1: The first adjustment part 520, the second adjustment part 530, and the third adjustment part 540 are all telescopic structures. The first adjustment part 520 is disposed along a first direction, the second adjustment part 530 is disposed along a second direction, and the third adjustment part 540 is disposed along a third direction. The first direction, the second direction, and the third direction can be the length direction, the width direction, and the depth direction of the cavity 110, respectively.

[0105] Example 2: The first adjustment part 520, the second adjustment part 530, and the third adjustment part 540 are all sliding combination structures. The first adjustment part 520 includes a first slider and a first slide groove. The first slider is disposed within the first slide groove and configured to move within it. The second adjustment part 530 includes a second slider and a second slide groove. The first slider is connected to the second slider, and the second slider is disposed within the second slide groove and configured to move within it. The third adjustment part 540 includes a third slider and a third slide groove. The second slider is connected to the third slider, and the third slider is disposed within the third slide groove and configured to move within it. The first slide groove, the second slide groove, and the third slide groove are respectively arranged along a first direction, a second direction, and a third direction.

[0106] Example 3: Figure 4As shown, the first adjusting part 520 is a telescopic structure, while the second adjusting part 530 and the third adjusting part 540 are both sliding combination structures. The first adjusting part 520 is arranged along the ground direction. The second adjusting part 530 includes a second slider and a second slide groove, with the second slider connected to one end of the first adjusting part 520. The second slider is disposed within the second slide groove and configured to move within it. The third adjusting part 540 includes a third slider and a third slide groove, with the second slider connected to the third slider, and the third slider disposed within the third slide groove and configured to move within it. The second and third slide grooves are respectively arranged along a second direction and a third direction.

[0107] The specific structures of the first adjustment section 520, the second adjustment section 530, and the third adjustment section 540 described above are merely exemplary, and the specific structures of the first adjustment section 520, the second adjustment section 530, and the third adjustment section 540 can be selected according to actual circumstances.

[0108] The clamping part 510 here is configured to rotate along the fourth adjusting part 550.

[0109] In one embodiment, the fourth adjusting portion 550 has a semi-open structure, with the opening of the fourth adjusting portion 550 facing the clamping portion 510. A connecting rod is disposed inside the opening of the fourth adjusting portion 550, passing through both sides of the opening. The clamping portion 510 has a through hole adapted to the connecting rod, through which the connecting rod connects the clamping portion 510 and the fourth adjusting portion 550. The clamping portion 510 can rotate along the axis of the connecting rod.

[0110] In the above implementation process, by setting a third connecting member including a first adjusting part 520, a second adjusting part 530, a third adjusting part 540, and a fourth adjusting part 550, the first adjusting part 520, the second adjusting part 530, and the third adjusting part 540 can realize the position of the wire feeding device 500 in various directions, and the fourth adjusting part 550 can realize the angle adjustment of the wire feeding device 500. Through the cooperation of the various components in the third connecting member, the position and angle of the wire feeding device 500 in various directions can be adjusted, thereby improving the accuracy of wire feeding and the welding quality.

[0111] In one possible implementation, the laser device 10 further includes an image acquisition device 600.

[0112] The image acquisition device 600 is located at the end of the laser head 100 away from the nozzle 120.

[0113] The image acquisition device 600 here is configured to acquire the state of the molten pool. The image acquisition device 600 can be a camera, video camera, infrared thermal imager, optical scanner, etc., and the image acquisition device 600 can be selected according to the actual situation.

[0114] Understandably, during the operation of the laser device 10, the image acquisition device can acquire the state of the molten pool in real time, thereby monitoring the size, shape and position of the molten pool, and adjusting the laser power and / or welding speed in real time according to the state of the molten pool, thereby precisely controlling the size and shape of the molten pool, ensuring the uniformity and consistency of the weld, avoiding defects such as welds that are too wide, too narrow, too high or too low, thereby improving the welding quality.

[0115] In the above implementation process, by setting up an image acquisition device 600 to acquire the state of the molten pool, the laser power and / or welding speed can be adjusted according to the feedback of the molten pool state in order to accurately control the size and shape of the molten pool, improve the uniformity and consistency of the weld, and thus improve the welding quality.

[0116] like Figure 5 The diagram shown is a schematic diagram of a laser system provided in an embodiment of this application, including: a robot 20 and a laser device 10 in the above embodiment.

[0117] The laser device 10 is connected to the motion axis 21 of the robot 20. The motion axis 21 is configured to drive the laser device 10 to move along a set path, and the laser device 10 is configured to emit a laser at a set position.

[0118] Robot 20 is an intelligent device capable of automatically performing tasks, simulating or extending human capabilities through perception, decision-making, and execution. By connecting laser head 100 to robot 20, robot 20 can analyze and judge external information perceived in real time, make corresponding decisions, and drive laser head 100 to perform the corresponding tasks based on the decision results.

[0119] Optionally, one or more motion axes 21 may be provided on the robot 20, and the laser head 100 may be connected to one of the motion axes 21.

[0120] Among them, the motion axis 21 connected to the laser head 100 is the sixth axis of the robot 20, which is a rotation axis.

[0121] The aforementioned set path refers to the processing path of the item to be processed.

[0122] In the above implementation process, by setting the first connecting member 200, the end of the laser head 100 away from the nozzle 120 is spaced a certain distance from the motion shaft 21 through the first connecting member 200, while the end of the laser head 100 near the nozzle 120 is directly connected to the motion shaft 21, thereby allowing the laser head 100 and the motion shaft 21 to maintain a set angle. During the movement of the motion shaft 21, the laser head 100 can be driven to rotate around the axis of the motion shaft 21, so that the laser head 100 can also perform precise processing when facing special-shaped workpieces such as circles and arcs, improving the processing accuracy and precision of the laser equipment 10.

[0123] In one possible implementation, the laser system further includes a transmission device 30.

[0124] The motion shaft 21 is mounted on the transmission device 30; the motion shaft 21 is configured to move along the transmission device 30.

[0125] The transmission device 30 can be set in one direction. Figure 5 (As shown in the image), it can also be set along multiple directions ( Figure 5 (Not shown in the image). When the transmission device 30 is arranged in one direction, the motion shaft 21 is configured to move in the direction in which the transmission device 30 is arranged. When the transmission device 30 is arranged in multiple directions, the motion shaft 21 is configured to move in multiple directions in which the transmission device 30 is arranged. For example, if the transmission device 30 has a linear structure in one direction, then the motion shaft 21 moves along that linear structure. As another example, if the transmission device 30 has a linear structure in two directions (e.g., L-shaped), then the motion shaft 21 moves along the linear structures in the two L-shaped directions. The structure of the transmission device 30 can be adjusted according to actual conditions.

[0126] Understandably, the entire robot 20 can also be placed directly on the transmission device 30 so that the robot 20 can be moved by the transmission device 30.

[0127] Optionally, the transmission device 30 can be installed on the ground or on a designated work platform, and the installation location of the transmission device 30 can be selected according to the actual situation. The transmission device 30 can be a conveyor belt, conveyor chain, etc., and the type of transmission device 30 can be selected according to the actual situation.

[0128] In the above implementation process, by setting up the transmission device 30 and setting the motion shaft 21 on the transmission device 30, the motion shaft 21 can be moved along the transmission device 30 by the transmission device 30, thereby increasing the usable range of the laser device 10 and increasing the working scenarios of the laser device 10.

[0129] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0130] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A laser apparatus, characterized by, The application relates to a laser head and a first connecting piece. The first end of the first connecting piece is connected to the end of the laser head away from the nozzle, and the second end of the first connecting piece is connected to the end of the movement shaft of the robot. The first side of the end of the laser head away from the first connecting piece is connected to the end of the movement shaft away from the first connecting piece. The laser head is arranged at a set angle with the movement shaft, and the movement shaft is arranged to be rotatable around the shaft center of the movement shaft. The laser head comprises a cavity and a nozzle.

2. The laser apparatus according to claim 1, characterized by, The nozzle is arranged at the end of the cavity away from the first connecting piece. The nozzle is movably connected to the cavity. The nozzle is arranged to be adjustable along the cavity extension direction to adjust the distance between the nozzle and the laser focal point. The laser head comprises a focusing mirror and a focusing piece.

3. The laser apparatus according to claim 1, characterized by, The focusing mirror is arranged on a lens seat inside the cavity. The focusing piece penetrates the cavity inside and the cavity shell. The part of the focusing piece inside the cavity is connected to the lens seat. The focusing mirror is arranged to move along the cavity extension direction under the action of the focusing piece. Further comprising:

4. The laser apparatus according to claim 1, characterized by a weld seam tracking module; the weld seam tracking module is connected to the second side of the laser head; the weld seam tracking module comprises an acquisition unit; The acquisition unit is arranged to obtain the position information of the weld seam in real time during the operation of the laser equipment, and the position information adjusts the movement track of the laser head; the movement shaft is arranged to drive the laser head to move along the movement track. Further comprising a second connecting piece; 5. The laser apparatus according to claim 4, characterized by The second connecting piece comprises a rotating piece, a sliding rail and a sliding piece. The sliding rail is connected to the third side of the laser head. One end of the sliding piece is arranged in the sliding rail; the sliding piece is arranged to slide in the sliding rail. The rotating piece is arranged at the end of the sliding piece away from the sliding rail. The weld seam tracking module is connected to the rotating piece and follows the rotating piece. Further comprising:

6. The laser apparatus according to claim 1, characterized by a wire feeding device; the wire feeding device is connected to the first side of the laser head, and the wire feeding device is arranged at the end of the nozzle of the laser head; the wire feeding device comprises a clamping part; the clamping part is arranged at the end of the wire feeding device close to the nozzle; The clamping part is arranged to clamp the welding wire. The wire feeding device comprises a third connecting piece; 7. The laser device of claim 6, wherein, The third connecting piece comprises a first adjusting part, a second adjusting part, a third adjusting part and a fourth adjusting part; The first adjusting part is connected to the fourth side of the laser head; the first adjusting part is arranged to adjust the position of the wire feeding device along the first direction; One end of the second adjusting part is connected to one end of the first adjusting part, and the other end of the second adjusting part is connected to one end of the third adjusting part; the second adjusting part is arranged to adjust the position of the wire feeding device along the second direction; The other end of the third adjusting part is connected to one end of the fourth adjusting part; the third adjusting part is arranged to adjust the position of the wire feeding device along the third direction; The other end of the fourth adjusting part is connected to the clamping part; the clamping part is arranged to rotate along the fourth adjusting part; The first direction, the second direction and the third direction are perpendicular to each other. ​ 8. The laser apparatus according to claim 1, characterized by, Also comprising: an image acquisition device; the image acquisition device is arranged at the end of the laser head away from the nozzle; wherein the image acquisition device is configured to acquire the state of the molten pool.

9. A laser system, characterized by, Also comprising: a robot and the laser device of any one of claims 1-8; the laser device is connected to a motion axis of the robot; wherein the motion axis is configured to drive the laser device to move along a set path, and the laser device is configured to emit laser light to a set position.

10. The laser system of claim 9, wherein, Also comprising: a transmission device; the motion axis is arranged on the transmission device; wherein the motion axis is configured to move along the transmission device on the transmission device.

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