WO2023045237A1 - Procédé de soudage intelligent, système de soudage intelligent et support d'enregistrement informatique - Google Patents

Procédé de soudage intelligent, système de soudage intelligent et support d'enregistrement informatique Download PDF

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Publication number
WO2023045237A1
WO2023045237A1 PCT/CN2022/077353 CN2022077353W WO2023045237A1 WO 2023045237 A1 WO2023045237 A1 WO 2023045237A1 CN 2022077353 W CN2022077353 W CN 2022077353W WO 2023045237 A1 WO2023045237 A1 WO 2023045237A1
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laser
target
welded
data
prediction result
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PCT/CN2022/077353
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English (en)
Chinese (zh)
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赵丽敏
韩金龙
牛增强
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深圳市联赢激光股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/046—Automatically focusing the laser beam
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment

Definitions

  • the invention belongs to the technical field of lasers, and in particular relates to an intelligent welding method, an intelligent welding system and a computer storage medium.
  • an intelligent welding method including:
  • target operating parameters based on the first prediction result and/or the second prediction result, and emit target laser light through the laser body according to the target operating parameters to weld the current object to be welded, that is, according to the desired welding through a linear model Effect data acquisition of the first operating parameter (that is, the first prediction result) that has a linear relationship with the expected welding effect data, and obtains a nonlinear relationship with the expected welding effect data through a nonlinear model according to the expected welding effect data
  • the second operating parameter that is, the second prediction result
  • obtain the target operating parameter according to the first operating parameter and the second operating parameter and then send the target laser through the laser body according to the target operating parameter to weld the current object to be welded;
  • different data can be marked and classified in advance to mark whether the relationship between A data and B data is linear or nonlinear, and then the data in it can be predicted through different models.
  • the first linear model is constructed by an algorithm capable of processing linear data
  • the second nonlinear model is constructed by an algorithm capable of processing non-linear data
  • the linear data includes data in a linear relationship under certain conditions in welding, which can be the current and power data of the laser;
  • the nonlinear data includes data in a nonlinear relationship in welding under certain conditions, which can be the data of the object to be welded
  • the temperature increased by the action of the laser beam and the stress of the object to be welded due to the temperature change.
  • an intelligent welding method including:
  • the current data are technical parameters for realizing the welding process and effect parameters for realizing the welding result.
  • an intelligent welding method including:
  • Step S10 Constructing an initial linear model and an initial nonlinear model based on a preset algorithm
  • Step S20 Input the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first nonlinear model respectively after training;
  • the raw data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the spot size, and the angle between the laser beam and the object to be welded;
  • Step S30 Collect current working condition data, the current working condition data includes first linear data and first nonlinear data, input the first linear data into the first linear model, and input the first nonlinear data input the first nonlinear model;
  • the working condition data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the size of the spot, the distance between the laser beam and the object to be welded angle between
  • Step S40 Obtain target operating parameters based on the first prediction result and the second prediction result, and use the laser body to emit target laser light according to the target operating parameters to weld the current object to be welded, and to weld the object to be welded after welding
  • the image information of the weld is collected to obtain welding effect data;
  • the actual operating parameters include the power of the laser system, the pulse, the angle of the laser beam swing, the angle and distance of the laser lens compared to the incident end of the laser beam;
  • Step S50 judging whether the welding effect data is less than or equal to the expected value
  • Step S60 If the welding effect data is less than or equal to the expected value, return to the execution of inputting the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first nonlinear model respectively after training. Step, until the welding effect data is greater than the expected value, the welding effect data conforming to the expected value is obtained, and the welding is completed.
  • the step of obtaining target operating parameters based on the first prediction result and/or the second prediction result, and sending out target laser light through the laser body according to the target operating parameters to weld the current object to be welded includes:
  • step S40 includes:
  • Step S401 the step of welding the current object to be welded by the intelligent welding system includes:
  • Step S402 The laser body emits a first laser beam, and the first laser beam is collimated by a collimating mirror to obtain a collimated laser, and the collimated laser passes through a cylindrical lens with an empty hole to realize the reorganization of laser energy Arrange to get rearranged laser;
  • Step S403 After the rearrangement laser is reflected by a displaceable mirror, an oscillating laser whose spatial position can be changed is obtained;
  • Step S404 After the oscillating laser is focused by the field lens, a target laser is formed, and the object to be welded is welded by the target laser;
  • step S40 includes:
  • Step S405 The laser body emits a first laser beam and a second laser beam, the first laser beam and the second laser beam are collimated by a collimating mirror to obtain a collimated laser, and the collimated laser passes through a hole with a hole
  • the cylindrical lens realizes the rearrangement of laser energy and obtains rearranged laser light
  • Step S406 After the rearrangement laser is reflected by a displaceable mirror, an oscillating laser whose spatial position can be changed is obtained;
  • Step S407 After the oscillating laser is focused by the field lens, a target laser is formed, and the current object to be welded is welded by the target laser.
  • step S404 includes:
  • Step S4041 the oscillating laser passes through a field lens to form a target laser, and the focus position of the target laser can move along the axial or radial direction of the main optical axis of the field lens;
  • Step S4042 welding the current object to be welded by the target laser.
  • a filler wire is provided between the object to be welded and the target laser.
  • the first prediction module is used to predict the linear data through the linear model to obtain the first prediction result
  • the second prediction module is used to predict nonlinear data through a nonlinear model to obtain a second prediction result
  • the first welding module is configured to obtain a target operating parameter based on the first prediction result and/or the second prediction result, and use the laser body to emit target laser light according to the target operating parameter to weld the current object to be welded.
  • the first receiving module is used to receive expected effect parameters and initial technical parameter sets
  • the first receiving module is configured to acquire a target technical parameter set according to the effect parameter, traverse the target technical parameter set, and sequentially determine the correspondence between each target technical parameter in the target technical parameter set and the effect parameter relation;
  • the second welding module is used to predict the specific value of the target technical parameter through a linear model when the relationship between the target technical parameter and the effect parameter is linear, to obtain a first prediction result, according to the
  • the first prediction result adjusts the initial technical parameter, takes the adjusted initial technical parameter as the first target operating parameter, and sends out the target laser through the laser body according to the first target operating parameter to weld the current object to be welded;
  • the specific value of the target technical parameter is predicted by a nonlinear model to obtain a second prediction result, and according to the second prediction
  • the initial technical parameters are adjusted, and the adjusted initial technical parameters are used as the second target operating parameters, and the target laser is emitted by the laser body according to the second target operating parameters to weld the current object to be welded.
  • the second receiving module is configured to receive desired effect parameters and an initial technical parameter set, and obtain a target technical parameter set according to the effect parameters, wherein the initial technical parameter set is composed of a plurality of initial technical parameters, and the target technical parameter The set consists of multiple target technical parameters;
  • the second judging module is used to compare each target technical parameter with the initial technical parameter, and judge whether the target technical parameter meets the preset condition;
  • the third judging module if the target technical parameter meets the preset condition, then judge the corresponding relationship between the target technical parameter and the effect parameter;
  • the third welding module is used to predict the specific value of the target technical parameter through a linear model when the relationship between the target technical parameter and the effect parameter is linear, to obtain a first prediction result, according to the The first prediction result adjusts the initial technical parameter, takes the adjusted initial technical parameter as the first target operating parameter, and sends out the target laser through the laser body according to the first target operating parameter to weld the current object to be welded;
  • the specific value of the target technical parameter is predicted by a nonlinear model to obtain a second prediction result, and according to the second prediction
  • the initial technical parameters are adjusted, and the adjusted initial technical parameters are used as the second target operating parameters, and the target laser is emitted by the laser body according to the second target operating parameters to weld the current object to be welded.
  • An intelligent welding system capable of realizing the above-mentioned intelligent welding method, including hardware components and software components, the software components and the hardware components are electrically or communicatively connected, and the software components and the hardware components are connected to the main The control module is connected;
  • the hardware components include a laser body for outputting laser beams, a rotary solenoid, a collimator lens, a cylindrical lens with holes, a reflector, and a field lens in sequence along the transmission direction of the laser.
  • the coil is driven by an internal or external power supply, the rotary solenoid is used to drive the reflector to rotate or swing, the laser beam incident end of the cylindrical lens has curvature, and the laser beam passes through the cylindrical lens Finally, the focus point and laser point are formed;
  • the software components include:
  • a training module configured to input the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first nonlinear model respectively after training;
  • the raw data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the spot size, and the angle between the laser beam and the object to be welded;
  • the collection module is used to collect current working condition data, the current working condition data includes first linear data and first nonlinear data, input the first linear data into the first linear model, and input the first nonlinear data linear data input into the first nonlinear model;
  • a prediction module configured to predict the first linear data through the first linear model to obtain a first prediction result, and to predict the second nonlinear data through the first nonlinear model to obtain a second prediction result ;
  • the working condition data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the size of the spot, the distance between the laser beam and the object to be welded angle between
  • An acquisition module configured to acquire a target operating parameter based on the first prediction result and the second prediction result, and use the laser body to emit target laser light according to the target operating parameter to weld the current object to be welded, and to weld all items after welding
  • the image information of the object to be welded is collected to obtain welding effect data;
  • the actual operating parameters include the power, pulse, and swing angle of the laser beam of the laser system, and the angle and distance between the laser lens and the incident end of the laser beam;
  • An expected judgment module used to judge whether the welding effect data is less than or equal to the expected value
  • Predictive training module for if the welding effect data is less than or equal to the expected value, then execute the input of the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first linear model respectively after training. A non-linear model step until the welding effect data is greater than the expected value.
  • the first welding module includes an adjustment unit, and the adjustment unit is used to adjust the first predicted result and/or the second predicted result According to the weight, the target operating parameters are obtained, and the target laser is emitted by the laser body according to the target operating parameters to weld the current object to be welded.
  • the part driven by the rotary solenoid can be limited by the spring, and the maximum swing angle can be controlled.
  • One end of the spring is connected to the part, and the other end is connected to the drive motor, and the spring is stretched by the drive motor. Thereby reducing the maximum angle, the driving motor is connected with the main control module.
  • a collimating lens, a cylindrical lens with a hole, a reflector, and a field lens are sequentially provided along the transmission direction of the laser, and the reflector is connected with a rotating motor, and the rotating motor is used to drive the reflector according to Rotating at a preset angle, the side of the cylindrical lens opposite to the incident direction of the laser beam has a certain curvature, and the laser beam forms a focusing point and a laser point after passing through the cylindrical lens.
  • one end of the cylindrical lens having a curved surface may be perpendicular to the optical path direction of the laser beam.
  • the location with curvature may be convex or concave.
  • the laser beam passing through the hollow portion of the cylindrical lens can form a focus point, and the laser beam passing through the non-hole portion of the cylindrical lens can form a laser spot.
  • the focal point falls inside the laser spot, the focal point is used for keyhole welding, and the focal point is used for preheating or slow cooling.
  • the laser processing module also includes a laser processing module, the laser processing module further includes an output unit, and the output unit is used to supply continuous sine waves to the rotary solenoid according to the first prediction result and the second prediction result voltage;
  • the laser processing module is electrically connected to a laser source, and when the rotating solenoid drives the rotating shaft of the rotating solenoid to rotate into a sine wave, the laser processing module controls the laser source to emit a laser beam, so The laser beam is first collimated by a collimating mirror, and then passes through a cylindrical lens with an empty hole. A part of the laser beam passes through the empty hole, and the other part passes through the surroundings of the empty hole, and then reaches the reflector.
  • the rotating shaft drives the reflector to rotate or swing, and the laser beam reflected by the reflector also swings and rotates, and is finally focused by the field lens into a spot consisting of a center light and a ring light.
  • the maximum inner diameter is smaller than the maximum inner diameter from the center of the circle to the outermost edge of the ring light, and the light spot acts on the object to be welded in a swinging or rotating manner;
  • the output unit is used to supply intermittent sine wave voltage to the rotary solenoid; when the output unit works, it includes:
  • the duration of each supply of sine wave voltage is 0.1ms, and the frequency is 300Hz;
  • the frequency of supplying the sine wave voltage is 50Hz; when the object to be processed is stainless steel, the frequency of supplying the sine wave voltage is 100Hz.
  • the expected value judging module is specifically used to detect the processing effect of the object to be welded, and obtain actual welding effect data.
  • the welding effect data can be a laser radar unit used for distance measurement, or can be a laser radar unit used for distance measurement.
  • the image acquisition unit for collecting image information can also be a temperature acquisition unit for sensing temperature information; it also includes a similarity judgment module, which is used to calculate the current welding effect data and preset data through a similarity algorithm similarity between.
  • the cylindrical lens 41 has one or more empty holes.
  • the similarity judging module includes a sorting unit configured to prioritize the original data through a weighting algorithm.
  • the judging module is used to detect the processing effect of the object to be welded, and obtain actual welding effect data
  • the welding effect data can be a laser radar unit for distance measurement, or can be a laser radar unit for collecting images
  • the information image acquisition unit can also be a temperature acquisition unit for sensing temperature information; it also includes a judgment module, which is used to calculate the similarity between the current welding effect data and the preset data through a similarity algorithm.
  • the number of holes carried by the cylindrical lens is one or more.
  • the judging module includes a sorting unit configured to prioritize the original data through a weighting algorithm.
  • a computer storage medium is provided, and a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned intelligent welding method are realized.
  • the linear model and nonlinear model can be used to predict and classify data with linear and nonlinear relationships respectively, which can avoid mutual interference between different types of data, increase the accuracy of prediction and classification effects, and achieve more accurate results.
  • Laser welding provides data support, so it can improve welding quality and achieve high-precision welding.
  • Fig. 1 is a schematic diagram of the execution steps of the method of the present invention
  • Fig. 2 is a schematic diagram of modules of the system of the present invention.
  • Fig. 3 is a schematic diagram of an embodiment of the system of the present invention.
  • Fig. 4 is a schematic diagram of a computer device of the present invention.
  • an intelligent welding method including:
  • Predicting the linear data through a linear model to obtain the first prediction result refers to predicting the linear data through a trained linear model, and the linear data refers to data that is linearly related to the expected welding effect data, for example,
  • the current laser output power is 1W
  • the expected power that is, the expected welding effect data is 10W
  • the power and current have a linear relationship
  • the current working current can be obtained based on the expected power through the linear model, such as 10A;
  • the nonlinear data is predicted by a nonlinear model to obtain a second prediction result
  • the nonlinear data refers to data that is in a nonlinear relationship with the expected welding effect data, for example, the temperature and stress are in a nonlinear relationship
  • the stress of the object to be welded is 5Pa
  • the nonlinear data 5Pa can be predicted by the nonlinear model, and 101°C can be obtained.
  • the above-mentioned 10A and 101°C are target operating parameters. Since the stress can be controlled, it can be Prevent cracks inside the object to be welded and pores on the welding surface. Since the power can be controlled, it can prevent welding spatter, reduce energy consumption, and improve welding quality;
  • the prediction ability will decrease due to learning too many training sample details, that is, the phenomenon of "overfitting".
  • the data with linear relationship and nonlinear relationship are distinguished from the massive parameters with complex relationships, so as to achieve noise reduction for different relationship data and improve the accuracy of prediction.
  • the target operating parameters are obtained, and the target laser is emitted by the laser body according to the target operating parameters to weld the current object to be welded.
  • the target operating parameters refer to the When , the actual working parameters of the laser, the actual parameters directly affect the welding quality; that is, the first operating parameters that have a linear relationship with the expected welding effect data (that is, the first predicted result) are obtained through the linear model according to the expected welding effect data ), obtain the second operating parameter (i.e.
  • the second prediction result that has a nonlinear relationship with the expected welding effect data through the nonlinear model according to the expected welding effect data, and then obtain the second operating parameter according to the first operating parameter and the second operating parameter
  • the target operating parameters, and then the laser body emits the target laser according to the target operating parameters to weld the current object to be welded; before this, different data can be marked and classified in advance to mark the gap between A data and B data Whether the relationship is linear or nonlinear, and then predict the data through different models, that is, obtain the target operating parameters through the expected effect data, for example, the center distance between the two laser spots output by the expected laser is 0.6 microns , then according to the linear relationship between the center distance between the spots and the radial relative position of the two laser sources, the linear data of 0.6 microns can be predicted through the linear model, and the first prediction result of 0.1 microns can be obtained.
  • the first linear model is constructed by an algorithm capable of processing linear data
  • the second nonlinear model is constructed by an algorithm capable of processing non-linear data
  • the linear data includes data in a linear relationship under certain conditions in welding, which can be the current and power data of the laser;
  • the nonlinear data includes data in a nonlinear relationship in welding under certain conditions, which can be the data of the object to be welded
  • the temperature increased by the action of the laser beam and the stress of the object to be welded due to the temperature change.
  • an intelligent welding method including:
  • Predicting the linear data through a linear model to obtain the first prediction result refers to predicting the linear data through a trained linear model, and the linear data refers to data that is linearly related to the expected welding effect data, for example,
  • the current laser output power is 1W
  • the expected power that is, the expected welding effect data is 10W
  • the power and current have a linear relationship
  • the current working current can be obtained based on the expected power through the linear model, such as 10A;
  • the nonlinear data is predicted by a nonlinear model to obtain a second prediction result
  • the nonlinear data refers to data that is in a nonlinear relationship with the expected welding effect data, for example, the temperature and stress are in a nonlinear relationship
  • the stress of the object to be welded is 5Pa
  • the nonlinear data 5Pa can be predicted by the nonlinear model, and 101°C can be obtained.
  • the above-mentioned 10A and 101°C are target operating parameters. Since the stress can be controlled, it can be Prevent cracks inside the object to be welded and pores on the welding surface. Since the power can be controlled, it can prevent welding spatter, reduce energy consumption, and improve welding quality;
  • the prediction ability will decrease due to learning too many training sample details, that is, the phenomenon of "overfitting".
  • the data with linear relationship and nonlinear relationship are distinguished from the massive parameters with complex relationships, so as to achieve noise reduction for different relationship data and improve the accuracy of prediction.
  • the target operating parameters are obtained, and the target laser is emitted by the laser body according to the target operating parameters to weld the current object to be welded.
  • the target operating parameters refer to the When , the actual working parameters of the laser, the actual parameters directly affect the welding quality; that is, the first operating parameters that have a linear relationship with the expected welding effect data (that is, the first predicted result) are obtained through the linear model according to the expected welding effect data ), obtain the second operating parameter (i.e.
  • the second prediction result that has a nonlinear relationship with the expected welding effect data through the nonlinear model according to the expected welding effect data, and then obtain the second operating parameter according to the first operating parameter and the second operating parameter
  • the target operating parameters, and then the laser body emits the target laser according to the target operating parameters to weld the current object to be welded; before this, different data can be marked and classified in advance to mark the gap between A data and B data Whether the relationship is linear or nonlinear, and then predict the data through different models, that is, obtain the target operating parameters through the expected effect data, for example, the center distance between the two laser spots output by the expected laser is 0.6 microns , then according to the linear relationship between the center distance between the spots and the radial relative position of the two laser sources, the linear data of 0.6 microns can be predicted through the linear model, and the first prediction result of 0.1 microns can be obtained.
  • the first linear model is constructed by an algorithm capable of processing linear data
  • the second nonlinear model is constructed by an algorithm capable of processing non-linear data
  • the linear data includes data in a linear relationship under certain conditions in welding, which can be the current and power data of the laser;
  • the nonlinear data includes data in a nonlinear relationship in welding under certain conditions, which can be the data of the object to be welded
  • the temperature increased by the action of the laser beam and the stress of the object to be welded due to the temperature change.
  • a kind of intelligent welding method comprising:
  • the current data is the technical parameter for realizing the welding process and the effect parameter for realizing the welding result
  • the expected welding width is 1 mm, so 1 mm is the effect parameter.
  • the above-mentioned first prediction result 10A and second prediction result 101°C are technical parameters for realizing the welding process.
  • the technical parameters can be directly used as the target operating parameters , and the target operating parameters can also be obtained after processing the technical parameters; there can be a one-to-many relationship between effect parameters and technical parameters, so in order to achieve the purpose of obtaining technical parameters based on effect parameters, it is necessary to establish effect parameters and technical parameters in advance The mapping relationship between parameters.
  • the target technical parameter predicts the specific value of the target technical parameter through a linear model to obtain a first prediction result, and adjust the initial technical parameters
  • the adjusted initial technical parameters are used as the first target operating parameters, and the target laser is emitted by the laser body according to the first target operating parameters to weld the current object to be welded;
  • the relationship between the target technical parameter and the effect parameter is a nonlinear relationship
  • the specific value of the target technical parameter is predicted by a nonlinear model to obtain a second prediction result
  • the set value is adjusted according to the second prediction result.
  • the initial technical parameter, the adjusted initial technical parameter is used as the second target operating parameter, and the target laser is emitted by the laser body according to the second target operating parameter to weld the current object to be welded.
  • the target operation parameters are acquired based on the first prediction result and/or the second prediction result, and the target laser is emitted by the laser body according to the target operation parameters to weld the current object to be welded Steps include:
  • a kind of intelligent welding method comprising:
  • Step S10 Constructing an initial linear model and an initial nonlinear model based on a preset algorithm
  • Step S20 Input the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first nonlinear model respectively after training;
  • the raw data includes the deformation of the object to be welded, the temperature at the junction of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the spot size, and the angle between the laser beam and the object to be welded;
  • Step S30 Collect current working condition data, the current working condition data includes first linear data and first nonlinear data, input the first linear data into the first linear model, and input the first nonlinear data input the first nonlinear model;
  • the working condition data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the size of the spot, the distance between the laser beam and the object to be welded angle between
  • Step S40 Obtain target operating parameters based on the first prediction result and the second prediction result, and use the laser body to emit target laser light according to the target operating parameters to weld the current object to be welded, and to weld the object to be welded after welding
  • the image information of the weld is collected to obtain welding effect data;
  • the actual operating parameters include the power of the laser system, the pulse, the angle of the laser beam swing, the angle and distance of the laser lens compared to the incident end of the laser beam;
  • the collected image information can be compared with the target image information through the square difference matching method. For example, when the similarity is greater than 90%, it is considered that the ideal welding effect is achieved; the target image is a smooth surface. An ideal weld is to process the collected image into the same size as the target image. If the target image is composed of multiple small images, then the collected image should also be divided into multiple pieces of the same size. Then calculate the average value of pixels in each line or each small image between the target image and the collected image information, and calculate the variance value of the above average value. The smaller the variance value, the greater the similarity;
  • the linear relationship and nonlinear relationship in this application are not concepts in the mathematical sense, but an approximate relationship that can be formed in welding.
  • the voltage When the voltage is small, the light It emits in all directions, and when the voltage increases to a certain value, it emits monochromatic light with the same phase and direction, that is, the laser beam;
  • the focal length and spot diameter are linear within a certain range.
  • the spot diameter and welding width are linear, but Gaussian spot and ring spot are not applicable;
  • the stress generated by the object to be welded under the action of the impact force has a nonlinear relationship with the above conditions, and the stress intuitively corresponds to the deformation value of the object to be welded;
  • the temperature gradually rises within 0-5 seconds, and there is an approximate linear relationship between time and temperature during the rising stage.
  • a molten pool begins to form on the surface of the object to be welded in 5-10 seconds, and the temperature of the molten pool It will remain in a relatively stable state and will not rise again.
  • the initial linear model is trained with data that has a linear relationship, and the non-linear problem is used.
  • the initial nonlinear model can be constructed by nonlinear algorithm such as gradient descent algorithm
  • the initial linear model can be constructed by linear algorithm such as support vector machine, so it can be constructed by gradient descent algorithm and
  • the trained model predicts how much the ambient temperature needs to be adjusted when the stress of the weld is 20Pa; the support vector machine completed through training predicts how much the current needs to be adjusted to reach a power of 1000W.
  • the current weld width picture can be collected by the CCD camera, and the square difference matching method can be used to judge whether the preset condition is satisfied between the weld width and the target weld.
  • the temperature of the welding point is collected by the temperature sensor, and the gradient descent algorithm model that completes the training predicts that the temperature will remain relatively stable from the second;
  • linear data and nonlinear data are processed independently to prevent interference between data of different natures, compared to using a single model to classify or predict all data
  • the solution provided by this application can eliminate interference factors, obtain better classification or prediction results, and obtain prediction results that can be sent to the CPU main control system to provide decision-making data support for further improving welding quality and efficiency;
  • Step S50 judging whether the welding effect data is less than or equal to the expected value
  • Step S60 If the welding effect data is less than or equal to the expected value, return to step S20 until the welding effect data is greater than the expected value, obtain welding effect data meeting the expected value, and complete the welding.
  • an intelligent welding system capable of implementing the above-mentioned intelligent welding method, including hardware components and software components, the software components and the hardware components are electrically connected or communicated Connection, the software components and the hardware components are all connected to the main control module 101 .
  • the target operating parameters are acquired based on the first prediction result and/or the second prediction result, and the target laser is emitted by the laser body according to the target operating parameters to weld the current object to be welded Steps include:
  • the welding width, temperature data and current data can all play a role.
  • different weights can be set for the temperature data and current data. For example, the weight of the temperature data is 0.4, and the weight of the current data is 0.6. After adjusting After weighting, a more accurate weld weld width can be obtained.
  • the step S40 includes:
  • Step S401 the step of welding the current object to be welded by the intelligent welding system includes:
  • Step S402 The laser body emits a first laser beam, and the first laser beam is collimated by a collimating mirror to obtain a collimated laser, and the collimated laser passes through a cylindrical lens with an empty hole to realize the reorganization of laser energy Arrangement to get rearranged laser; since the first part of the collimated laser passes through the hole of the cylindrical lens, and the second part diverges through the curved surface of the cylindrical lens, the final focus position of the first part is farther than the focus of the second part Position, since the hole is located in the center of the cylindrical lens, the energy density of the central beam obtained is greater than that of the periphery. Therefore, deep penetration welding can be performed through the central beam, and preheating or slow cooling can be performed through the peripheral laser.
  • the first part is the focus point
  • the second part is the laser point.
  • Step S403 After the rearrangement laser is reflected by a displaceable mirror, an oscillating laser whose spatial position can be changed is obtained;
  • Step S404 After the oscillating laser is focused by the field lens, a target laser is formed, and the object to be welded is welded by the target laser;
  • step S40 includes:
  • Step S405 The laser body emits a first laser beam and a second laser beam, the first laser beam and the second laser beam are collimated by a collimating mirror to obtain a collimated laser, and the collimated laser passes through a hole with a hole
  • the cylindrical lens realizes the rearrangement of laser energy and obtains rearranged laser light
  • Step S406 After the rearrangement laser is reflected by a displaceable mirror, an oscillating laser whose spatial position can be changed is obtained;
  • Step S407 After the oscillating laser is focused by the field lens, a target laser is formed, and the current object to be welded is welded by the target laser.
  • the step S404 includes:
  • Step S4041 the oscillating laser passes through a field lens to form a target laser, and the focus position of the target laser can move along the axial or radial direction of the main optical axis of the field lens;
  • Step S4042 welding the current object to be welded by the target laser.
  • a filling wire is arranged between the object to be welded and the target laser.
  • the first prediction module is used to predict the linear data through the linear model to obtain the first prediction result
  • the second prediction module is used to predict nonlinear data through a nonlinear model to obtain a second prediction result
  • the first welding module is configured to obtain a target operating parameter based on the first prediction result and/or the second prediction result, and use the laser body to emit target laser light according to the target operating parameter to weld the current object to be welded.
  • the first receiving module is used to receive expected effect parameters and initial technical parameter sets
  • the first receiving module is configured to acquire a target technical parameter set according to the effect parameter, traverse the target technical parameter set, and sequentially determine the correspondence between each target technical parameter in the target technical parameter set and the effect parameter relation;
  • the second welding module is used to predict the specific value of the target technical parameter through a linear model when the relationship between the target technical parameter and the effect parameter is linear, to obtain a first prediction result, according to the
  • the first prediction result adjusts the initial technical parameter, takes the adjusted initial technical parameter as the first target operating parameter, and sends out the target laser through the laser body according to the first target operating parameter to weld the current object to be welded;
  • the specific value of the target technical parameter is predicted by a nonlinear model to obtain a second prediction result, and according to the second prediction
  • the initial technical parameters are adjusted, and the adjusted initial technical parameters are used as the second target operating parameters, and the target laser is emitted by the laser body according to the second target operating parameters to weld the current object to be welded.
  • the second receiving module is configured to receive desired effect parameters and an initial technical parameter set, and obtain a target technical parameter set according to the effect parameters, wherein the initial technical parameter set is composed of a plurality of initial technical parameters, and the target technical parameter The set consists of multiple target technical parameters;
  • the second judging module is used to compare each target technical parameter with the initial technical parameter, and judge whether the target technical parameter meets the preset condition;
  • the third judging module if the target technical parameter meets the preset condition, then judge the corresponding relationship between the target technical parameter and the effect parameter;
  • the third welding module is used to predict the specific value of the target technical parameter through a linear model when the relationship between the target technical parameter and the effect parameter is linear, to obtain a first prediction result, according to the The first prediction result adjusts the initial technical parameter, takes the adjusted initial technical parameter as the first target operating parameter, and sends out the target laser through the laser body according to the first target operating parameter to weld the current object to be welded;
  • the specific value of the target technical parameter is predicted by a nonlinear model to obtain a second prediction result, and according to the second prediction
  • the initial technical parameters are adjusted, and the adjusted initial technical parameters are used as the second target operating parameters, and the target laser is emitted by the laser body according to the second target operating parameters to weld the current object to be welded.
  • An intelligent welding system capable of realizing the above-mentioned intelligent welding method, including hardware components and software components, the software components and the hardware components are electrically or communicatively connected, and the software components and the hardware components are connected to the main control The modules are connected;
  • the hardware components include a laser body for outputting a laser beam, a rotary solenoid 10, a collimating lens 5, a cylindrical lens 41 with an empty hole, a reflector 8, and a field lens 11 in sequence along the transmission direction of the laser.
  • the rotary solenoid 10 is driven by an internal or external power supply, and the rotary solenoid 10 is used to drive the mirror 8 to rotate or swing, and the incident end of the laser beam of the cylindrical lens 41 has a curvature , the laser beam passes through the cylindrical lens 41 to form a focus point and a laser point, the focus point is located in the laser point, and the energy density of the focus point is greater than the energy density of the laser point;
  • the laser beam first passes through the cylindrical lens 41 with a hollow hole, a part of the laser beam passes through the hollow hole, and the other part passes through the surroundings of the hollow hole, and then reaches the reflector 8.
  • the rotating shaft drives the reflector 8 to rotate or swing, and the laser beam reflected by the reflector also swings and rotates, and is finally focused by the field lens 11 into a spot composed of central light and ring light.
  • the maximum inner diameter of the center is smaller than the maximum inner diameter from the center of the circle to the outermost edge of the ring light, and the light spot continuously swings or rotates to act on the object to be welded; intermittent sine wave voltage can be supplied to the rotating solenoid, and the rotating solenoid While driving the rotating shaft of the rotating solenoid to rotate into a sine wave, the laser source is controlled to emit a laser beam.
  • the laser beam is first collimated by a collimator, and then passes through a cylindrical lens 41 with an empty hole.
  • the laser beam A part passes through the hollow hole, and the other part passes through the surroundings of the hollow hole, and then reaches the mirror 8.
  • the rotating shaft drives the mirror 8 to rotate or swing, and the mirror reflected by the mirror
  • the laser beam also swings and rotates thereupon, and is finally focused by the field lens 11 into a spot composed of central light and ring light.
  • the maximum inner diameter of the center is smaller than the maximum inner diameter from the center of the circle to the outermost edge of the ring light, and the spot is intermittent Ground swing or rotation acts on the object to be welded, wherein the specific parameters include: the duration of each supply of sine wave voltage is 0.1ms, and the frequency is 300Hz, or, the frequency of each supply of sine wave voltage is 50Hz, when the processing When the object is stainless steel, the frequency of each supply of sine wave voltage is 100Hz.
  • the software components include:
  • a training module configured to input the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first nonlinear model respectively after training;
  • the original data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the spot size, and the angle between the laser beam and the object to be welded;
  • the collection module is used to collect current working condition data, the current working condition data includes first linear data and first nonlinear data, input the first linear data into the first linear model, and input the first nonlinear data linear data input into the first nonlinear model;
  • a prediction module configured to predict the first linear data through the first linear model to obtain a first prediction result, and to predict the second nonlinear data through the first nonlinear model to obtain a second prediction result ;
  • the working condition data includes the deformation of the object to be welded, the temperature at the intersection of the laser beam and the object to be welded, the welding width, the energy density of the laser beam, the size of the spot, the distance between the laser beam and the object to be welded angle between
  • An acquisition module configured to acquire a target operating parameter based on the first prediction result and the second prediction result, and use the laser body to emit target laser light according to the target operating parameter to weld the current object to be welded, and to weld all items after welding
  • the image information of the object to be welded is collected to obtain welding effect data;
  • the actual operating parameters include the power, pulse, and swing angle of the laser beam of the laser system, and the angle and distance between the laser lens and the incident end of the laser beam;
  • An expected judgment module used to judge whether the welding effect data is less than or equal to the expected value
  • Predictive training module for if the welding effect data is less than or equal to the expected value, then execute the input of the pre-collected original data set into the initial nonlinear model for predictive training, and obtain the first linear model and the first linear model respectively after training. A non-linear model step until the welding effect data is greater than the expected value.
  • the parts driven by the rotary solenoid 10 can be limited by a spring to control the maximum swing angle.
  • One end of the spring is connected to the part, and the other end is connected to the driving motor.
  • the driving motor is connected with the main control module 101;
  • the laser beam swing angle needs to be adjusted from the current 60° to 30°, and the swing amplitude of the parts can be reduced by stretching the spring until the laser beam swing angle Change to 30°.
  • the position information of the laser beam entering the object to be welded can be obtained through infrared temperature detection and other devices, so as to obtain whether the angle is qualified.
  • the voltage parameters applied to the rotary solenoid 10 can also be adjusted to obtain a predetermined laser oscillation frequency;
  • this embodiment can add an empty cylindrical lens 401 into the optical path. Part of the collimated laser beam passes through the hole, and the other part passes around the hole, and after being focused by the field lens 11, the formed laser beam is composed of a converging point and a laser beam extending linearly along the converging point. The energy of the laser point is low, while the energy of the focus point is high, which can play a role in preheating or slow cooling of the workpiece to be processed.
  • the first welding module includes an adjustment unit, the adjustment unit is used to adjust the weight of the first prediction result and/or the second prediction result to obtain the target operating parameters, and the laser body according to The target operating parameters emit a target laser to weld the current object to be welded.
  • FIG. 2 another kind of intelligent welding system is provided, on the basis of the software components (Fig. 3) of the above-mentioned intelligent welding system, it also includes: a collimator lens 5, Cylindrical lens 41 with hole, reflector 8, field lens 11, because field lens 11 can integrate the laser light of different focal points into the same plane, so the laser beam energy is more stable, and the welding effect will also be more stable.
  • a collimator lens 5 Cylindrical lens 41 with hole, reflector 8, field lens 11
  • field lens 11 can integrate the laser light of different focal points into the same plane, so the laser beam energy is more stable, and the welding effect will also be more stable.
  • the rotating motor 102 is used to drive the mirror 8 to rotate according to a preset angle
  • the cylindrical lens 41 has a certain curvature on the side opposite to the incident direction of the laser beam
  • the laser beam passes through the After the cylindrical lens 41, the focus point and the laser spot are formed; after the laser beam is first collimated through the collimating mirror 5, it passes through all the above-mentioned lenses in turn, and the rotating motor 102 can play a role in the same way as the rotary solenoid 10 in the previous embodiment.
  • the functions are the same, and one of them can be selected according to the actual scene.
  • the heating speed is fast, and it is desired to reduce energy consumption, then the rotary solenoid 10 is used to intermittently drive the components.
  • the rotating motor 102 can be used to drive the swing of the component.
  • the curved end of the cylindrical lens 41 may be perpendicular to the optical path direction of the laser beam.
  • the locations with curvature may be convex or concave.
  • the laser beam passing through the hollow part of the cylindrical lens 41 can form a focus point, and the laser beam passing through the non-empty part of the cylindrical lens 41
  • the hole portion can form a laser spot into which the focused spot is used for keyhole welding and which is used for preheating or slow cooling.
  • it further includes a laser processing module, the laser processing module further includes an output unit for supplying continuous Sine wave voltage; the laser processing module is electrically connected to a laser source, and when the rotating solenoid drives the rotating shaft of the rotating solenoid to rotate into a sine wave, the laser processing module controls the laser source to emit a laser beam , the laser beam is first collimated by a collimating mirror, and then passes through a cylindrical lens 41 with an empty hole. A part of the laser beam passes through the empty hole, and the other part passes through the surroundings of the empty hole, and then reaches the reflector 8.
  • the laser processing module further includes an output unit for supplying continuous Sine wave voltage
  • the laser processing module is electrically connected to a laser source, and when the rotating solenoid drives the rotating shaft of the rotating solenoid to rotate into a sine wave, the laser processing module controls the laser source to emit a laser beam , the laser beam is first collimated by a collimating mirror, and then passes through a cylindrical lens 41 with an empty hole. A part of
  • the rotating shaft drives the reflector 8 to rotate or swing, and the laser beam reflected by the reflector also swings and rotates, and is finally focused by the field lens 11 to be composed of a central light and a ring light
  • the light spot, the maximum inner diameter of the center is smaller than the maximum inner diameter from the center of the circle to the outermost edge of the ring light, and the light spot acts on the object to be welded in a swinging or rotating manner;
  • the output unit is used to supply intermittent sine wave voltage to the rotary solenoid; when the output unit works, it includes:
  • the duration of each supply of sine wave voltage is 0.1ms, and the frequency is 300Hz;
  • the frequency of supplying the sine wave voltage is 50 Hz; when the object to be processed is stainless steel, the frequency of supplying the sine wave voltage is 100 Hz.
  • the expected value judging module is specifically used to detect the processing effect of the object to be welded, and obtain actual welding effect data
  • the welding effect data can be a laser radar unit for distance measurement, or can be It is an image acquisition unit for collecting image information, and can also be a temperature acquisition unit for sensing temperature information; it also includes a similarity judgment module, which is used to calculate the current welding effect data and the predicted welding effect data through a similarity algorithm. The similarity between data sets.
  • the cylindrical lens 41 has one or more empty holes.
  • the similarity judging module includes a sorting unit, and the sorting unit is configured to prioritize the original data by using a weighting algorithm.
  • the judging module is used to detect the processing effect of the object to be welded, and obtain actual welding effect data
  • the welding effect data can be a laser radar unit used for distance measurement, or can be used for
  • the image acquisition unit for collecting image information can also be a temperature acquisition unit for sensing temperature information; it also includes a judgment module, which is used to calculate the similarity between the current welding effect data and the preset data through a similarity algorithm .
  • the judging module is used to judge whether the similarity is less than or equal to a preset threshold; when the similarity is less than or equal to a preset threshold, it means that the first linear model or the first nonlinear model fails to reach Ideal prediction or classification effect, so it is necessary to input more sets of raw data into the first linear model or the first nonlinear model for prediction training until the similarity is greater than the preset threshold, when the similarity is greater than the preset threshold, The accuracy of its prediction will also be improved accordingly.
  • the cylindrical lens 41 has one or more empty holes.
  • the judging module includes a sorting unit, and the sorting unit is configured to prioritize the original data by using a weighting algorithm.
  • a computer device including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the computer program, the intelligence in the above-mentioned embodiments is realized.
  • the steps in the welding method such as the steps shown in FIG. 1 , or, when the processor executes the computer program, realize the functions of the modules/units of the intelligent welding system in the above embodiments, such as the functions of the modules in FIG. 2 .
  • a computer storage medium is provided, and a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the steps of the above intelligent welding method are realized.
  • the memory in the embodiment of the present invention is used to store various types of data to support the operation of the intelligent welding system.
  • a computer program is stored in the computer storage medium, and the computer storage medium can be a read-only memory (ROM, Read Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Programmable Read-Only Memory (PROM, Programmable Read-Only Memory), flash memory ( Flash Memory), magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); it can also be various devices including one or any combination of the above-mentioned memories.
  • ROM Read Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • FRAM magnetic random access Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • flash memory Flash Memory
  • magnetic surface memory optical disc,
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, or a volatile computer-readable storage medium.
  • the computer-readable storage medium stores computer instructions, and when the computer instructions are run on the computer, the computer is made to execute the above-mentioned intelligent welding method.
  • the linear model and nonlinear model can be used to predict and classify data with linear and nonlinear relationships respectively, which can avoid mutual interference between different types of data, increase the accuracy of prediction and classification effects, and achieve more accurate results.
  • Laser welding provides data support, so it can improve welding quality and achieve high-precision welding. It is suitable for welding, cladding and cutting of highly reflective materials such as galvanized sheet, copper and aluminum.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
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  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

Procédé de soudage intelligent, comprenant : la réalisation d'une prédiction sur des données linéaires au moyen d'un modèle linéaire, de façon à obtenir un premier résultat de prédiction ; et/ou la réalisation d'une prédiction sur des données non linéaires au moyen d'un modèle non linéaire, de façon à obtenir un second résultat de prédiction ; et l'acquisition d'un paramètre de fonctionnement cible sur la base du premier résultat de prédiction et/ou du second résultat de prédiction, puis le soudage de l'objet actuel à souder à l'aide d'un laser cible émis par un corps laser selon le paramètre de fonctionnement cible. Au moyen du procédé, la précision du soudage peut être améliorée. La présente invention concerne en outre un système de soudage intelligent et un support d'enregistrement informatique.
PCT/CN2022/077353 2021-09-27 2022-02-23 Procédé de soudage intelligent, système de soudage intelligent et support d'enregistrement informatique WO2023045237A1 (fr)

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CN114523203B (zh) * 2022-03-13 2022-11-29 扬州沃盛车业制造有限公司 一种激光智能焊接方法及系统
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