| Laser welding technology has the advantages of high automation degree, small heat affected zone and high energy density. It can form a continuous and full penetration welds in a short time, which makes both the weld depth to width ratio and welding speed significantly improved compared to conventional welding techniques. Hence, the laser welding technology has been widely applied to modern industry. Therefore, this article designs a four axis laser welding platform with high stability and multiple functions.This paper puts forward the design of four axis laser welding platform based on "PC+ Motion Control Card", and provides a detailed design of each parts. Software is the core part of automated laser welding system, according to the data flow driven process, it covers the teach-in programming,3D track online display, G code interpreter, drawing module, motion planning and so on. Besides, the software is easy to operate, so that the user can quickly get started.In the laser welding process, the changes of velocity will result in uneven welds. This paper proposes a feasible speed planning strategy for this problem. For the velocity change in the startup and stop process of laser welding, extension cords pre-acceleration strategy is applied so that the speed change process is completed before the welding starts. At the same time we use S-curve acceleration and deceleration strategy to reduce the flexible impact caused by velocity change. Also, the changes of velocity at the corner have a bad effect on uniformity of the welds, so we adopt triangle circuitous path so that the velocity change is done on the additional closed path. In this way, the speed of the welding section can be kept constant, which also lead to the improvement of the weld uniformity of the weld.The research work done in this paper is closely related to practical engineering application. And the proposed software design and speed planning algorithms have already been applied in the four-axis laser welding platform. |
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