A method and apparatus for real-time adjustment of a welding plane to a welding focal point

Abstract

Embodiments of the present application provide a method for adjusting a welding plane to a welding focal length in real time, applied to a welding machine, the welding machine comprising a height measuring module, a galvanometer and a moving shaft, the moving shaft being perpendicular to the welding plane, the galvanometer being arranged on the moving shaft and being capable of moving in a vertical direction; the method comprising: obtaining a height measuring value of the height measuring module and position information of the galvanometer on the moving shaft, wherein the height measuring value is used to display the height of the welding plane; determining an actual height of the galvanometer to the welding plane according to the height measuring value and the position information based on a preset formula; judging whether the actual height is a preset focal length, and if not, controlling the galvanometer to move to a target position so that the height of the galvanometer to the welding plane is the preset focal length. The present application can adjust the welding plane to the welding focal length in real time, and the steps are simple.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of welding technology, in particular to a method and device for real-time adjustment of a welding plane to a welding focal length. BACKGROUND

[0002] Laser welding is a common welding method in the field of welding technology. In laser welding, the welding plane needs to be kept at the focal length of the welding equipment to ensure the welding effect.

[0003] In the prior art, the height scale value of the current welding equipment and the height value of the welding plane measured by the height measuring device are often used as the focal length. However, the height scale value of the current welding equipment and the height value of the welding plane measured by the height measuring device are both virtual values on the PLC. Therefore, during the automatic operation or repair welding of the equipment, the operator cannot know in real time whether the distance from the welding equipment to the welding plane is the actual focal length value. If it is necessary to know whether it is the actual focal length value, the height distance from the current welding equipment to the welding plane can only be measured by professional instruments, and then compared with the virtual value on the PLC to know whether the virtual value on the PLC is accurate. This process is tedious and has low accuracy. SUMMARY

[0004] Since the height scale value of the current welding equipment and the height value of the welding plane measured by the height measuring device are both virtual values on the PLC, during the automatic operation or repair welding of the welding machine, the operator cannot know in real time whether the distance from the welding equipment to the welding plane is the actual focal length value. If it is necessary to know whether it is the actual focal length value, the process of stopping the equipment and finding professional instruments for comparison is very tedious and has low accuracy.

[0005] The embodiments of the present application provide a method and device for real-time adjustment of a welding plane to a welding focal length, which can effectively solve the above technical problems.

[0006] The embodiments of the present application can be implemented as follows:

[0007] In a first aspect, the present application provides a method for real-time adjustment of a welding plane to a welding focal length, applied to a welding machine, wherein the welding machine comprises a height measuring module, a galvanometer and a moving shaft, the moving shaft is perpendicular to the welding plane, the galvanometer is arranged on the moving shaft and can move in the vertical direction; the method comprises:

[0008] obtaining a height measuring value of the height measuring module and position information of the galvanometer on the moving shaft, wherein the height measuring value is used to display the height of the welding plane;

[0009] determining the actual height of the galvanometer to the welding plane based on a preset formula according to the height measuring value and the position information.

[0010] determining whether the actual height is the preset focal length, and if not, controlling the galvanometer to move to a target position so that the height of the galvanometer to the welding plane is the preset focal length.

[0011] Optionally, before the height value of the height measuring module and the position information of the galvanometer on the moving shaft are obtained, the relationship parameters in the preset formula are obtained by debugging the welding machine, including:

[0012] In the case of keeping the height value unchanged, the welding machine is controlled to perform debugging movement multiple times, and debugging movement parameters generated under corresponding debugging movement are obtained;

[0013] The actual height of the galvanometer to the welding plane under corresponding debugging movement is obtained;

[0014] According to the height value, the parameters generated under corresponding debugging movement, and the actual height of the galvanometer to the welding plane under corresponding debugging movement, the relationship parameters are determined by substituting into the preset formula.

[0015] Optionally, the moving shaft includes a first moving shaft, and the multiple times of controlling the welding machine to perform debugging movement and obtaining the debugging movement parameters generated under corresponding debugging movement specifically include:

[0016] The galvanometer is controlled to move to a first position on the first moving shaft, and a first scale value of the first moving shaft when the galvanometer is at the first position is obtained;

[0017] The galvanometer is controlled to move to a second position on the first moving shaft, and a second scale value of the first moving shaft when the galvanometer is at the second position is obtained;

[0018] The actual height of the galvanometer to the welding plane under corresponding debugging movement specifically includes:

[0019] The first galvanometer height of the galvanometer to the welding plane when the galvanometer is at the first position is obtained, and the second galvanometer height of the galvanometer to the welding plane when the galvanometer is at the second position is obtained.

[0020] Optionally, according to the height value, the parameters generated under corresponding debugging movement, and the actual height of the galvanometer to the welding plane under corresponding debugging movement, the relationship parameters are determined by substituting into the preset formula, specifically including:

[0021] The height value, the first scale value, and the first galvanometer height are substituted into the preset formula to obtain a first equation;

[0022] The height measurement value, the second scale value, and the second galvanometer height are substituted into the preset formula to obtain a second equation;

[0023] The relationship parameter is determined according to the first equation and the second equation.

[0024] Optionally, the preset formula is:

[0025] y0=k1x0+h0+b1

[0026] wherein h0 is the height measurement value; x0 is the first scale value or the second scale value; when x0 is the first scale value, y0 is the first galvanometer height of the galvanometer to the welding plane when the galvanometer is at the first position; when x0 is the second scale value, y0 is the second galvanometer height of the galvanometer to the welding plane when the galvanometer is at the second position; b1 and k1 are the relationship parameter.

[0027] Optionally, the movement axis includes a first movement axis and a second movement axis, the galvanometer is arranged on the first movement axis, and the height measurement module is arranged on the second movement axis; the multiple times of controlling the welding machine to perform the debugging movement and obtaining the debugging movement parameter generated under the corresponding debugging movement specifically include:

[0028] controlling the galvanometer to move to a third position on the first movement axis, controlling the height measurement module to move to a sixth position on the second movement axis, obtaining a third scale value of the first movement axis when the galvanometer is at the third position, and a sixth scale value of the second movement axis when the height measurement module is at the sixth position;

[0029] controlling the galvanometer to move to a fourth position on the first movement axis, controlling the height measurement module to move to a seventh position on the second movement axis, obtaining a fourth scale value of the first movement axis when the galvanometer is at the fourth position, and a seventh scale value of the second movement axis when the height measurement module is at the seventh position;

[0030] controlling the galvanometer to move to a fifth position on the first movement axis, controlling the height measurement module to move to an eighth position on the second movement axis, obtaining a fifth scale value of the first movement axis when the galvanometer is at the fifth position, and an eighth scale value of the second movement axis when the height measurement module is at the eighth position;

[0031] the actual height of the galvanometer to the welding plane under the corresponding debugging movement is obtained, specifically including:

[0032] obtaining a third mirror height of the mirror to the welding plane when the mirror is at the third position, obtaining a fourth mirror height of the mirror to the welding plane when the mirror is at the fourth position, and obtaining a fifth mirror height of the mirror to the welding plane when the mirror is at the fifth position.

[0033] Optionally, the determining the relationship parameter according to the measured height value, the parameter generated under the corresponding debugging motion, and the actual height of the mirror to the welding plane under the corresponding debugging motion, and substituting into the preset formula comprises:

[0034] substituting the measured height value, the third scale value, the sixth scale value, and the third mirror height into the preset formula to obtain a third equation;

[0035] substituting the measured height value, the fourth scale value, the seventh scale value, and the fourth mirror height into the preset formula to obtain a fourth equation;

[0036] substituting the measured height value, the fifth scale value, the eighth scale value, and the fifth mirror height into the preset formula to obtain a fifth equation;

[0037] determining the relationship parameter according to the third equation, the fourth equation, and the fifth equation.

[0038] Optionally, the preset formula is:

[0039] y1=k 21 x 11 +k 22 x 12 +h1+b2

[0040] wherein h1 is the measured height value; x 11 is the third scale value, the fourth scale value, or the fifth scale value, x 12 is the sixth scale value, the seventh scale value, or the eighth scale value; when x 11 is the third scale value, x 12 is the sixth scale value, y1 is the third mirror height of the mirror to the welding plane when the mirror is at the third position; when x 11 is the fourth scale value, x 12 is the seventh scale value, y1 is the fourth mirror height of the mirror to the welding plane when the mirror is at the fourth position; when x 11 is the fifth scale value, x 12 is the eighth scale value, y1 is the fifth mirror height of the mirror to the welding plane when the mirror is at the fifth position; b2, k 21 , k22 The relationship parameter.

[0041] In a second aspect, the present application provides a device for real-time adjustment of a welding plane to a welding focal length, for implementing the method for real-time adjustment of a welding plane to a welding focal length according to any one of the preceding aspects. The device for real-time adjustment of a welding plane to a welding focal length is applied to a welding machine, which comprises a height measuring module, a galvanometer and a moving shaft. The moving shaft is perpendicular to the welding plane, and the galvanometer is arranged on the moving shaft and can move in the vertical direction. The device for real-time adjustment of a welding plane to a welding focal length comprises:

[0042] a height measuring value acquisition module, configured to acquire a height measuring value of the height measuring module and position information of the galvanometer on the moving shaft, wherein the height measuring value is used to display the height of the welding plane;

[0043] an actual height determination module, configured to determine an actual height of the galvanometer to the welding plane based on a preset formula according to the height measuring value and the position information;

[0044] a focal length correction module, configured to determine whether the actual height is a preset focal length. If not, the galvanometer is controlled to move to a target position, so that the height of the galvanometer to the welding plane is the preset focal length.

[0045] The beneficial effects of the embodiments of the present application include, for example:

[0046] The method for real-time adjustment of a welding plane to a welding focal length provided by the present application can acquire the height measuring value of the height measuring module and the position information of the galvanometer on the first moving shaft in real time through the welding machine which has been pre-adjusted. The actual height of the galvanometer to the welding plane is determined in real time based on a preset formula, and the galvanometer is controlled to move based on the actual height, so that the height of the galvanometer to the welding plane is the preset focal length. The actual height of the galvanometer to the welding plane can be displayed in real time during the operation of the device, the distance error measured by the PLC is reduced, and the accuracy is improved. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0048] Figure 1 A step flow chart of the method for real-time adjustment of a welding plane to a welding focal length provided by the embodiments of the present application;

[0049] Figure 2A step flow chart for determining a relationship parameter is provided for the embodiment of the present application.

[0050] Figure 3 A schematic diagram of a five-axis welding machine is provided for the embodiment of the present application.

[0051] Figure 4 A schematic diagram of a six-axis welding machine is provided for the embodiment of the present application.

[0052] Figure 5 A device architecture diagram for real-time adjustment of a welding plane to a welding focal length is provided for the embodiment of the present application.

[0053] Icon: 100-welding machine; 102-height measuring module; 104-vibrating mirror; 105-first moving axis. DETAILED DESCRIPTION

[0054] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0056] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0057] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is used, only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0058] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0059] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0060] Multi-axis laser welding machines generally include five-axis welding machines and six-axis welding machines derived from five-axis welding machines. In the welding process, in order to ensure the welding quality of the welding machine, the welding point position needs to be located on the focal length of the galvanometer. In the prior art, the height scale value of the current welding equipment and the height value of the welding plane measured by the height measuring device are often used as the focal length, but the height scale value of the current welding equipment and the height value of the welding plane measured by the height measuring device are both virtual values on the PLC. Therefore, in the process of automatic operation or repair welding of the equipment, it is impossible to know in real time whether the distance from the welding equipment to the welding plane is the actual focal length value. If it is necessary to know whether it is the actual focal length value, only the height distance from the current welding equipment to the welding plane can be measured by professional instruments, and then compared with the virtual value on the PLC to know whether the virtual value on the PLC is accurate. This process is complicated and has low accuracy.

[0061] Please refer to Figure 1 A step flow chart of a method for real-time adjustment of a welding plane to a welding focal length is provided for an embodiment of the present specification, which is applied to a welding machine. The welding machine includes a height measuring module, a galvanometer and a first moving shaft. The first moving shaft is perpendicular to the welding plane. The galvanometer is arranged on the first moving shaft and can move in the vertical direction. The method includes the following steps:

[0062] Step S110: Obtain the height measuring value of the height measuring module and the position information of the galvanometer on the moving shaft.

[0063] The height measuring value is used to display the height of the welding plane. For different batteries, the height of the welding plane is not constant. For example, the height of the welding plane can be tested by arranging a pressure head on the height measuring module and abutting the pressure head against the welding plane. The height of the welding plane is displayed by the height measuring value of the height measuring module.

[0064] In actual implementation, the welding machine can be controlled by a controller. The controller can be a device arranged outside the main body of the welding machine and communicatively connected to each module on the welding machine in a wired or wireless manner, such as a PLC, a computer, a touch screen and the like terminal device, so that the user can control the welding machine through the controller. The height of the welding plane of the battery to be welded, i.e. the height measuring value, is obtained by the height measuring module, and the position information of the galvanometer on the moving shaft is recorded. The position information can be reflected by the scale value of the galvanometer on the moving shaft.

[0065] After obtaining the height measuring value and the position information of the galvanometer on the first moving shaft, step S120 is performed.

[0066] Step S120: determining the actual height of the galvanometer to the welding plane based on a preset formula according to the height value and the position information.

[0067] The preset formula is a correlation function of the actual height of the galvanometer to the welding plane, the height value, and the position information of the galvanometer on the moving shaft, which is a program logic executed internally by the controller. In the preset formula, the position information of the galvanometer on the moving shaft is the independent variable, the actual height of the galvanometer to the welding plane is the dependent variable, and the height value is a fixed value associated with the height of the welding plane of the battery to be measured. After the controller obtains the height value and the position information of the galvanometer on the moving shaft, the obtained data is substituted into the preset formula, and the actual height of the galvanometer to the welding plane can be calculated without the need for professional instruments to measure again.

[0068] Step S130: determining whether the actual height is the preset focal length. If not, the galvanometer is controlled to move to a target position so that the height of the galvanometer to the welding plane is the preset focal length. When the galvanometer is at the target position, the actual height of the galvanometer to the welding plane is equal to the preset focal length. The preset focal length is a focal length of the galvanometer preset in advance, which is related to the model of the galvanometer and varies with different types of welding machines. Generally, the focal length of the galvanometer is 495 mm. The position to which the galvanometer is controlled to move on the moving shaft in order to achieve the preset focal length.

[0069] After obtaining the actual height of the galvanometer to the welding plane in step S120, step S130 is performed to determine whether the actual height is the preset focal length (i.e. the required height of the galvanometer to the welding plane). If not, the galvanometer is controlled to move to a target position so that the height of the galvanometer to the welding plane is the preset focal length.

[0070] In an optional embodiment, a display device such as a display screen can be provided in communication connection with the controller, or a controller with a display screen can be provided. After the controller obtains the actual height of the welding machine based on the preset formula, the real-time height of the galvanometer of the welding machine can be displayed through the display device or the display screen of the controller, so as to facilitate the user to observe. If the actual height of the welding machine is not the preset focal length, the user can send a control instruction to the controller through a terminal device, or the controller can automatically generate a control instruction. According to the control instruction, the galvanometer is controlled to move on the moving shaft to adjust the height of the galvanometer of the welding machine so that the height of the galvanometer is the preset focal length, thereby achieving the purpose of real-time adjustment of the welding plane to the welding focal length.

[0071] Optionally, before obtaining the height value of the height measuring module and the position information of the galvanometer on the moving shaft, the relationship parameters in the preset formula are obtained by debugging the welding machine, including the following steps as shown in Figure 2 ​

[0072] Step S141: control the welding machine to perform a plurality of debugging movements while keeping the measured height unchanged, and obtain debugging movement parameters generated under corresponding debugging movements.

[0073] Step S142: obtain the actual height of the galvanometer to the welding plane under corresponding debugging movements.

[0074] Step S143: according to the measured height, the parameters generated under corresponding debugging movements, and the actual height of the galvanometer to the welding plane under corresponding debugging movements, substitute into the preset formula to determine the relationship parameter.

[0075] The debugging movement includes controlling the height measuring module to move on the moving shaft on which it is installed and / or controlling the galvanometer to move on the moving shaft on which it is installed. The debugging movement parameter refers to the position or scale value generated by the height measuring module and / or the galvanometer in the debugging movement. The relationship parameter is a parameter value in the preset formula for representing the correlation between the independent variable (i.e., the position information of the galvanometer on the moving shaft) and the dependent variable (i.e., the actual height of the galvanometer to the welding plane), and the relationship parameter is a fixed value.

[0076] Since the height of the welding plane of the battery to be welded is not always the same in the actual welding process, the heights of the welding planes of different batteries to be welded may be different, so that the measured height will also change accordingly. Therefore, in order to keep the measured height unchanged, the relative distance between the height measuring module and the welding plane needs to be kept unchanged.

[0077] In the debugging stage of the welding machine, the galvanometer is controlled to perform a debugging movement on the moving shaft while keeping the measured height unchanged, and then the debugging movement parameters generated are obtained; the actual height of the galvanometer to the welding plane under the corresponding position is measured by a professional instrument; the measured height, the parameters generated under the corresponding debugging movement, and the actual height of the galvanometer to the welding plane under the corresponding debugging movement are substituted into the preset formula, and the relationship parameter is determined by calculation.

[0078] Optionally, the moving shaft includes a first moving shaft, and the plurality of times of controlling the welding machine to perform a debugging movement and obtaining debugging movement parameters generated under corresponding debugging movements specifically includes:

[0079] Control the galvanometer to move to a first position on the first moving shaft, and obtain a first scale value of the first moving shaft when the galvanometer is at the first position.

[0080] Control the galvanometer to move to a second position on the first moving shaft, and obtain a second scale value of the first moving shaft when the galvanometer is at the second position.

[0081] The obtaining of the actual height of the galvanometer to the welding plane under corresponding debugging movements specifically includes:

[0082] obtaining a first mirror height of the mirror to the welding plane when the mirror is at the first position, and obtaining a second mirror height of the mirror to the welding plane when the mirror is at the second position.

[0083] Reference is made to Figure 3 A schematic diagram of a five-axis welding machine 100 provided by an embodiment of the present specification, comprising a height measurement module 102, a mirror 104, and a first moving shaft 105, a welding plane is located between the height measurement module 102 and the ground, the first moving shaft 105 is arranged perpendicular to the welding plane, and the mirror 104 is arranged on the first moving shaft 105 and can move in the vertical direction.

[0084] When the height measurement value is unchanged, the controller controls the mirror to move to any two positions on the first moving shaft, and the first position and the second position can be any two positions in the moving range of the mirror. There can be a scale on the first moving shaft to indicate the position of the device mounted on the first moving shaft on the first moving shaft. After controlling the mirror to move to the first position on the first moving shaft, the scale value of the first moving shaft at this time (i.e., the first scale value) is obtained, and at the same time, the height of the mirror to the welding plane at this time (i.e., the first mirror height) is obtained. After controlling the mirror to move to the second position on the first moving shaft, the scale value of the first moving shaft at this time (i.e., the second scale value) is obtained. At the same time, the first mirror height of the mirror to the welding plane when the mirror is at the first position is obtained, and the second mirror height of the mirror to the welding plane when the mirror is at the second position is obtained.

[0085] Optionally, the preset formula is:

[0086] y0=k1x0+h0+b1

[0087] wherein h0 is the height measurement value; x0 is the first scale value or the second scale value; when x0 is the first scale value, y0 is the first mirror height of the mirror to the welding plane when the mirror is at the first position; when x0 is the second scale value, y0 is the second mirror height of the mirror to the welding plane when the mirror is at the second position; and b1 and k1 are the relationship parameters.

[0088] Optionally, the relationship parameters are determined by substituting the height measurement value, the parameters generated under the corresponding debugging motion, and the actual height of the mirror to the welding plane under the corresponding debugging motion into the preset formula, and specifically comprising:

[0089] the first scale value, and the first mirror height into the preset formula to obtain a first equation.

[0090] The height measurement value, the second scale value, and the second galvanometer height are substituted into the preset formula to obtain a second equation.

[0091] The relationship parameter is determined according to the first equation and the second equation.

[0092] In actual cases, when the welding machine is a five-axis welding machine, the moving axis perpendicular to the welding plane generally only includes the first moving axis, and the relationship parameter b1 and k1 can be solved by using the two equations of the first equation and the second equation obtained by using the two groups of data and the preset formula.

[0093] For example, the height measurement value h0 is 10 cm, the first scale value x0 is 5 cm, and the first galvanometer height y0 is 10 cm. Substituting into the preset formula, the first equation is 10 = 5 * k1 + 10 + b1. The second scale value is 10 cm, and the second galvanometer height is 20 cm. Substituting into the preset formula, the second equation is 20 = 10 * k1 + 10 + b1. Combining the first equation and the second equation, k1 is 2 and b1 is -10.

[0094] Optionally, the moving axis includes a first moving axis and a second moving axis, the galvanometer is arranged on the first moving axis, and the height measurement module is arranged on the second moving axis. The multiple times of controlling the welding machine to perform the debugging movement and obtaining the debugging movement parameter generated under the corresponding debugging movement specifically include:

[0095] The galvanometer is controlled to move to a third position on the first moving axis, the height measurement module is controlled to move to a sixth position on the second moving axis, a third scale value of the first moving axis when the galvanometer is at the third position is obtained, and a sixth scale value of the second moving axis when the height measurement module is at the sixth position is obtained.

[0096] The galvanometer is controlled to move to a fourth position on the first moving axis, the height measurement module is controlled to move to a seventh position on the second moving axis, a fourth scale value of the first moving axis when the galvanometer is at the fourth position is obtained, and a seventh scale value of the second moving axis when the height measurement module is at the seventh position is obtained.

[0097] The galvanometer is controlled to move to a fifth position on the first moving axis, the height measurement module is controlled to move to an eighth position on the second moving axis, a fifth scale value of the first moving axis when the galvanometer is at the fifth position is obtained, and an eighth scale value of the second moving axis when the height measurement module is at the eighth position is obtained.

[0098] The actual height of the galvanometer to the welding plane under the corresponding debugging movement is obtained, and specifically includes:

[0099] a third mirror height of the mirror to the welding plane when the mirror is at the third position, a fourth mirror height of the mirror to the welding plane when the mirror is at the fourth position, and a fifth mirror height of the mirror to the welding plane when the mirror is at the fifth position.

[0100] The multi-axis welding machine further comprises a height measuring module configured to measure a height of the mirror to the welding plane. Figure 4 For example, a six-axis welding machine generally comprises two adjacent and vertical axes to the ground, i.e., a first moving axis and a second moving axis. In the six-axis welding machine, the mirror can be arranged on the first moving axis and moves within the moving range of the first moving axis, and the height measuring module can be arranged on the second moving axis and moves within the moving range of the second moving axis.

[0101] When obtaining the debugging motion parameters generated under the corresponding debugging motion of the six-axis welding machine, the mirror needs to be controlled to move to a third position, a fourth position and a fifth position on the first moving axis while keeping the height value measured by the height measuring module unchanged, wherein the third position, the fourth position and the fifth position are three arbitrary positions on the first moving axis; a third scale value of the first moving axis when the mirror is at the third position, a fourth scale value of the first moving axis when the mirror is at the fourth position, and a fifth scale value of the first moving axis when the mirror is at the fifth position are obtained.

[0102] The height measuring module is controlled to move to a sixth position, a seventh position and an eighth position on the second moving axis, wherein the sixth position, the seventh position and the eighth position are three arbitrary positions on the second moving axis; a sixth scale value of the second moving axis when the height measuring module is at the sixth position, a seventh scale value of the second moving axis when the height measuring module is at the seventh position, and an eighth scale value of the second moving axis when the height measuring module is at the eighth position are obtained.

[0103] The third mirror height of the mirror to the welding plane when the mirror is at the third position, the fourth mirror height of the mirror to the welding plane when the mirror is at the fourth position, and the fifth mirror height of the mirror to the welding plane when the mirror is at the fifth position are obtained by professional instruments respectively.

[0104] Optionally, when the welding machine comprises the second moving axis, the preset formula can be:

[0105] y1=k 21 x 11 +k 22 x 12 +h1+b2

[0106] wherein h1 is the height value; x 11 is the third scale value, the fourth scale value or the fifth scale value, x 12is the sixth scale value, the seventh scale value or the eighth scale value; when x 11 is the third scale value, y1 is a third mirror height of the mirror to the welding plane when the mirror is at the third position; when x 11 is the fourth scale value, y1 is a fourth mirror height of the mirror to the welding plane when the mirror is at the fourth position; when x 11 is the fifth scale value, y1 is a fifth mirror height of the mirror to the welding plane when the mirror is at the fifth position; b2, k 21 , k 22 is the relationship parameter.

[0107] Optionally, the relationship parameter is determined by substituting the measured height value, the parameter generated under the corresponding debugging motion and the actual height of the mirror to the welding plane under the corresponding debugging motion into the preset formula, and specifically includes:

[0108] The measured height value, the third scale value, the sixth scale value and the third mirror height are substituted into the preset formula to obtain a third equation.

[0109] The measured height value, the fourth scale value, the seventh scale value and the fourth mirror height are substituted into the preset formula to obtain a fourth equation.

[0110] The measured height value, the fifth scale value, the eighth scale value and the fifth mirror height are substituted into the preset formula to obtain a fifth equation.

[0111] The relationship parameter is determined according to the third equation, the fourth equation and the fifth equation.

[0112] When the welding machine is a six-axis welding machine, x 12 is the scale value of the second moving shaft, and since k 22 exists, a group of data needs to be measured, and k 21 , k 22 and b2 are determined in the form of a three-element first-order equation set.

[0113] For example, the measured height value h1 is 10 cm, the third scale value is 10 cm, the sixth scale value is 5 cm, and the third mirror height is 20 cm, which are substituted into the preset formula to obtain a third equation 20 = 10 × k 21 + 5 × k 22 + 10 + b2; the fourth scale value is 20 cm, the seventh scale value is 10 cm, and the fourth mirror height is 25 cm, which are substituted into the preset formula to obtain a fourth equation 25 = 20 × k 21 + 10 × k 22+10+b2; the fifth scale value is 30 m, the eighth scale value is 15 cm, the fifth vibration mirror height is 30 cm, the fifth equation is obtained by substituting into the preset formula, that is, 30=30*k 21 +15*k 22 +10+b2; finally, k 21 =0.25, k 22 =0.5, b2=25. When the controller controls the work of the six-axis welding machine, the determined relationship parameters k 21 =0.25, k 22 =0.5, b2=25.

[0114] Based on the same inventive concept, as Figure 5 indicated in the specification of the present application, the embodiment of the present application provides a device 300 for adjusting the welding plane to the welding focal length in real time, which is used to realize the method for adjusting the welding plane to the welding focal length in real time described above, and the device 300 for adjusting the welding plane to the welding focal length in real time is applied to a welding machine, the welding machine comprises a height measuring module, a vibration mirror and a first moving shaft, the moving shaft is perpendicular to the welding plane, the vibration mirror is arranged on the first moving shaft and can move in the vertical direction; the device 300 for adjusting the welding plane to the welding focal length in real time comprises:

[0115] A height measuring value acquisition module 301 is configured to acquire a height measuring value of the height measuring module and position information of the vibration mirror on the first moving shaft, wherein the height measuring value is a vertical distance from the height measuring module to the welding plane.

[0116] An actual height determination module 302 is configured to determine an actual height of the vibration mirror to the welding plane based on a preset formula and according to the height measuring value and the position information.

[0117] A focal length correction module 303 is configured to determine whether the actual height is a preset focal length, and if not, control the vibration mirror to move to a target position, so that the height of the vibration mirror to the welding plane is the preset focal length.

[0118] Regarding the device 300 described above, the specific functions of each module have been described in detail in the embodiment of the method for adjusting the welding plane to the welding focal length in real time provided in the specification, and will not be described in detail here.

[0119] The method for real-time adjusting the welding plane to the welding focal length provided by the application, through the pre-adjusted welding machine, the height measurement value of the height measurement module and the position information of the galvanometer on the first moving axis are acquired, the actual height of the galvanometer to the welding plane is determined based on the preset formula, and the galvanometer is controlled based on the actual height, so that the height of the galvanometer to the welding plane is the preset focal length. The actual height of the galvanometer to the welding plane can be displayed in real time during the operation of the equipment, the distance error measured by the PLC is reduced, and the accuracy is improved.

[0120] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are only schematic, for example, the flow charts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flow charts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that, in some alternative implementation manners, the functions noted in the blocks can also occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flow charts, and the combination of blocks in the block diagrams and / or flow charts, can be implemented by a dedicated hardware-based system for implementing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0121] In addition, each functional module in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0122] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or parts of the present application that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media. It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices that include a series of elements include not only those elements, but also other elements not explicitly listed, or include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0123] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of real-time adjustment of a welding plane to a welding focal point, characterized in that, The application is applied to a welding machine, the welding machine comprises a height measuring module, a galvanometer and a moving shaft, the moving shaft comprises a first moving shaft which is perpendicular to a welding plane, the galvanometer is arranged on the first moving shaft and can move in a vertical direction; the method comprises: obtaining a height measuring value of the height measuring module and position information of the galvanometer on the first moving shaft, wherein the height measuring value is used to display the height of the welding plane and is a fixed value; obtaining a relationship parameter in a preset formula by debugging the welding machine, comprising: controlling the welding machine to perform debugging movement multiple times while keeping the height measuring value unchanged, and obtaining debugging movement parameters generated under corresponding debugging movement, specifically comprising: controlling the galvanometer to move to a first position on the first moving shaft, and obtaining a first scale value of the first moving shaft when the galvanometer is at the first position; controlling the galvanometer to move to a second position on the first moving shaft, and obtaining a second scale value of the first moving shaft when the galvanometer is at the second position; obtaining the actual height of the galvanometer to the welding plane under corresponding debugging movement, specifically comprising: obtaining a first galvanometer height of the galvanometer to the welding plane when the galvanometer is at the first position, and obtaining a second galvanometer height of the galvanometer to the welding plane when the galvanometer is at the second position; substituting the height measuring value, the parameters generated under corresponding debugging movement and the actual height of the galvanometer to the welding plane under corresponding debugging movement into the preset formula to determine the relationship parameter; determining the actual height of the galvanometer to the welding plane based on the height measuring value and the position information according to the preset formula; the preset formula comprises a relationship parameter; the relationship parameter is used to represent the parameter value of the correlation between the position information of the galvanometer on the first moving shaft and the actual height of the galvanometer to the welding plane, the relationship parameter is a fixed value, and the preset formula is: y0=k1x0+h0+b1 wherein h0 is the height measuring value; x0 is the first scale value or the second scale value; when x0 is the first scale value, y0 is the first galvanometer height of the galvanometer to the welding plane when the galvanometer is at the first position; when x0 is the second scale value, y0 is the second galvanometer height of the galvanometer to the welding plane when the galvanometer is at the second position; b1 and k1 are the relationship parameter; judging whether the actual height is a preset focal length, if not, controlling the galvanometer to move to a target position so that the height of the galvanometer to the welding plane is the preset focal length.

2. The method of real-time adjustment of the welding plane to the welding focal length according to claim 1, characterized in that, The determination of the relationship parameter by substituting the height measuring value, the parameters generated under corresponding debugging movement and the actual height of the galvanometer to the welding plane under corresponding debugging movement into the preset formula specifically comprises: substituting the height measuring value, the first scale value and the first galvanometer height into the preset formula to obtain a first equation; substituting the height measuring value, the second scale value and the second galvanometer height into the preset formula to obtain a second equation; According to the first equation and the second equation, the relationship parameter is determined.

3. A method of real-time adjustment of a welding plane to a welding focal point, characterized in that, The method is applied to a welding machine, the welding machine comprising a height measuring module, a galvanometer and a moving shaft, the moving shaft comprising a first moving shaft and a second moving shaft, the first moving shaft and the second moving shaft being perpendicular to a welding plane, the galvanometer being arranged on the first moving shaft, and the height measuring module being arranged on the second moving shaft; the method comprising: obtaining a height measuring value of the height measuring module and position information of the galvanometer on the first moving shaft, wherein the height measuring value is used to display the height of the welding plane and is a fixed value; obtaining a relationship parameter in a preset formula by debugging the welding machine, comprising: controlling the welding machine to perform debugging movements multiple times while keeping the height measuring value unchanged, and obtaining debugging movement parameters generated under corresponding debugging movements, specifically comprising: controlling the galvanometer to move to a third position on the first moving shaft, controlling the height measuring module to move to a sixth position on the second moving shaft, obtaining a third scale value of the first moving shaft when the galvanometer is at the third position, and a sixth scale value of the second moving shaft when the height measuring module is at the sixth position; controlling the galvanometer to move to a fourth position on the first moving shaft, controlling the height measuring module to move to a seventh position on the second moving shaft, obtaining a fourth scale value of the first moving shaft when the galvanometer is at the fourth position, and a seventh scale value of the second moving shaft when the height measuring module is at the seventh position; and controlling the galvanometer to move to a fifth position on the first moving shaft, controlling the height measuring module to move to an eighth position on the second moving shaft, obtaining a fifth scale value of the first moving shaft when the galvanometer is at the fifth position, and an eighth scale value of the second moving shaft when the height measuring module is at the eighth position; obtaining the actual height of the galvanometer to the welding plane under corresponding debugging movements, specifically comprising: obtaining a third galvanometer height of the galvanometer to the welding plane when the galvanometer is at the third position; obtaining a fourth galvanometer height of the galvanometer to the welding plane when the galvanometer is at the fourth position; and obtaining a fifth galvanometer height of the galvanometer to the welding plane when the galvanometer is at the fifth position; determining the actual height of the galvanometer to the welding plane based on the height measuring value and the position information according to a preset formula; the preset formula contains a relationship parameter; the relationship parameter is used to represent the parameter value of the correlation between the position information of the galvanometer on the first moving shaft and the actual height of the galvanometer to the welding plane, and the relationship parameter is a fixed value, and the preset formula is: y1=k 21 x 11 +k 22 x 12 +h1+b2 wherein h1 is the measured height value; x 11 is the third, fourth or fifth scale value, x 12 is the sixth, seventh or eighth scale value; when x 11 is the third scale value, x 12 is the sixth scale value, y1 is the third mirror height of the mirror to the welding plane when the mirror is at the third position; when x 11 is the fourth scale value, x 12 is the seventh scale value, y1 is the fourth mirror height of the mirror to the welding plane when the mirror is at the fourth position; when x 11 is the fifth scale value, x 12 is the eighth scale value, y1 is the fifth mirror height of the mirror to the welding plane when the mirror is at the fifth position; b2, k 21 , k 22 are the relationship parameters; determining whether the actual height is a preset focal length, and if not, controlling the galvanometer to move to a target position so that the height of the galvanometer to the welding plane is the preset focal length.

4. The method of real-time adjustment of the welding plane to the welding focal length according to claim 3, characterized in that, According to the height measuring value, the parameters generated under corresponding debugging movements, and the actual height of the galvanometer to the welding plane under corresponding debugging movements, the relationship parameter is determined by substituting into the preset formula, specifically comprising: The measured height value, the third scale value, the sixth scale value, and the third galvanometer height are substituted into the preset formula to obtain a third equation; The measured height value, the fourth scale value, the seventh scale value, and the fourth galvanometer height are substituted into the preset formula to obtain a fourth equation; The measured height value, the fifth scale value, the eighth scale value, and the fifth galvanometer height are substituted into the preset formula to obtain a fifth equation; The relationship parameter is determined according to the third equation, the fourth equation, and the fifth equation.

5. A device for real-time adjustment of a welding plane to a welding focal point, characterized by The device for adjusting the welding plane to the welding focal length in real time is applied to a welding machine, and the welding machine comprises a height measuring module, a galvanometer, and a moving shaft. The moving shaft comprises a first moving shaft, and the first moving shaft is perpendicular to the welding plane. The galvanometer is arranged on the first moving shaft and can move in the vertical direction. The device for adjusting the welding plane to the welding focal length in real time comprises: A height value acquisition module is configured to acquire a height value of the height measuring module and position information of the galvanometer on the first moving shaft. The height value is used to display the height of the welding plane and is a fixed value. An actual height determination module is configured to acquire a relationship parameter in a preset formula by debugging the welding machine. Specifically, the welding machine is controlled to perform debugging movements multiple times while the height value remains unchanged, and debugging movement parameters generated under corresponding debugging movements are acquired. Specifically, the galvanometer is controlled to move to a first position on the first moving shaft, and a first scale value of the first moving shaft at the first position of the galvanometer is acquired. The galvanometer is controlled to move to a second position on the first moving shaft, and a second scale value of the first moving shaft at the second position of the galvanometer is acquired. The actual height of the galvanometer to the welding plane under corresponding debugging movements is acquired. Specifically, a first galvanometer height of the galvanometer to the welding plane at the first position of the galvanometer is acquired, and a second galvanometer height of the galvanometer to the welding plane at the second position of the galvanometer is acquired. The height value, the parameters generated under corresponding debugging movements, and the actual height of the galvanometer to the welding plane under corresponding debugging movements are substituted into the preset formula to determine the relationship parameter. The actual height of the galvanometer to the welding plane is determined based on the height value and the position information according to the preset formula. The preset formula comprises the relationship parameter. The relationship parameter is used to represent a parameter value of a correlation between the position information of the galvanometer on the first moving shaft and the actual height of the galvanometer to the welding plane. The relationship parameter is a fixed value, and the preset formula is: y0=k1x0+h0+b1 Wherein, h0 is the measured height value; x0 is the first scale value or the second scale value; when x0 is the first scale value, y0 is the first mirror height from the welding plane when the mirror is at the first position; when x0 is the second scale value, y0 is the second mirror height from the welding plane when the mirror is at the second position; b1 and k1 are the relationship parameters; The focal length correction module is used for judging whether the actual height is a preset focal length. If not, the mirror is controlled to move to a target position, so that the height of the mirror to the welding plane is the preset focal length.

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