A laser welding gun control method, device, equipment and storage medium

Abstract

The application discloses a laser welding gun control method, device, equipment and storage medium. The laser welding gun control method comprises the following steps: judging whether there is an inflection point on a welding path, if there is an inflection point, adjusting the running speed of the laser welding gun and controlling the frequency of the laser welding gun to be constant. According to the laser welding gun control method, when the inflection point exists in the welding path, the running speed of the laser welding gun is controlled and adjusted, the laser welding gun is accelerated or decelerated under the premise that the laser frequency is not changed, the laser welding gun outputs laser at a specific position, and then the laser can uniformly act on the welding path where the inflection point is located, the heat distribution of the welding seam covering the inflection point is more uniform, the overall appearance of the welding seam is more consistent, and then the problems, such as uneven protrusion of the welding seam, slag or sand hole and the like, caused by the fact that the welding seam heat of the area corresponding to the inflection point is accumulated too much and the welding fusion is too much during welding, can be avoided, and finally the welding quality can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to measurement and control technology, and more particularly to a laser welding gun control method, apparatus, equipment and storage medium. Background Technology

[0002] Because the manufacturing process of square hard-shell batteries is relatively complex, in order to effectively avoid aging and air leakage at the sealing point and to enhance the sealing performance, connection sealing and stability of the sealing point, laser sealing process is usually used to weld the sealing point.

[0003] Currently, the laser welding process has the following drawbacks: high precision is required for the assembly of the welded parts, and the position of the laser beam on the workpiece must be precise; laser welding has problems such as welding porosity, spatter, and cracks in high-aluminum welds, especially at the corners of the (cover plate) sealing, where excessive heat can easily accumulate in the weld, causing uneven bulging of the weld. At the same time, excessive heat input can also easily lead to the formation of slag or pinholes, reducing the welding quality. Summary of the Invention

[0004] This invention provides a laser welding gun control method, device, equipment, and storage medium to improve the welding quality when using a laser welding gun.

[0005] In a first aspect, embodiments of the present invention provide a laser welding torch control method, comprising:

[0006] Determine whether there is an inflection point on the welding path. If the inflection point exists, adjust the travel speed of the laser welding gun and control the frequency of the laser welding gun to be constant.

[0007] Optionally, if the inflection point does not exist, the laser welding gun is controlled to move at a constant speed according to the set speed.

[0008] Optionally, adjusting the travel speed of the laser welding torch includes:

[0009] A travel speed adjustment node is determined on the welding path. When the laser welding gun travels to the travel speed adjustment node, the travel speed of the laser welding gun is adjusted.

[0010] Optionally, determining the travel speed adjustment node on the welding path includes:

[0011] Determine the radius of the weld point of the laser welding gun, and mark the circle with the same radius as the weld point radius as the welding mark circle;

[0012] Place the center of the welding mark circle on the welding path, and move the welding mark circle along the traveling direction of the laser welding gun;

[0013] When two adjacent inflection points are simultaneously located on the circumference of the welding mark circle, the center coordinates of the welding mark circle at this time are recorded as a travel speed adjustment node.

[0014] The marking inflection point includes: the first marking inflection point, and when any marking inflection point is located on the circumference of the welding marking circle, another intersection point of the welding marking circle and the welding path located after the previous marking inflection point along the travel direction of the laser welding gun.

[0015] Optionally, adjusting the travel speed of the laser welding torch includes:

[0016] The length of the welding path between two adjacent center coordinates is determined, and the travel speed of the laser welding gun when traveling on the welding path between the two adjacent center coordinates is determined based on the length.

[0017] Optionally, when determining the travel speed of the laser welding gun along the welding path between two adjacent center coordinates based on the length, the formula used is:

[0018]

[0019] In the formula, v s This indicates the adjusted travel speed, where v represents the preset speed value, R represents the length of the solder joint radius, and L represents the speed. i The length of the welding path is represented between the coordinates of two adjacent center points in the i-th group.

[0020] Optionally, determining whether there is an inflection point on the welding path includes:

[0021] If the curvature of a point on the welding path changes abruptly, that point is considered an inflection point.

[0022] Secondly, embodiments of the present invention also provide a laser welding torch control device, including a laser welding torch control unit, wherein the laser welding control unit is used for:

[0023] Determine whether there is an inflection point on the welding path. If the inflection point exists, adjust the travel speed of the laser welding gun and control the frequency of the laser welding gun to be constant.

[0024] Thirdly, embodiments of the present invention also provide an electronic device, including at least one processor and a memory communicatively connected to the at least one processor;

[0025] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the laser welding gun control method described in the embodiments of the present invention.

[0026] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the laser welding gun control method described in the embodiments of the present invention.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention proposes a laser welding torch control method. In this method, when there is an inflection point in the welding path, the traveling speed of the laser welding torch is controlled and adjusted. Without changing the laser frequency, the laser welding torch is accelerated or decelerated, so that the laser welding torch outputs laser at a specific position, thereby making the laser uniformly act on the welding path where the inflection point is located. This makes the heat distribution of the weld covering the inflection point more uniform, and the overall morphology of the weld more consistent. This avoids problems such as uneven weld protrusion, slag formation, or pinholes caused by excessive heat accumulation in the weld corresponding to the inflection point area during welding. Ultimately, this can improve the welding quality. Attached Figure Description

[0028] Figure 1 This is a flowchart of the laser welding gun control method in the embodiment;

[0029] Figure 2 This is a schematic diagram of the inflection point, laser focus, and laser inflection point in the embodiment;

[0030] Figure 3 This is a schematic diagram of the marked inflection point position in the embodiment;

[0031] Figure 4 This is a schematic diagram of the electronic device structure in the embodiment. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0033] Example 1

[0034] Figure 1 This is a flowchart of the laser welding gun control method in the embodiment, for reference. Figure 1 Laser welding torch control methods include:

[0035] S101. Determine if there is an inflection point on the welding path.

[0036] In this embodiment, the welding path is a preset travel route of the welding torch on the surface of the object to be welded. The welding path can be a curved path or a path where straight and curved paths are interspersed.

[0037] In this embodiment, the specific type of object to be welded is not limited, but this solution is particularly suitable for application scenarios where welding is performed on the sealing position of a square hard-shell battery.

[0038] In this embodiment, a laser welding gun is used to describe the proposed control scheme. In addition to laser welding guns, this method can also be implemented based on other types of welding guns, but the welding gun used should be at least an automated device, that is, it can be controlled to perform automated welding. At the same time, the individual weld points of the welding gun should be circular or approximately circular.

[0039] For example, in this embodiment, the inflection point is used to represent the point where the curvature of the laser welding gun changes abruptly in the direction of the welding path.

[0040] In this embodiment, the method for determining whether there is an inflection point on the welding path is not specifically limited. For example, the presence of an inflection point on the welding path can be determined by image analysis methods (such as Hough transform).

[0041] Alternatively, the image corresponding to the welding path can be used as input, and a pre-trained neural network model can be used to determine whether there are inflection points on the welding path.

[0042] In this embodiment, there are generally multiple inflection points on the welding path. Accordingly, it can be set to determine whether there are inflection points on the welding path after the laser welding gun has traveled a fixed distance.

[0043] Alternatively, a check can be performed on the welding path to determine if there is an inflection point after a fixed period.

[0044] S102. If an inflection point exists, adjust the travel speed of the laser welding torch and control the frequency of the laser welding torch to remain constant.

[0045] In this embodiment, the travel speed of the laser welding gun can be adjusted in the following way:

[0046] Determine the radius of curvature at the inflection point (of the welding path), and determine the corresponding travel speed based on the radius of curvature (control the laser welding gun to travel at the travel speed corresponding to the current inflection point before reaching the next inflection point). The travel speed corresponding to the radius of curvature can be determined by simulation experiments, calibration experiments, or based on experience.

[0047] Alternatively, the travel speed corresponding to the welding path segment can be determined based on the length and / or shape of the welding path between two adjacent inflection points. Here, the length and / or shape of the welding path can be used as input, and the corresponding travel speed can be determined by fitting a function or a neural network model.

[0048] For example, in this embodiment, when controlling and adjusting the travel speed of the laser welding gun, the frequency of the laser welding gun is not adjusted at the same time, that is, the frequency of the laser welding gun is kept constant throughout the entire welding process.

[0049] This embodiment proposes a laser welding torch control method. In this method, when there is an inflection point in the welding path, the travel speed of the laser welding torch is controlled and adjusted. Without changing the laser frequency, the laser welding torch is accelerated or decelerated, so that the laser welding torch outputs laser at a specific position, thereby making the laser uniformly act on the welding path where the inflection point is located. This makes the heat distribution of the weld covering the inflection point more uniform, and the overall morphology of the weld more consistent. This avoids problems such as uneven weld protrusion, slag formation, or pinholes caused by excessive heat accumulation in the weld corresponding to the inflection point area during welding. Ultimately, this method can improve the welding quality.

[0050] As a feasible solution, in Figure 1 Based on the scheme shown, if there are no inflection points on the welding path, the laser welding gun is controlled to move at a constant speed according to the set speed.

[0051] For example, in this solution, if it is determined that the current welding path end is a straight line, the laser welding gun is controlled to move at a constant speed according to the set speed before the next detection of the inflection point of the welding path is performed.

[0052] The speed of the laser welding gun will differ when the set speed is different from the speed when there is an inflection point in the welding path.

[0053] For example, in this solution, the above-mentioned set speed can be determined through simulation tests, calibration tests or experience. The set speed should ensure that the weld after welding has good sealing performance, connection sealing and stability.

[0054] Figure 2 This is a schematic diagram of the inflection point, laser focus, and laser inflection point in the embodiment, for reference. Figure 2 When the laser welding gun travels along the welding path, it outputs a laser focus when it reaches the designated position. This laser focus is used for welding, that is, one laser focus corresponds to one welding point of the laser welding gun.

[0055] In the solutions described in the following embodiments, unless otherwise specified, the inflection point is set as a point and the laser focus is set as a circle with a certain area;

[0056] If there is an inflection point within the area covered by the laser focus, then the laser focus is taken as the laser inflection point. In the schemes described in the following embodiments, unless otherwise specified, if there is no inflection point on the welding path or there is an inflection point but no corresponding laser inflection point, then the laser welding gun is controlled to move at a constant speed according to the set speed.

[0057] As a feasible solution, in Figure 1 Based on the scheme shown, adjusting the travel speed of the laser welding gun includes:

[0058] Determine the travel speed adjustment node on the welding path. When the laser welding torch travels to the travel speed adjustment node, adjust the travel speed of the laser welding torch.

[0059] For example, in this solution, after the first inflection point on the welding path is determined, and before the last node on the welding path is determined, a node for adjusting the travel speed in the direction of the laser welding gun is determined.

[0060] For example, in this solution, the travel speed adjustment node can be determined in the following way:

[0061] If there is an inflection point on the current welding path segment, then one or more inflection points on that welding path segment are used as the aforementioned travel speed adjustment nodes.

[0062] At this point, when the laser welding torch reaches an inflection point (the speed adjustment node), the laser welding torch is controlled to move according to the speed matched to that inflection point.

[0063] Alternatively, after determining the coordinates of the center point of the weld point of the laser welding gun after it has moved a specified distance along the welding path, the center point of the circle can be used as the aforementioned travel speed adjustment node.

[0064] At this point, it is further determined whether the travel speed adjustment node is an inflection point. If it is an inflection point, when the laser welding gun travels to the travel speed adjustment node, the laser welding gun is controlled to travel according to the travel speed matched with the inflection point (travel speed adjustment node).

[0065] If it is not an inflection point, then when the laser welding gun reaches the speed adjustment node, the laser welding gun will be controlled to move at the set speed.

[0066] For example, in this solution, when needed, an image analysis method is used to determine whether there are inflection points on the welding path (segment);

[0067] Specifically, after acquiring a single image, along the direction of travel of the laser welding gun, it can be determined after a certain distance that the end point of the welding path is an inflection point. The length of the certain distance can be the same as the diameter of the weld point (of the laser welding gun).

[0068] Furthermore, as one possible implementation, when determining the travel speed adjustment node on the welding path, determining the travel speed adjustment node on the welding path includes:

[0069] Determine the radius of the weld point of the laser welding gun, and mark the circle with the same radius as the weld point radius as the welding mark circle;

[0070] Place the center of the welding mark circle on the welding path and move the welding mark circle along the direction of travel of the laser welding gun;

[0071] When two adjacent inflection points are simultaneously located on the circumference of the welding mark circle, record the center coordinates of the welding mark circle at this time as a travel speed adjustment node;

[0072] The marking inflection points include: the first inflection point; when any marking inflection point is located on the circumference of the welding marking circle, another intersection point between the welding marking circle and the welding path that is located after the previous marking inflection point along the travel direction of the laser welding gun.

[0073] Figure 3 This is a schematic diagram of the marked inflection point position in the embodiment, for reference. Figure 3 In this scheme, the radius of the weld point is set to R / 2, and the circle with radius R / 2 in the figure is the weld mark circle;

[0074] In this context, point B0 is defined as the first inflection point on the welding path (the welding path also contains other inflection points, and the figure shows all the determined inflection points). Correspondingly, the welding mark circle with center O0 is the first welding mark circle, and point B1 is the first mark inflection point.

[0075] The welding mark circle with center O1 is the second welding mark circle, point B2 is the second mark inflection point, and so on, with center O... n The welding mark circle is the (n+1)th welding mark circle, B n+1 The point is the (n+1)th marked inflection point.

[0076] by Figure 3 Taking the content shown as an example, as one possible implementation, the inflection point can also be determined in the following way:

[0077] Set point B0 as the first inflection point on the welding path. Draw a circle with point B0 as the center and R / 2 as the radius. The intersection of this circle and the welding path in the direction of laser welding gun travel is taken as the center of the first welding mark circle, i.e., O0.

[0078] With O0 as the center, draw the first welding mark circle. The intersection of this welding mark circle and the welding path in the direction of laser welding gun travel is taken as the first mark inflection point, namely B1.

[0079] Draw a circle with B1 as the center and R / 2 as the radius. The intersection of this circle and the welding path in the direction of laser welding gun travel is taken as the center of the second welding mark circle, i.e., O1.

[0080] Using O1 as the center, draw the second welding mark circle. The intersection of this welding mark circle and the welding path in the direction of laser welding gun travel is taken as the second mark inflection point, namely B2.

[0081] And so on, with B n Draw a circle with point O as its center and radius R / 2. The intersection of this circle and the welding path along the laser welding gun's travel direction is taken as the center of the (n+1)th welding mark circle, i.e., O. n ;

[0082] Take O n Draw the (n+1)th welding mark circle with the welding path as the center. The intersection of this welding mark circle and the welding path along the laser welding gun's travel direction is taken as the (n+1)th mark inflection point, i.e., B. n+1 .

[0083] In one possible implementation, if the travel speed of the laser welding torch is adjusted when it reaches the travel speed adjustment node, adjusting the travel speed of the laser welding torch includes:

[0084] Determine the length of the welding path between two adjacent center coordinates, and determine the travel speed of the laser welding gun when it travels on the welding path between the two adjacent center coordinates based on the length.

[0085] In this scheme, the coordinates of two adjacent center points are specifically the coordinates of the centers of two adjacent welding mark circles. The length of the welding path (segment) can be used as input, and the corresponding travel speed can be determined by using a fitting function or a neural network model.

[0086] In one possible implementation, if the travel speed of the laser welding torch is adjusted when it reaches the travel speed adjustment node, a function model is used to determine the adjustment of the travel speed of the laser welding torch.

[0087] In this scheme, the length of the welding path (between the center coordinates of two adjacent welding mark circles) is used as the independent variable, and the travel speed is used as the dependent variable. A function model is used to determine the adjustment of the travel speed of the laser welding gun.

[0088] Specifically, when determining the travel speed of the laser welding torch along the welding path between the center coordinates of two adjacent welding mark circles based on the length of the welding path (between the center coordinates of two adjacent welding mark circles), the formula used is:

[0089]

[0090] In the formula, v sThis indicates the adjusted travel speed, where v represents the preset speed value, R represents the length of the solder joint radius, and L represents the speed. i This represents the length of the welding path between the coordinates of two adjacent center points in the i-th group.

[0091] For example, in this embodiment, the schemes corresponding to any of the above-mentioned laser welding gun control methods can be freely arranged and combined, for example, combined with Figure 1 and Figure 3 In one possible implementation, the laser welding torch control method can be achieved in the following way:

[0092] S101. Determine if there is an inflection point on the welding path.

[0093] In this scheme, if the curvature of a point on the welding path changes abruptly, that point is considered an inflection point.

[0094] S102. If an inflection point exists, adjust the travel speed of the laser welding torch and control the frequency of the laser welding torch to remain constant.

[0095] In this scheme, the travel speed of the laser welding gun is determined as follows:

[0096] Determine the radius of the weld point of the laser welding gun, i.e., R / 2;

[0097] When an inflection point is first determined to exist on the welding path, this inflection point is recorded as the first inflection point on the welding path, i.e., B0.

[0098] Draw a circle with B0 as the center and R / 2 as the radius. The intersection of this circle and the welding path in the direction of laser welding gun travel is taken as the center of the first welding mark circle, i.e., O0.

[0099] With O0 as the center, draw the first welding mark circle. The intersection of this welding mark circle and the welding path in the direction of laser welding gun travel is taken as the first mark inflection point, namely B1.

[0100] Draw a circle with B1 as the center and R / 2 as the radius. The intersection of this circle and the welding path in the direction of laser welding gun travel is taken as the center of the second welding mark circle, i.e., O1.

[0101] Draw a second welding mark circle with O1 as the center, and determine whether there is at least one inflection point on the welding path (segment) located within the second welding mark circle;

[0102] If so, the intersection of the welding mark circle and the welding path in the direction of laser welding gun travel is taken as the second mark inflection point, namely B2;

[0103] And so on, with B nDraw a circle with point O as its center and radius R / 2. The intersection of this circle and the welding path along the laser welding gun's travel direction is taken as the center of the (n+1)th welding mark circle, i.e., O. n ;

[0104] Take O n Draw the (n+1)th welding mark circle with the center as the center, and determine whether there is at least one inflection point on the welding path (segment) located within the (n+1)th welding mark circle;

[0105] If so, then the intersection of the welding mark circle and the welding path in the direction of laser welding gun travel is taken as the (n+1)th mark inflection point, i.e., B. n+1 ;

[0106] If not, after the center of the weld point of the laser welding gun moves to the (n+1)th marked inflection point, directly determine whether there is an inflection point on the welding path;

[0107] If an inflection point is found again on the welding path, record that inflection point as the first inflection point on the welding path and repeat the entire process described above.

[0108] In this scheme, the length of the welding path (between the center coordinates of two adjacent welding mark circles) is used as the independent variable, and the travel speed is used as the dependent variable. A function model is used to determine the adjustment of the travel speed of the laser welding gun.

[0109] Specifically, the formula used to determine the travel speed of the laser welding torch along the welding path between the center coordinates of two adjacent welding mark circles is as follows:

[0110]

[0111] In the formula, v s This indicates the adjusted travel speed, where v represents the preset speed value, R represents the length of the solder joint radius, and L represents the speed. i This represents the length of the welding path between the coordinates of two adjacent center points in the i-th group.

[0112] In this scheme, if there is no inflection point on the welding path, or if there is no inflection point on a certain segment of the welding path, the laser welding gun is controlled to move at a constant speed on the corresponding welding path (segment).

[0113] Example 2

[0114] This embodiment proposes a laser welding torch control device, including a laser welding torch control unit, which is used for:

[0115] Determine if there is an inflection point on the welding path. If an inflection point exists, adjust the travel speed of the laser welding torch and keep the frequency of the laser welding torch constant.

[0116] For example, in this solution, the laser welding control unit can be specifically configured to implement any of the laser welding gun control methods described in Embodiment 1. The implementation process and beneficial effects are the same as the corresponding content described in Embodiment 1, and will not be repeated here.

[0117] Example 3

[0118] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0119] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0120] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0121] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as laser welding torch control methods.

[0122] In some embodiments, the laser welding torch control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the laser welding torch control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the laser welding torch control method by any other suitable means (e.g., by means of firmware).

[0123] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0125] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0126] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0127] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0128] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0129] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A laser welding torch control method, characterized in that, include: Determine whether there is an inflection point on the welding path. If the inflection point exists, adjust the travel speed of the laser welding gun and control the frequency of the laser welding gun to be constant. Adjusting the travel speed of the laser welding gun includes: A travel speed adjustment node is determined on the welding path. When the laser welding gun travels to the travel speed adjustment node, the travel speed of the laser welding gun is adjusted. Determining the travel speed adjustment node on the welding path includes: Determine the radius of the weld point of the laser welding gun, and mark the circle with the same radius as the weld point radius as the welding mark circle; Place the center of the welding mark circle on the welding path, and move the welding mark circle along the traveling direction of the laser welding gun; When two adjacent inflection points are simultaneously located on the circumference of the welding mark circle, the center coordinates of the welding mark circle at this time are recorded as a travel speed adjustment node. The marking inflection point includes: the first marking inflection point; when any marking inflection point is located on the circumference of the welding marking circle, the other intersection point of the welding marking circle and the welding path located after the previous marking inflection point along the travel direction of the laser welding gun.

2. The laser welding torch control method as described in claim 1, characterized in that, If the inflection point does not exist, the laser welding gun is controlled to move at a constant speed according to the set speed.

3. The laser welding torch control method as described in claim 1, characterized in that, Adjusting the travel speed of the laser welding gun includes: The length of the welding path between two adjacent center coordinates is determined, and the travel speed of the laser welding gun when traveling on the welding path between the two adjacent center coordinates is determined based on the length.

4. The laser welding torch control method as described in claim 3, characterized in that, When determining the travel speed of the laser welding gun along the welding path between two adjacent center coordinates based on the length, the formula used is: In the formula, This indicates the adjusted travel speed. Indicates the preset speed value. Indicates the length of the solder joint radius. This represents the length of the welding path between two adjacent center coordinates of the i-th group.

5. The laser welding torch control method according to any one of claims 1 to 4, characterized in that, Determining whether there are inflection points on the welding path includes: If the curvature of a point on the welding path changes abruptly, that point is considered an inflection point.

6. A laser welding torch control device, wherein the laser welding torch control method as described in any one of claims 1-5 is used for control, characterized in that, Includes a laser welding gun control unit, which is used for: Determine whether there is an inflection point on the welding path. If the inflection point exists, adjust the travel speed of the laser welding gun and control the frequency of the laser welding gun to be constant.

7. An electronic device, characterized in that, It includes at least one processor and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the laser welding gun control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the laser welding torch control method according to any one of claims 1-5.

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