Laser welding method, device, control equipment and storage medium

Abstract

The present application discloses a laser welding method, apparatus, control device, and storage medium, including: determining that a target workpiece rotates to a target welding position, and controlling a laser to output a laser beam to a galvanometer so that the galvanometer reflects the laser beam onto the target workpiece's surface to be welded; determining the position information of the rotation center corresponding to the target workpiece; obtaining a welding pattern corresponding to the target workpiece, and determining an initial welding trajectory corresponding to the target workpiece based on the welding pattern; performing trajectory compensation on the initial welding trajectory based on the position information of the rotation center to obtain a target welding trajectory; and controlling the galvanometer to perform laser scanning according to the target welding trajectory so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern. The embodiments can increase the welding speed of laser welding, thereby improving production efficiency.

Description

Technical Field

[0001] The present application relates to the field of laser processing technology, and in particular to a laser welding method, device, control equipment and storage medium. Background Art

[0002] Currently, the specific operating process of intermittent laser welding technology includes: moving the battery to the welding position, mechanically positioning it, and then laser welding. After welding is completed, the battery is removed from the welding position and the next battery is moved to the welding position, mechanically positioning it again, and repeating the above operations to cycle the laser welding process. The currently used intermittent laser welding technology can be used to laser weld target workpieces, such as cylindrical batteries in the lithium battery industry. However, due to the long start and stop time of the rotating platform and the need for mechanical positioning before each welding, the welding speed is slow and there is a problem of low production efficiency. Summary of the Invention

[0003] The embodiments of the present application disclose a laser welding method, apparatus, control device and storage medium, which can increase the welding speed of laser welding, thereby improving production efficiency.

[0004] The present application discloses a laser welding method, which is applied to a control device, wherein the control device is communicatively connected to a laser, a galvanometer, and a rotating platform, respectively. The rotating platform includes a platform body and a drive device, wherein the drive device is used to drive the rotating platform to rotate around a rotation axis. The side of the platform body facing the galvanometer is used to support a target workpiece to be welded. The method includes:

[0005] Determining that the target workpiece rotates to a target welding position, and controlling the laser to output a laser beam to the galvanometer, so that the galvanometer reflects the laser beam to the surface to be welded of the target workpiece;

[0006] Determining the position information of the rotation center corresponding to the target workpiece;

[0007] Acquire a welding pattern corresponding to the target workpiece, and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern;

[0008] According to the position information of the rotation center, the initial welding trajectory is subjected to trajectory compensation to obtain a target welding trajectory; wherein the trajectory compensation is used to compensate for the position error generated by the target workpiece during the rotation process;

[0009] The galvanometer is controlled to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

[0010] In one embodiment, the rotating platform further includes an encoder, and the encoder is used to collect the pulse signal of the driving device. The determining that the target workpiece rotates to the target welding position includes:

[0011] Acquiring a pulse signal of the driving device collected by the encoder;

[0012] determining a real-time rotational position of the target workpiece according to the pulse signal;

[0013] When the distance between the real-time rotation position and the target welding position is less than a preset threshold, it is determined that the target workpiece is rotated to the target welding position.

[0014] In one embodiment, the control device is further communicatively connected to a photoelectric sensor, the photoelectric sensor including a transmitter and a receiver, the transmitter being configured to transmit a light beam to the receiver, and the rotating platform further comprising an induction sheet configured to block light beam propagation between the transmitter and the receiver when the target workpiece rotates to the target welding position;

[0015] The step of determining that the target workpiece is rotated to a target welding position includes:

[0016] If an arrival signal sent by the photoelectric sensor is received, it is determined that the target workpiece has rotated to the target welding position; wherein the arrival signal is a signal sent by the photoelectric sensor when the receiving end cannot receive the light beam emitted by the transmitting end.

[0017] In one embodiment, determining the position information of the rotation center corresponding to the target workpiece includes:

[0018] Determining a galvanometer amplitude of the galvanometer, wherein the galvanometer amplitude is a planar area that can be radiated by the laser beam after being reflected by the galvanometer, and the galvanometer amplitude is determined by a maximum deviation angle of the laser beam reflected on the galvanometer;

[0019] Based on the galvanometer format, position information of a rotation center corresponding to the target workpiece is determined, where the rotation center is an intersection of the rotation axis and a plane to which the galvanometer format belongs.

[0020] In one embodiment, determining the position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude includes:

[0021] Determining initial position information of a rotation center corresponding to the target workpiece based on the galvanometer amplitude;

[0022] The initial position information is calibrated according to the calibration parameters to obtain the position information of the rotation center corresponding to the target workpiece.

[0023] In one embodiment, the galvanometer is further configured to control the deflection of the laser beam so that the laser beam moves in a first direction of the galvanometer amplitude and a second direction of the galvanometer amplitude; the first direction, the second direction, and the amplitude center of the galvanometer amplitude constitute a plane coordinate system corresponding to the galvanometer amplitude;

[0024] The determining of the initial position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude includes:

[0025] Determining initial position information of the rotation center corresponding to the target workpiece in the plane coordinate system, the initial position information including an initial first coordinate in the first direction and an initial second coordinate in the second direction;

[0026] The step of calibrating the initial position information according to the calibration parameters to obtain the position information of the rotation center corresponding to the target workpiece includes:

[0027] calibrating the initial first coordinate based on a first calibration parameter corresponding to the first direction to obtain a target first coordinate of the rotation center;

[0028] calibrating the initial second coordinate based on a second calibration parameter corresponding to the second direction to obtain a target second coordinate of the rotation center;

[0029] The target first coordinate and the target second coordinate are used as position information of the rotation center.

[0030] In one embodiment, the method further comprises:

[0031] Constructing a grid pattern on the surface to be welded of the target workpiece; wherein the surface to be welded is within the galvanometer amplitude, the grid pattern includes a plurality of grid points, and the middle grid point of the grid pattern is the amplitude center of the galvanometer amplitude;

[0032] Performing position calibration on the initial position information of each of the grid points according to the target calibration parameters to obtain calibrated position information corresponding to each of the grid points;

[0033] When the rotating platform is not rotating, the laser is controlled to output a laser beam to the galvanometer, and according to the calibration position information corresponding to each grid point, the galvanometer is controlled to perform laser scanning on the surface to be welded, and the actual position information corresponding to each grid point on the surface to be welded is obtained;

[0034] If the position error between the initial position information and the actual position information corresponding to each of the grid points is not greater than the error threshold, the target calibration parameter is used as the calibration parameter of the galvanometer amplitude;

[0035] If the position error between the initial position information and the actual position information corresponding to any grid point is greater than the error threshold, the target calibration parameters are updated according to the position error, and the updated target calibration parameters are used to re-execute the step of calibrating the initial position information of each grid point according to the target calibration parameters to obtain the calibrated position information corresponding to each grid point.

[0036] In one embodiment, the initial welding trajectory includes the relative positions of multiple trajectory points in the surface to be welded, and the trajectory compensation is performed on the initial welding trajectory according to the position information of the rotation center to obtain the target welding trajectory, including:

[0037] Determining an expected welding time corresponding to each of the trajectory points, the expected welding time being the time required for the laser beam to reach each of the trajectory points from the first trajectory point when the galvanometer performs laser scanning along the initial welding trajectory;

[0038] Determining the rotation angle corresponding to each of the trajectory points according to the expected welding time corresponding to each of the trajectory points and the rotation speed of the rotating platform;

[0039] Determining initial position information of each of the trajectory points based on the position information of the rotation center and the relative positions of each of the trajectory points;

[0040] According to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each of the trajectory points, position compensation is performed on the initial position information of each of the trajectory points to obtain the target position information of each of the trajectory points to generate a target welding trajectory.

[0041] The present application discloses a laser welding device, which is applied to a control device, wherein the control device is communicatively connected to a laser, a galvanometer, and a rotating platform, respectively. The rotating platform includes a platform body and a drive device, wherein the drive device is used to drive the rotating platform to rotate around a rotation axis. The side of the platform body facing the galvanometer is used to support a target workpiece to be welded. The device includes:

[0042] a laser output module, configured to determine that the target workpiece rotates to a target welding position, and control the laser to output a laser beam to the galvanometer, so that the galvanometer reflects the laser beam to the surface to be welded of the target workpiece;

[0043] A position determination module, configured to determine position information of a rotation center corresponding to the target workpiece;

[0044] a trajectory determination module, configured to obtain a welding pattern corresponding to the target workpiece and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern;

[0045] A trajectory compensation module is used to perform trajectory compensation on the initial welding trajectory according to the position information of the rotation center to obtain a target welding trajectory; wherein the trajectory compensation is used to compensate for the position error generated by the target workpiece during the rotation process;

[0046] The laser scanning module is used to control the galvanometer to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

[0047] The present application discloses a control device, including:

[0048] a memory storing executable program code;

[0049] a processor coupled to the memory;

[0050] The processor calls the executable program code stored in the memory to execute the method described in any one of the above embodiments.

[0051] An embodiment of the present application discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the method described in any one of the above embodiments.

[0052] Through the laser welding method, device, control device and storage medium disclosed in the embodiments of the present application, the control device can be communicated with the laser, the galvanometer and the rotating platform respectively. The rotating platform includes a platform body and a driving device. The side of the platform body facing the galvanometer can carry the target workpiece to be welded. When the galvanometer needs to perform laser welding on the target workpiece, the driving device can drive the rotating platform to rotate around the rotation axis. The control device can determine that the target workpiece is rotated to the target welding position, and control the laser to output the laser beam to the galvanometer, so that the galvanometer can reflect the laser beam to the surface to be welded of the target workpiece. The control device then determines the position information of the rotation center corresponding to the target workpiece, and obtains the welding pattern corresponding to the target workpiece, and determines the initial welding trajectory corresponding to the target workpiece according to the welding pattern, so that the initial welding trajectory can be compensated according to the position information of the rotation center to compensate for the position error generated by the target workpiece during the rotation process. The control device can obtain the target welding trajectory, and then control the galvanometer to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

[0053] By implementing the embodiments of the present application, by communicating with the control device and the laser, galvanometer and rotating platform, comprehensive control and management of the welding process can be achieved, thereby improving the controllability and stability of the welding process. In addition, by carrying the target workpiece on the rotating platform, the driving device can drive the rotating platform to rotate around the rotating axis to drive the target workpiece to keep rotating during the welding process, and when the target workpiece is determined to rotate to the target welding position, the laser is controlled to output the laser beam, which can ensure that the laser beam is welded when the target workpiece reaches the correct position, and then the position error generated during the rotation of the target workpiece is eliminated through trajectory compensation, thereby achieving precise control of the welding trajectory under the premise of ensuring welding accuracy and quality, and without having to control the rotating platform to stop rotating every time the target workpiece is welded, the welding task can be completed quickly and efficiently, thereby improving the production efficiency of laser welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0055] Figure 1 This is an application scenario diagram of a laser welding method disclosed in an embodiment of the present application;

[0056] Figure 2 This is a schematic flow chart of a laser welding method disclosed in an embodiment of the present application;

[0057] Figure 3-A This is a schematic diagram of an application scenario of another laser welding method disclosed in an embodiment of the present application;

[0058] Figure 3-B is a schematic diagram of a trajectory deviation disclosed in an embodiment of the present application;

[0059] Figure 3-C is a schematic diagram of a rotating disk disclosed in an embodiment of the present application;

[0060] Figure 3-D This is a schematic diagram of an application scenario of another laser welding method disclosed in this application;

[0061] Figure 4-A is a schematic diagram of a welding pattern disclosed in an embodiment of the present application;

[0062] Figure 4-B is a schematic diagram of an actual welding trajectory disclosed in an embodiment of the present application;

[0063] Figure 5This is a schematic flow chart of another laser welding method disclosed in an embodiment of the present application;

[0064] Figure 6 This is a schematic diagram of a galvanometer format disclosed in an embodiment of the present application;

[0065] Figure 7 1 is a flow chart of a method for determining calibration parameters disclosed in an embodiment of the present application;

[0066] Figure 8 is a schematic diagram of a grid pattern disclosed in an embodiment of the present application;

[0067] Figure 9 This is a modular schematic diagram of a laser welding device disclosed in an embodiment of the present application;

[0068] Figure 10 This is a structural block diagram of a control device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0070] It should be noted that the terms "including" and "having" in the embodiments of the present application and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0071] It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements herein, but these elements are not limited by these terms. These terms are used solely to distinguish a first element from another element. For example, a first calibration parameter may be referred to as a second calibration parameter, and similarly, a second calibration parameter may be referred to as a first calibration parameter, without departing from the scope of this application. Both the first calibration parameter and the second calibration parameter are calibration parameters, but they are not the same calibration parameter.

[0072] The embodiments of the present application disclose a laser welding method, apparatus, control device and storage medium, which can increase the welding speed of laser welding, thereby improving production efficiency.

[0073] The following is a detailed description with reference to the accompanying drawings.

[0074] like Figure 1 As shown, Figure 1 This is an application scenario diagram of a laser welding method disclosed in an embodiment of the present application. The application scenario includes a control device 110, a laser 120, a galvanometer 130 and a rotating platform 140. The control device 110 can be respectively communicated with the laser 120, the galvanometer 130 and the rotating platform 140. The rotating platform 140 can also include a platform body 141 and a driving device 142. The side of the platform body 141 facing the galvanometer 130 is used to carry the target workpiece 143 to be welded. The driving device 142 can drive the rotation 140 to rotate around the rotation axis, thereby driving the target workpiece 143 to rotate. There can be one or more target workpieces 143, and there is no restriction on this.

[0075] The control device 10 may include but is not limited to a mobile phone, a tablet computer, a wearable device, a laptop computer, a PC (Personal Computer), etc.

[0076] The laser 120 may include but is not limited to a fiber laser, a carbon dioxide laser, and a semiconductor laser. The laser 120 may be a light source capable of generating a highly concentrated, monochromatic, high-brightness light beam. This application does not limit the specific structure of the laser 120. Optionally, the laser 120 may output a laser beam to the galvanometer 130.

[0077] The galvanometer 130 may include a laser galvanometer, and the galvanometer 130 may include one or more reflectors. The galvanometer 130 can reflect the laser beam incident to the galvanometer 130 through one or more reflectors to change the propagation direction of the laser beam. Optionally, the galvanometer 130 can reflect the laser beam output from the laser 120 to the galvanometer 130 to the surface to be welded of the target workpiece 143.

[0078] In one embodiment, the control device 110 can determine that the target workpiece 143 rotates to the target welding position, and control the laser 120 to output the laser beam to the galvanometer 130, so that the galvanometer 130 reflects the laser beam to the surface to be welded of the target workpiece 143. The control device 110 can also determine the position information of the rotation center corresponding to the target workpiece 143, and obtain the welding pattern corresponding to the target workpiece 143, and determine the initial welding trajectory corresponding to the target workpiece 143 based on the welding pattern. The control device 110 can thus perform trajectory compensation on the initial welding trajectory based on the position information of the rotation center to obtain the target welding trajectory, wherein the trajectory compensation can compensate for the position error generated by the target workpiece 143 during the rotation process. The control device 110 can control the galvanometer 130 to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece 143 matches the welding pattern.

[0079] In one embodiment, Figure 2 As shown, Figure 2 : is a flow chart of a laser welding method disclosed in an embodiment of the present application. The laser welding method can be applied to the control device in the above embodiment. The laser welding method may include the following steps:

[0080] Step 210 , determining that the target workpiece rotates to the target welding position, and controlling the laser to output a laser beam to the galvanometer, so that the galvanometer reflects the laser beam to the to-be-welded surface of the target workpiece.

[0081] When the control device receives an instruction to laser weld the target workpiece, the control device can control the driving device of the rotating platform to drive the rotating platform to rotate around the rotation axis. The position of the rotation axis can be determined according to the center position of the driving device and can be perpendicular to the platform body of the rotating platform. The rotation speed of the rotating platform is usually fixed. When the target workpiece rotates following the rotating platform, the control device can determine that the target workpiece rotates to the target welding position and control the laser to output the laser beam to the galvanometer. The galvanometer can reflect the laser beam to the surface to be welded of the target workpiece. The target welding position may refer to the welding position corresponding to the laser beam emitted by the galvanometer. The target welding position is pre-set according to the position of the galvanometer so that when the target workpiece rotates to the target welding position, the laser beam reflected by the galvanometer can reach the surface to be welded of the target workpiece.

[0082] It should be noted that laser scanning can only be carried out when the laser, galvanometer and rotating platform are all operating normally, because if the control device receives an alarm message, the laser will be controlled not to output the laser beam. The alarm message may include the alarm information of the laser, the alarm information of the galvanometer and the alarm information of the rotating platform. Among them, any device among the laser, galvanometer and rotating platform can send an alarm message to the control device when an abnormality is detected, thereby ensuring the safety of laser welding.

[0083] Optionally, the control device may determine the target rotation angle between the initial position of the target workpiece and the target welding position before controlling the rotating platform to start rotating, so that the target workpiece can be determined to be rotated to the target welding position when the rotation angle of the rotating platform reaches the target rotation angle. For example, if the rotating platform is a circular platform, before the rotating platform starts rotating, the initial position of the target workpiece is located at the end of the rotating platform opposite to the target welding position, then the target rotation angle between the initial position of the target workpiece and the target welding position is 180 degrees. Wherein, the initial position of the target workpiece and the target welding position can be coordinate positions in a world coordinate system, and the world coordinate system is constructed with a preset position as the origin. The preset position may include but is not limited to the galvanometer position, the laser position and the drive device position. Optionally, a sensor for detecting the position of the target workpiece may be provided, and the control device may determine the position of the target workpiece through the detection data of the sensor to determine that the target workpiece is rotated to the target welding position. The sensor may include but is not limited to a photoelectric sensor, an image sensor, etc.

[0084] In one embodiment, the rotating platform may further include an encoder, which is used to collect pulse signals from the driving device. The control device can obtain the pulse signals from the driving device collected by the encoder, and determine the real-time rotation position of the target workpiece based on the pulse signals. When the distance between the real-time rotation position and the target welding position is less than a preset threshold, the control device determines that the target workpiece is rotated to the target welding position.

[0085] like Figure 3-A As shown, Figure 3-A This is a schematic diagram of an application scenario of another laser welding method disclosed in an embodiment of the present application, wherein the rotating platform 140 may further include an encoder 144, which may collect pulse signals from the driving device 142. The control device 110 may obtain the pulse signals of the driving device 142 collected by the encoder 144. Based on the pulse signals, the real-time rotation position of the target workpiece 143 may be determined, and when the distance between the real-time rotation position and the target welding position is less than a preset threshold, the control device 110 may determine that the target workpiece 143 is rotated to the target welding position.

[0086] Optionally, the preset threshold value can be determined based on the delay time of laser welding. The delay time of laser welding refers to the time required for the laser beam to reach the target position corresponding to the control instruction after the control device 110 sends the corresponding control instruction to the laser 120 and the galvanometer 130. For example, the delay time of laser welding can be 10ms (milliseconds), and the preset threshold value can be the distance that the target workpiece 143 can rotate within 10ms. Implementing this embodiment can improve the accuracy of determining the rotation of the target workpiece to the target welding position. If the delay time of laser welding is not corrected, the actual welding trajectory of the laser welding will have a trajectory offset, such as Figure 3-B As shown, Figure 3-B 3 is a schematic diagram of a trajectory deviation disclosed in an embodiment of the present application, wherein the actual welding trajectory 302 is offset relative to the initial welding trajectory 301 .

[0087] Optionally, the control device can determine the real-time rotation position of the target workpiece, which can be the angle of the target workpiece on the rotating platform relative to the preset fixed position. The preset fixed position can be zero degrees, and the clockwise direction can be the positive direction, and the angle range is 0 to 360 degrees, such as Figure 3-C As shown, Figure 3-C This is a schematic diagram of a rotating disk disclosed in an embodiment of the present application. The angle between the target workpiece 310 and the preset fixed position 320 is 180 degrees, so the relative position of the target workpiece 310 on the rotating platform 300 can be 180 degrees. The angle between the target welding position and the preset fixed position 320 is 270 degrees, so the relative position of the target welding position on the rotating platform 300 can be 270 degrees. After the rotating platform 300 continues to rotate clockwise by 90 degrees, the control device can determine that the target workpiece 310 rotates to the target welding position 330, or, after the rotating platform 300 continues to rotate counterclockwise by 270 degrees, the control device can determine that the target workpiece 310 rotates to the target welding position 330.

[0088] As an optional embodiment, the control device may also be communicatively coupled to a photoelectric sensor. The photoelectric sensor includes a transmitter and a receiver. The transmitter is configured to transmit a light beam to the receiver. The rotating platform also includes a sensor plate configured to block the light beam from propagating between the transmitter and the receiver when the target workpiece rotates to the target welding position. If the control device receives an arrival signal from the photoelectric sensor, it can determine that the target workpiece has rotated to the target welding position.

[0089] The arrival signal is a signal sent by the photoelectric sensor when the receiving end fails to receive the light beam emitted by the transmitting end. Optionally, the transmitting end can continuously send a light beam to the receiving end during the welding process, and the sensor plate can rotate with the rotation of the rotating platform. The positions of the sensor plate and the photoelectric sensor can be pre-set. When the rotating platform drives the target workpiece to rotate to the target welding position, the sensor plate also rotates between the transmitting end and the receiving end of the photoelectric sensor to block the propagation of the light beam between the transmitting end and the receiving end, thereby making it impossible for the receiving end to receive the light beam emitted by the transmitting end. That is, the failure of the receiving end to receive the light beam indicates that the target workpiece has reached the target welding position, and the photoelectric sensor can send an arrival signal to the control device.

[0090] Optionally, the method of determining that the target workpiece reaches the target welding position by using a photoelectric sensor can be used together with the method of determining that the target workpiece reaches the target welding position by using a pulse signal obtained by an encoder in the above embodiment to enhance accuracy.

[0091] like Figure 3-D As shown, Figure 3-D It is a schematic diagram of an application scenario of another laser welding method disclosed in the present application, wherein the photoelectric sensor 150 may include an upper end and a lower end, the upper end may be a receiving end, and the lower end may be a transmitting end, or the upper end may be a transmitting end, and the lower end may be a receiving end, and there is no limitation on this. The sensing sheet 145 may be provided on the side of the platform body 141, and the sensing sheet 145 is located in the direction of the target workpiece 143 away from the center of the platform body 141. When the target workpiece 143 rotates to the target welding position, that is, when the galvanometer 130 can reflect the laser beam to the surface to be welded of the target workpiece 143, the sensing sheet 145 reaches the middle of the upper and lower ends of the photoelectric sensor 150 to block the propagation of the light beam between them. It should be noted that, Figure 3-C This is only an example of the position of the photoelectric sensor and the sensing piece, and does not mean that the photoelectric sensor and the sensing piece can only be positioned in the same manner. Figure 3-C The position of the photoelectric sensor and the sensing sheet is set. The embodiment of the present application does not limit the position of the photoelectric sensor and the sensing sheet. The position of the photoelectric sensor and the sensing sheet only needs to meet the condition that the sensing sheet blocks the propagation of the light beam between the transmitting end and the receiving end when the target workpiece rotates to the target welding position.

[0092] Step 220: Determine the position information of the rotation center corresponding to the target workpiece.

[0093] The rotation center corresponding to the target workpiece refers to the axis of the target workpiece during rotation. Since the target workpiece rotates along with the rotating platform, that is, the target workpiece also rotates around the rotation axis of the rotating platform, the rotation center of the target workpiece can be determined based on the rotation axis of the rotating platform. Optionally, the control device can determine the position information of the rotation center corresponding to the target workpiece based on the plane of the target workpiece's surface to be welded and the rotation axis. Optionally, the position information of the rotation center can be position information based on the surface to be welded or based on the galvanometer width.

[0094] Step 230 : Acquire a welding pattern corresponding to the target workpiece, and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern.

[0095] The control device can obtain the welding pattern corresponding to the target workpiece. The database of the control device can include multiple welding patterns, such as Figure 4-A As shown, Figure 4-A This is a schematic diagram of a welding pattern disclosed in an embodiment of the present application, wherein welding pattern (a) is a sine curve, welding pattern (b) is a sine plus oscillation curve, welding pattern (c) is a spiral line, welding pattern (d) is a spiral circle, welding pattern (e) is a multi-segment arc line, and welding pattern (f) is a radial line.

[0096] Optionally, the welding pattern corresponding to each target workpiece can be pre-set, and the control device can obtain the welding pattern corresponding to the target workpiece rotated to the target welding position. For example, the target workpiece currently located at the target welding position can correspond to a sine curve, and the next target workpiece rotated to the target welding position can correspond to a spiral circle. Optionally, the control device can arrange the various welding patterns to obtain a welding sequence, and weld the target workpieces rotated to the target welding position in sequence according to the welding sequence. For example, the welding sequence includes a spiral line, a spiral circle, a radial line, and a spiral circle. Then, according to the welding sequence, the spiral line is welded to the first target workpiece rotated to the target welding position, the spiral circle is welded to the second target workpiece rotated to the target welding position, the radial line is welded to the third target workpiece rotated to the target welding position, and the spiral circle is welded to the fourth target workpiece rotated to the target welding position, and the welding sequence is repeated.

[0097] After obtaining the welding pattern corresponding to the target workpiece, the control device can determine the position of the welding pattern on the surface to be welded of the target workpiece, thereby determining the initial welding trajectory corresponding to the target workpiece. Optionally, the center of the welding pattern can coincide with the center of the surface to be welded of the target workpiece, and the control device can determine the initial welding trajectory corresponding to the target workpiece based on the center position of the surface to be welded. Optionally, each welding pattern can have a starting point, and the surface to be welded includes one or more pre-set fixed points. The control device can determine a fixed point that matches the starting point from the one or more fixed points, and determine the initial welding trajectory corresponding to the target workpiece based on the matching fixed points. Among them, the control device can determine the welding trajectory corresponding to each fixed point when each fixed point is used as the starting point, and determine the degree of centering of the welding trajectory corresponding to each fixed point in the surface to be welded. Optionally, the degree of center of gravity can refer to the average value of the distance from each track point of the welding trajectory to the center position of the surface to be welded. The control device can use the welding trajectory with the highest degree of centering as the initial welding trajectory corresponding to the target workpiece.

[0098] Step 240 : performing trajectory compensation on the initial welding trajectory according to the position information of the rotation center to obtain a target welding trajectory.

[0099] It is understandable that if the target workpiece is kept rotating during the welding process, when the control device is welding with the initial welding trajectory, the actual welding trajectory welded on the surface to be welded will be distorted due to the rotation of the target workpiece, such as Figure 4-B As shown, Figure 4-B This is a schematic diagram of an actual welding trajectory disclosed in an embodiment of the present application. The initial welding trajectory 401 is distorted due to the rotation of the target workpiece, resulting in an actual welding trajectory 402. The distortion is caused by the position error generated by the target workpiece during the rotation process. Therefore, the control device can perform trajectory compensation on the initial welding trajectory based on the position information of the rotation center to compensate for the position error generated by the target workpiece during the rotation process, thereby obtaining the target welding trajectory.

[0100] Taking the first track point in the initial welding trajectory as an example, the initial welding trajectory may include multiple track points, and the first track point may be any track point among the multiple track points. The control device may calculate a first position error between the initial welding position and the actual welding position based on the initial welding position of the first track point and the actual welding position of the first track point, thereby performing position compensation on the initial welding position of the first track point based on the first position error. After position compensation is performed on all track points in the initial welding trajectory, the trajectory compensation of the initial welding trajectory is completed. The actual welding position of the first track point may be determined based on the expected welding time of the first track point, the position information of the rotation center, and the rotation speed of the rotating platform. Optionally, the control device may determine the time required for laser scanning from the starting point to the first track point according to the initial welding trajectory as the expected welding time of the first track point, and then determine the rotation radius corresponding to the target workpiece based on the position information of the rotation center and the position information of the first track point, thereby determining the actual welding position of the first track point based on the rotation radius, the expected welding time, and the rotation speed.

[0101] Step 250 : Control the galvanometer to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

[0102] The control device can control the deflection of the reflector by controlling the motor or electromagnet in the galvanometer. The galvanometer can perform laser scanning along the target welding trajectory. The actual welding trajectory on the target workpiece can match the welding pattern without trajectory deviation. The electromagnet can generate an electromagnetic field, and by changing the direction and intensity of the electromagnetic field, it can cause the reflector to produce different degrees of deflection. The motor can control the rotation direction and speed of the reflector through mechanical movement.

[0103] In the embodiment of the present application, by communicating with the control device and the laser, galvanometer and rotating platform, comprehensive control and management of the welding process can be achieved, thereby improving the controllability and stability of the welding process. In addition, by carrying the target workpiece on the rotating platform, the driving device can drive the rotating platform to rotate around the rotating axis to drive the target workpiece to keep rotating during the welding process, and when the target workpiece is determined to rotate to the target welding position, the laser is controlled to output the laser beam, which can ensure that the laser beam is welded when the target workpiece reaches the correct position, and then the position error generated during the rotation of the target workpiece is eliminated through trajectory compensation, thereby achieving precise control of the welding trajectory while ensuring welding accuracy and quality, and without having to control the rotating platform to stop rotating every time the target workpiece is welded, the welding task can be completed quickly and efficiently, thereby improving the production efficiency of laser welding.

[0104] like Figure 5 As shown, Figure 5 : is a flow chart of another laser welding method disclosed in an embodiment of the present application. The laser welding method can be applied to the above-mentioned control device. The laser welding method may include the following steps:

[0105] Step 510 , determining that the target workpiece rotates to the target welding position, and controlling the laser to output a laser beam to the galvanometer, so that the galvanometer reflects the laser beam to the to-be-welded surface of the target workpiece.

[0106] The method of step 510 is the same as the method of step 210 in the above embodiment and will not be repeated here.

[0107] Step 520: Determine the galvanometer format of the galvanometer.

[0108] Among them, the galvanometer amplitude is the plane area that the laser beam can radiate after being reflected by the galvanometer. The galvanometer amplitude is determined by the maximum deviation angle of the laser beam reflected on the galvanometer. The galvanometer amplitude is determined by the structure of the galvanometer. The staff can pre-set the position relationship between the galvanometer and the rotating platform so that the target workpiece to be welded when it is rotated to the target welding position is within the galvanometer amplitude, such as Figure 6 As shown, Figure 6 Schematic diagram of a galvanometer format disclosed in an embodiment of the present application, wherein a laser beam can reach a galvanometer format 630 after being reflected by a reflector 610 and a reflector 620 in the galvanometer. The arrival position of the laser beam is determined by the degree of deflection of the reflector 610 and the reflector 620. Specifically, a control device can control the degree of deflection of the reflector 610 and the reflector 620, thereby controlling the deflection angle of the laser beam to change the arrival position of the laser beam on the galvanometer format 630. Optionally, the maximum deflection degree of the reflector 610 can determine a first maximum deviation angle of the laser beam, and the maximum deflection degree of the reflector 620 can determine a second maximum deviation angle of the laser beam. The first maximum deviation angle can determine the arrival range of the laser beam in a first direction 631 of the galvanometer format 630, and the second maximum deviation angle can determine the arrival range of the laser beam in a second direction 632 of the galvanometer format 630.

[0109] Step 530: Determine the position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude.

[0110] Based on the galvanometer format, the control device can determine the position information of the rotation center corresponding to the target workpiece. The rotation center is the intersection of the rotation axis and the plane to which the galvanometer format belongs. A plane coordinate system can be established in the plane to which the galvanometer format belongs to determine the position information of the rotation center corresponding to the target workpiece.

[0111] In one embodiment, the control device may determine the initial position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude, calibrate the initial position information according to the calibration parameters, and obtain the position information of the rotation center corresponding to the target workpiece.

[0112] Since the galvanometer format is the planar area that the laser beam can radiate, and due to issues with the galvanometer's physical structure, the initial coordinates input into the galvanometer, after the deflection degree of the reflector is adjusted based on the initial coordinates, the actual coordinates reached by the laser beam are different from the initial coordinates. Therefore, to address this error issue, calibration parameters are pre-set, and these calibration parameters can calibrate the coordinates within the galvanometer format. The galvanometer can be used to control the deflection of the laser beam so that the laser beam moves in a first direction and a second direction within the galvanometer format. Therefore, the calibration parameters can also include a first calibration parameter corresponding to the first direction and a second calibration parameter corresponding to the second direction.

[0113] The control device may first determine the initial position information of the rotation center corresponding to the target workpiece based on the galvanometer format. Optionally, the control device may obtain the distance between the format center and the rotation center of the galvanometer format, and determine the initial position information of the rotation center corresponding to the target workpiece based on the distance, wherein the distance between the format center and the rotation center may include a first distance between the format center and the rotation center in a first direction and a second distance between the format center and the rotation center in a second direction.

[0114] As an optional embodiment, the first direction, the second direction, and the center of the galvanometer amplitude constitute a plane coordinate system corresponding to the galvanometer amplitude, with the center of the amplitude being the origin of the plane coordinate system, the first direction being the direction of the x-axis, and the second direction being the direction of the y-axis. The control device can determine the initial position information of the rotation center corresponding to the target workpiece in the plane coordinate system, where the initial position information includes an initial first coordinate in the first direction and an initial second coordinate in the second direction. The initial first coordinate can be the first distance between the amplitude center and the rotation center in the first direction, and the initial second coordinate can be the second distance between the amplitude center and the rotation center in the second direction.

[0115] The control device can also calibrate the initial position information according to the calibration parameters to obtain the position information of the rotation center corresponding to the target workpiece. Optionally, the first calibration parameter corresponding to the first direction can be used to calibrate the first distance, and the second calibration parameter corresponding to the second direction can be used to calibrate the second distance.

[0116] As an optional implementation, the control device can calibrate the initial first coordinate based on the first calibration parameter corresponding to the first direction to obtain the target first coordinate of the rotation center, and calibrate the initial second coordinate based on the second calibration parameter corresponding to the second direction to obtain the target second coordinate of the rotation center, and use the target first coordinate and the target second coordinate as the position information of the rotation center.

[0117] Optionally, the control device may multiply the first calibration parameter by the initial first coordinate to obtain the target first coordinate, and multiply the second calibration parameter by the initial second coordinate to obtain the target second coordinate.

[0118] Step 540 : Acquire a welding pattern corresponding to the target workpiece, and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern.

[0119] The method of step 540 is the same as the method of step 230 in the above embodiment and will not be repeated here.

[0120] Step 550: Determine the expected welding time corresponding to each track point included in the initial welding track.

[0121] The control device can determine the expected welding time corresponding to each track point in the initial welding track. The expected welding time is the time required for the laser beam to reach each track point from the first track point when the galvanometer performs laser scanning according to the initial welding track. Optionally, the expected welding time corresponding to each track point can be pre-set, such as the expected welding time of track point A is 10ms, and the expected welding time of track point B is 30ms. Optionally, the time required for the galvanometer to scan between any two adjacent track points can be the same and a fixed scanning time. For example, the time required for the laser to scan from the fifth track point to the sixth track point can be the same as the time required from the sixth track point to the seventh track point, and both can be 2ms. Therefore, the control device can determine the serial number of each track point in the welding track, and determine the expected welding time corresponding to each track point based on the serial number corresponding to each track point and the fixed scanning time.

[0122] Step 560 : Determine the rotation angle corresponding to each trajectory point according to the expected welding time corresponding to each trajectory point and the rotation speed of the rotating platform.

[0123] The control device can determine the rotation angle corresponding to each trajectory point based on the expected welding time corresponding to each trajectory point and the rotation speed of the rotating platform. The rotation angle is the angle that the rotating platform has rotated by when the laser beam reaches each trajectory point from the first trajectory point while the rotating platform continues to rotate. Optionally, the rotation speed of the rotating platform can be the same, and the control device multiplies the expected welding time corresponding to each trajectory point by the rotation speed to obtain the rotation angle corresponding to each trajectory point. Optionally, the rotation speed of the rotating platform can be different, and the control device can integrate the rotation speed based on the expected welding time corresponding to each trajectory point to obtain the rotation angle corresponding to each trajectory point.

[0124] As an optional implementation, the control device can obtain the pulse signal of the driving device collected by the encoder, determine the current rotation angle based on the pulse signal, and then determine the trajectory point corresponding to the current rotation angle from multiple trajectory points, so as to determine the rotation angle corresponding to each trajectory point.

[0125] Step 570: Determine the initial position information of each track point based on the position information of the rotation center and the relative position of each track point.

[0126] The control device can determine the initial position information of each trajectory point based on the position information of the rotation center and the relative position of each trajectory point. Optionally, the relative position of each trajectory point can be the position of each trajectory point relative to the rotation center, and the control device can also determine the initial position information of each trajectory point based on the position information of the rotation center and the relative position of each trajectory point. Optionally, the relative position of each trajectory point can be the position of each trajectory point relative to the center position of the surface to be welded, and the control device can determine the position information of the center position of the surface to be welded when the target workpiece rotates to the target welding position based on the position information of the rotation center, thereby determining the initial position information of each trajectory point based on the position information of the center position and the relative position of each trajectory point.

[0127] Step 580 , performing position compensation on the initial position information of each trajectory point according to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each trajectory point, and obtaining the target position information of each trajectory point to generate a target welding trajectory.

[0128] The control device can obtain the rotation radius corresponding to the target workpiece. The rotation radius can be measured in advance and saved in the database of the control device in advance. Then, according to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each trajectory point, the initial position information of each trajectory point is compensated to obtain the target position information of each trajectory point to generate the target welding trajectory.

[0129] As an optional embodiment, the control device can determine the rotation radius corresponding to each trajectory point based on the rotation radius corresponding to the target workpiece. The control device then determines the rotation distance corresponding to each trajectory point based on the rotation radius corresponding to each trajectory point and the rotation angle corresponding to each trajectory point. The control device can then perform position compensation on the initial position information of each trajectory point based on the rotation distance corresponding to each trajectory point to obtain the target position information of each trajectory point. Optionally, the rotation radius corresponding to the target workpiece can be the rotation radius of the center position of the surface to be welded. The rotation radius corresponding to each trajectory point is determined based on the rotation radius of the center position of the surface to be welded and the relative position of each trajectory point.

[0130] As an optional embodiment, the control device can determine the rotational position of the target workpiece corresponding to each expected welding time based on the position information of the rotation center, the rotation radius corresponding to the target workpiece, and the rotation angle corresponding to each trajectory point, thereby performing position compensation on the initial position information of each trajectory point according to the position of each target workpiece to obtain the target position information of each trajectory point. Optionally, after the control device determines the rotational position of the target workpiece corresponding to each expected welding time, it can determine the relative distance between the rotational position corresponding to each expected welding time and the rotational position corresponding to the first expected welding time, and then perform position compensation on the initial position information of each trajectory point according to the relative distance corresponding to each expected welding time to obtain the target position information of each trajectory point. Optionally, when the second coordinate of the rotation center is greater than the second coordinate of the width center, the formula for determining the rotational position corresponding to each expected welding time is as shown in formula (1) and formula (2). Formula (1) is a method for calculating the first coordinate of the rotational position in the plane coordinate system, and formula (2) is a method for calculating the second coordinate of the rotational position in the plane coordinate system.

[0131] x=R×sinθ+x0 Formula (1);

[0132] y=R×cosθ+y0 Formula (2);

[0133] Among them, R is the rotation radius corresponding to the target workpiece, θ is the rotation angle corresponding to any trajectory point, x0 is the target first coordinate included in the position information of the rotation center, and y0 is the target first coordinate included in the position information of the rotation center.

[0134] Step 590: Control the galvanometer to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

[0135] The method of step 590 is the same as the method of step 250 in the above embodiment and will not be repeated here.

[0136] In an embodiment of the present application, the control device can also determine the galvanometer amplitude of the galvanometer, and based on the galvanometer amplitude, determine the position information of the rotation center corresponding to the target workpiece. The position information of the rotation center based on the galvanometer amplitude is more accurate than the position information of the rotation center in space, and can improve the accuracy of trajectory compensation in subsequent trajectory compensation. The control device can also determine the expected welding time corresponding to each trajectory point, and then determine the rotation angle corresponding to each trajectory point based on the expected welding time corresponding to each trajectory point and the rotation speed of the rotating platform. The initial position information of the trajectory point can be determined based on the position information of the rotation center and the relative position of each trajectory point, so that the initial position information of each trajectory point can be compensated according to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each trajectory point, and the target position information of each trajectory point can be obtained to generate a target welding trajectory. By performing position compensation on each trajectory point, the accuracy of the determined target welding trajectory is improved.

[0137] like Figure 7 As shown, Figure 7 : is a flow chart of a method for determining calibration parameters disclosed in an embodiment of the present application. The method for determining calibration parameters can be applied to the control device in the above embodiment. The method for determining calibration parameters can include the following steps:

[0138] Step 710: construct a grid pattern on the surface to be welded of the target workpiece.

[0139] The grid pattern and the position of the surface to be welded are both pre-set, the surface to be welded may be within the galvanometer format, the grids in the grid pattern may be squares, the directions of the two vertical sides of the square may correspond to the first direction and the second direction of the galvanometer format, the grid pattern includes a plurality of grid points, and the middle grid point of the grid pattern may be the format center of the galvanometer format. Figure 8 As shown, Figure 8 It is a schematic diagram of a grid pattern disclosed in an embodiment of the present application, wherein the middle grid point 810 is the center of the galvanometer amplitude, the horizontal direction of the grid is the first direction, i.e., the X-axis direction, and the vertical direction of the grid is the second direction, i.e., the Y-axis direction.

[0140] Step 720 , calibrate the initial position information of each grid point according to the target calibration parameters to obtain the calibrated position information corresponding to each grid point.

[0141] The control device can perform position calibration on the initial position information of each grid point according to the target calibration parameter to obtain the calibrated position information corresponding to each grid point. The target calibration parameter can be a preset initial parameter or a target calibration parameter obtained from the last calibration. Optionally, the target calibration parameter can include a first target calibration parameter corresponding to the first direction and a second target calibration parameter corresponding to the second direction. The control device can perform position calibration on the first coordinate in the initial position information of each grid point according to the first target calibration parameter, and perform position calibration on the second coordinate in the initial position information of each grid point according to the second target calibration parameter, thereby obtaining the calibrated position information corresponding to each grid point.

[0142] Step 730, when the rotating platform is not rotating, control the laser to output a laser beam to the galvanometer, and control the galvanometer to perform laser scanning on the surface to be welded according to the calibration position information corresponding to each grid point, and obtain the actual position information corresponding to each grid point on the surface to be welded.

[0143] The rotating platform is not rotating, i.e., the target workpiece is also not rotating, and the stationary position of the target workpiece can be the target welding position. Optionally, the actual position information corresponding to each grid point can be manually detected and input into the control device. Optionally, the actual position information corresponding to each grid point can also be detected by a sensor and transmitted to the control device.

[0144] Step 740: If the position error between the initial position information and the actual position information corresponding to each grid point is not greater than the error threshold, the target calibration parameter is used as the calibration parameter of the galvanometer amplitude.

[0145] The control device may calculate the position error between the initial position information and the actual position information corresponding to each grid point, and compare the position error between the initial position information and the actual position information corresponding to each grid point with an error threshold, which may be a preset threshold. If the position error between the initial position information and the actual position information corresponding to each grid point is not greater than the error threshold, the control device may use the target calibration parameter as the calibration parameter for the galvanometer width, and store the calibration parameter for the galvanometer width in a database of the control device.

[0146] In step 750 , if the position error between the initial position information and the actual position information corresponding to any grid point is greater than the error threshold, the target calibration parameters are updated according to the position error, and step 720 is re-executed using the updated target calibration parameters.

[0147] In an embodiment of the present application, when the rotating platform is not rotating, the control device can construct a grid pattern on the surface to be welded of the target workpiece, and perform position calibration on the initial position information of each grid point according to the target calibration parameters to obtain the calibration position information corresponding to each grid point, and then control the laser to output a laser beam to the galvanometer, and control the galvanometer to perform laser scanning on the surface to be welded according to the calibration position information corresponding to each grid point, so as to obtain the actual position information corresponding to each grid point on the surface to be welded, and determine whether to calibrate the target calibration parameters again by determining whether the position error between the initial position information and the actual position information corresponding to each grid point is greater than the error threshold. By performing one or more calibrations on the target calibration parameters, the accuracy of the calibration parameters of the galvanometer amplitude is improved.

[0148] like Figure 9 As shown, Figure 9 1 is a modular schematic diagram of a laser welding device disclosed in an embodiment of the present application. The laser welding device 900 includes a laser output module 910, a position determination module 920, a trajectory determination module 930, a trajectory compensation module 940, and a laser scanning module 950, wherein:

[0149] The laser output module 910 is used to determine that the target workpiece rotates to the target welding position and control the laser to output the laser beam to the galvanometer so that the galvanometer reflects the laser beam to the surface to be welded of the target workpiece;

[0150] A position determination module 920 is used to determine the position information of the rotation center corresponding to the target workpiece;

[0151] The trajectory determination module 930 is used to obtain a welding pattern corresponding to the target workpiece and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern;

[0152] The trajectory compensation module 940 is used to perform trajectory compensation on the initial welding trajectory according to the position information of the rotation center to obtain the target welding trajectory; wherein the trajectory compensation is used to compensate for the position error generated by the target workpiece during the rotation process;

[0153] The laser scanning module 950 is used to control the galvanometer to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

[0154] In one embodiment, the rotating platform also includes an encoder, which is used to collect pulse signals from the driving device. The laser output module 910 is also used to obtain the pulse signals from the driving device collected by the encoder; based on the pulse signals, the real-time rotation position of the target workpiece is determined; when the distance between the real-time rotation position and the target welding position is less than a preset threshold, it is determined that the target workpiece has rotated to the target welding position.

[0155] In one embodiment, the control device is also communicatively connected to a photoelectric sensor, which includes a transmitting end and a receiving end. The transmitting end is used to transmit a light beam to the receiving end. The rotating platform also includes a sensor plate, which is used to block the propagation of the light beam between the transmitting end and the receiving end when the target workpiece rotates to the target welding position; the laser output module 910 is also used to determine that the target workpiece has rotated to the target welding position if an arrival signal sent by the photoelectric sensor is received; wherein the arrival signal is a signal sent by the photoelectric sensor when the receiving end cannot receive the light beam emitted by the transmitting end.

[0156] In one embodiment, the position determination module 920 is also used to determine the galvanometer amplitude of the galvanometer. The galvanometer amplitude is the planar area that the laser beam can radiate after being reflected by the galvanometer. The galvanometer amplitude is determined by the maximum offset angle of the laser beam reflected on the galvanometer; based on the galvanometer amplitude, the position information of the rotation center corresponding to the target workpiece is determined, and the rotation center is the intersection of the rotation axis and the plane to which the galvanometer amplitude belongs.

[0157] In one embodiment, the position determination module 920 is further configured to determine the initial position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude; and calibrate the initial position information according to the calibration parameters to obtain the position information of the rotation center corresponding to the target workpiece.

[0158] In one embodiment, the galvanometer is also used to control the deflection of the laser beam so that the laser beam moves in the first direction of the galvanometer amplitude and the second direction of the galvanometer amplitude; the first direction, the second direction and the amplitude center of the galvanometer amplitude constitute a plane coordinate system corresponding to the galvanometer amplitude; the position determination module 920 is also used to determine the initial position information of the rotation center corresponding to the target workpiece in the plane coordinate system, and the initial position information includes the initial first coordinate in the first direction and the initial second coordinate in the second direction; the position determination module is also used to calibrate the initial first coordinate based on the first calibration parameter corresponding to the first direction to obtain the target first coordinate of the rotation center; calibrate the initial second coordinate based on the second calibration parameter corresponding to the second direction to obtain the target second coordinate of the rotation center; and use the target first coordinate and the target second coordinate as the position information of the rotation center.

[0159] In one embodiment, the laser welding device further includes a parameter determination module, which is used to construct a grid pattern on the surface to be welded of the target workpiece; wherein, the surface to be welded is within the galvanometer amplitude, the grid pattern includes multiple grid points, and the middle grid point of the grid pattern is the amplitude center of the galvanometer amplitude; the initial position information of each grid point is calibrated according to the target calibration parameter to obtain the calibration position information corresponding to each grid point; when the rotating platform is not rotating, the laser is controlled to output a laser beam to the galvanometer, and according to the calibration position information corresponding to each grid point, the galvanometer is controlled to perform laser scanning on the surface to be welded, and the actual position information corresponding to each grid point on the surface to be welded is obtained; if the position error between the initial position information and the actual position information corresponding to each grid point is not greater than the error threshold, the target calibration parameter is used as the calibration parameter of the galvanometer amplitude; if there is any grid point whose position error between the initial position information and the actual position information is greater than the error threshold, the target calibration parameter is updated according to the position error, and the updated target calibration parameter is used to re-execute the step of calibrating the initial position information of each grid point according to the target calibration parameter to obtain the calibration position information corresponding to each grid point.

[0160] In one embodiment, the initial welding trajectory includes the relative positions of multiple trajectory points in the surface to be welded. The trajectory compensation module 940 is also used to determine the expected welding time corresponding to each trajectory point. The expected welding time is the time required for the laser beam to reach each trajectory point from the first trajectory point when the galvanometer performs laser scanning according to the initial welding trajectory; the rotation angle corresponding to each trajectory point is determined according to the expected welding time corresponding to each trajectory point and the rotation speed of the rotating platform; the initial position information of each trajectory point is determined according to the position information of the rotation center and the relative position of each trajectory point; the initial position information of each trajectory point is compensated according to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each trajectory point to obtain the target position information of each trajectory point to generate a target welding trajectory.

[0161] In the embodiment of the present application, by communicating with the control device and the laser, galvanometer and rotating platform, comprehensive control and management of the welding process can be achieved, thereby improving the controllability and stability of the welding process. In addition, by carrying the target workpiece on the rotating platform, the driving device can drive the rotating platform to rotate around the rotating axis to drive the target workpiece to keep rotating during the welding process, and when the target workpiece is determined to rotate to the target welding position, the laser is controlled to output the laser beam, which can ensure that the laser beam is welded when the target workpiece reaches the correct position, and then the position error generated during the rotation of the target workpiece is eliminated through trajectory compensation, thereby achieving precise control of the welding trajectory while ensuring welding accuracy and quality, and without having to control the rotating platform to stop rotating every time the target workpiece is welded, the welding task can be completed quickly and efficiently, thereby improving the production efficiency of laser welding.

[0162] like Figure 10 As shown, in one embodiment, a control device is provided, which may include:

[0163] A memory 1010 storing executable program code;

[0164] a processor 1020 coupled to the memory 1010;

[0165] The processor 1020 calls the executable program code stored in the memory 1010 to implement the laser welding method provided in the above embodiments.

[0166] The memory 1010 may include a random access memory (RAM) or a read-only memory (ROM). The memory 1010 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1010 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the control device during use, etc.

[0167] The processor 1020 may include one or more processing cores. The processor 1020 utilizes various interfaces and circuits to connect various components within the entire control device. It executes instructions, programs, code sets, or instruction sets stored in the memory 1010, as well as accesses data stored in the memory 1010, to perform various functions of the control device and process data. Optionally, the processor 1020 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 1020 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 1020 and may be implemented separately via a communication chip.

[0168] It is understandable that the control device may include more or fewer structural elements than those in the above structural block diagram, for example, a power module, physical buttons, WiFi (Wireless Fidelity) module, speakers, Bluetooth modules, sensors, etc., and is not limited here.

[0169] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the methods described in the above embodiments.

[0170] In addition, an embodiment of the present application further discloses a computer program product, which, when run on a computer, enables the computer to execute all or part of the steps in any one of the laser welding methods described in the above embodiments.

[0171] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0172] The above is a detailed introduction to a laser welding method, device, control equipment and storage medium disclosed in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A laser welding method, characterized in that: The method is applied to a control device, wherein the control device is respectively connected to a laser, a galvanometer, and a rotating platform. The rotating platform includes a platform body and a driving device. The driving device is used to drive the rotating platform to rotate around a rotation axis. The side of the platform body facing the galvanometer is used to carry a target workpiece to be welded. The method includes: Determining that the target workpiece rotates to a target welding position, and controlling the laser to output a laser beam to the galvanometer, so that the galvanometer reflects the laser beam to the surface to be welded of the target workpiece; Determining the position information of the rotation center corresponding to the target workpiece includes: determining a galvanometer amplitude of the galvanometer, the galvanometer amplitude being a planar area that can be irradiated by the laser beam after being reflected by the galvanometer, the galvanometer amplitude being determined by a maximum deviation angle of the laser beam reflected on the galvanometer; and determining the position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude, the rotation center being an intersection of the rotation axis and a plane to which the galvanometer amplitude belongs; Acquire a welding pattern corresponding to the target workpiece, and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern; According to the position information of the rotation center, the initial welding trajectory is subjected to trajectory compensation to obtain a target welding trajectory, including: determining an expected welding time corresponding to each of the trajectory points, the expected welding time being the time required for the laser beam to reach each of the trajectory points from the first trajectory point when the galvanometer performs laser scanning according to the initial welding trajectory; determining a rotation angle corresponding to each of the trajectory points according to the expected welding time corresponding to each of the trajectory points and the rotation speed of the rotating platform; determining the initial position information of each of the trajectory points according to the position information of the rotation center and the relative position of each of the trajectory points; performing position compensation on the initial position information of each of the trajectory points according to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each of the trajectory points to obtain target position information of each of the trajectory points, so as to generate a target welding trajectory; wherein the trajectory compensation is used to compensate for the position error generated by the target workpiece during the rotation process; The galvanometer is controlled to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

2. The method according to claim 1, characterized in that The rotating platform further includes an encoder, and the encoder is used to collect the pulse signal of the driving device. The step of determining that the target workpiece rotates to the target welding position includes: Acquiring a pulse signal of the driving device collected by the encoder; determining a real-time rotational position of the target workpiece according to the pulse signal; When the distance between the real-time rotation position and the target welding position is less than a preset threshold, it is determined that the target workpiece is rotated to the target welding position.

3. The method according to claim 1 or 2, characterized in that The control device is further communicatively connected to a photoelectric sensor, the photoelectric sensor including a transmitter and a receiver, the transmitter being configured to transmit a light beam to the receiver, the rotating platform further comprising an induction sheet configured to block the propagation of the light beam between the transmitter and the receiver when the target workpiece rotates to the target welding position; The step of determining that the target workpiece is rotated to a target welding position includes: If an arrival signal sent by the photoelectric sensor is received, it is determined that the target workpiece has rotated to the target welding position; wherein the arrival signal is a signal sent by the photoelectric sensor when the receiving end cannot receive the light beam emitted by the transmitting end.

4. The method according to claim 1, wherein The determining, based on the galvanometer amplitude, the position information of the rotation center corresponding to the target workpiece includes: Determining initial position information of a rotation center corresponding to the target workpiece based on the galvanometer amplitude; The initial position information is calibrated according to the calibration parameters to obtain the position information of the rotation center corresponding to the target workpiece.

5. The method according to claim 4, characterized in that The galvanometer is further configured to control the deflection of the laser beam so that the laser beam moves in a first direction of the galvanometer amplitude and a second direction of the galvanometer amplitude; the first direction, the second direction, and the amplitude center of the galvanometer amplitude constitute a plane coordinate system corresponding to the galvanometer amplitude; The determining of the initial position information of the rotation center corresponding to the target workpiece based on the galvanometer amplitude includes: Determining initial position information of the rotation center corresponding to the target workpiece in the plane coordinate system, the initial position information including an initial first coordinate in the first direction and an initial second coordinate in the second direction; The step of calibrating the initial position information according to the calibration parameters to obtain the position information of the rotation center corresponding to the target workpiece includes: calibrating the initial first coordinate based on a first calibration parameter corresponding to the first direction to obtain a target first coordinate of the rotation center; calibrating the initial second coordinate based on a second calibration parameter corresponding to the second direction to obtain a target second coordinate of the rotation center; The target first coordinate and the target second coordinate are used as position information of the rotation center.

6. The method according to claim 4 or 5, characterized in that The method further comprises: Constructing a grid pattern on the surface to be welded of the target workpiece; wherein the surface to be welded is within the galvanometer amplitude, the grid pattern includes a plurality of grid points, and the middle grid point of the grid pattern is the amplitude center of the galvanometer amplitude; Performing position calibration on the initial position information of each of the grid points according to the target calibration parameters to obtain calibrated position information corresponding to each of the grid points; When the rotating platform is not rotating, the laser is controlled to output a laser beam to the galvanometer, and according to the calibration position information corresponding to each grid point, the galvanometer is controlled to perform laser scanning on the surface to be welded, and the actual position information corresponding to each grid point on the surface to be welded is obtained; If the position error between the initial position information and the actual position information corresponding to each of the grid points is not greater than the error threshold, the target calibration parameter is used as the calibration parameter of the galvanometer amplitude; If the position error between the initial position information and the actual position information corresponding to any grid point is greater than the error threshold, the target calibration parameters are updated according to the position error, and the updated target calibration parameters are used to re-execute the step of calibrating the initial position information of each grid point according to the target calibration parameters to obtain the calibrated position information corresponding to each grid point.

7. A laser welding device, characterized in that: Applied to a control device, the control device is respectively connected to the laser, the galvanometer and the rotating platform, the rotating platform includes a platform body and a drive device, the drive device is used to drive the rotating platform to rotate around the rotation axis, the platform body facing the galvanometer is used to carry the target workpiece to be welded; the device includes: a laser output module, configured to determine that the target workpiece rotates to a target welding position, and control the laser to output a laser beam to the galvanometer, so that the galvanometer reflects the laser beam to the surface to be welded of the target workpiece; a position determination module, configured to determine position information of a rotation center corresponding to the target workpiece, comprising: determining a galvanometer amplitude of the galvanometer, the galvanometer amplitude being the planar area that can be irradiated by the laser beam after being reflected by the galvanometer, the galvanometer amplitude being determined by the maximum offset angle of the laser beam reflected on the galvanometer; and determining position information of a rotation center corresponding to the target workpiece based on the galvanometer amplitude, the rotation center being the intersection of the rotation axis and the plane to which the galvanometer amplitude belongs; a trajectory determination module, configured to obtain a welding pattern corresponding to the target workpiece and determine an initial welding trajectory corresponding to the target workpiece according to the welding pattern; A trajectory compensation module is used to perform trajectory compensation on the initial welding trajectory according to the position information of the rotation center to obtain a target welding trajectory, including: determining an expected welding time corresponding to each of the trajectory points, the expected welding time being the time required for the laser beam to reach each of the trajectory points from the first trajectory point when the galvanometer performs laser scanning according to the initial welding trajectory; determining a rotation angle corresponding to each of the trajectory points according to the expected welding time corresponding to each of the trajectory points and the rotation speed of the rotating platform; determining the initial position information of each of the trajectory points according to the position information of the rotation center and the relative position of each of the trajectory points; performing position compensation on the initial position information of each of the trajectory points according to the rotation radius corresponding to the target workpiece and the rotation angle corresponding to each of the trajectory points to obtain target position information of each of the trajectory points to generate a target welding trajectory; wherein the trajectory compensation is used to compensate for the position error generated by the target workpiece during the rotation process; The laser scanning module is used to control the galvanometer to perform laser scanning according to the target welding trajectory, so that the actual welding trajectory of the laser beam on the target workpiece matches the welding pattern.

8. A control device, characterized in that: include: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 6.

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