Laser welding head dynamic track generation method based on platform motion tangent angle

Abstract

The invention discloses a laser welding head dynamic track generation method based on a platform motion tangent angle, the swing track of a laser welding head rotates according to the current X-axis and Y-axis motion track tangent direction to form a laser welding head track with an angle following function, the laser welding head track at the moment realizes dynamic generation of track data, and the laser welding head track has the angle following function. The angle control data of the galvanometer needs to be recalculated periodically according to angle parameters. Under a two-dimensional coordinate system, a Bezier curve is used for representing the swing track of a laser welding head, original coordinate points and a geometric transformation matrix are multiplied through second-order matrix multiplication, new coordinate points after geometric mapping and a new curve calculated through angle following are obtained, discretization is carried out, and control data of a galvanometer motor are obtained. The laser welding head swing track with the angle following function can better adapt to the process requirements of various machining tracks, meanwhile, the output density of laser energy is more uniform, and the final welding effect is improved.

Description

technical field [0001] The invention relates to the field of laser welding head welding, in particular to a method for generating a dynamic trajectory of a laser welding head based on a platform motion tangent angle. Background technique [0002] The laser swing welding system is mainly divided into two main motion control parts: the motion platform and the laser welding head. Among them, the motion platform is used to control the movement of the laser swing welding head along the preset welding seam. The laser welding head is mainly to expand the coverage area of ​​the laser spot and realize the laser welding process that is much larger than the weld seam gap of the spot size. [0003] In the traditional system solution, the welding head and the motion platform are driven by independent control cards, and there is no data communication interaction between the two sets of boards. When the welding head moves according to the non-circular swing trajectory, since the X-axis a...

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Problems solved by technology

[0004] In order to overcome the shortcomings of the above-mentioned background technology that the motion platform can only perform simple linear motion and cannot adapt to various types of welding trajectories, the purpose of the present invention is to provide a method for generating dynamic trajectory of laser welding head based on platform movement tangent angle

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