A handheld laser welding system, welding method and galvanometer control method

Abstract

The application discloses a handheld laser welding system, a welding method and a galvanometer control method. The handheld laser welding system comprises a laser and a welding gun. A galvanometer motor and a control module are arranged in the welding gun. The control module controls the galvanometer motor to swing at a set amplitude and frequency. The control module comprises a control unit, a driving unit and a control module. The control unit is used for acquiring state information when the galvanometer motor reaches a target state, and generating a control signal based on the state information. The driving unit is used for acquiring the control signal and controlling the galvanometer motor based on the control signal, so that the galvanometer motor is in the target state. The application can avoid the interference of the galvanometer control signal and improve the control ability of the galvanometer motor.

Description

Technical Field

[0001] This application relates to the field of laser technology, specifically to a handheld laser welding system, welding method, and galvanometer control method. Background Technology

[0002] Laser welding technology is a laser material processing technology that allows for welding of any part and angle of a workpiece using existing laser welding machines. Current laser welding machines consist of a laser with a control circuit board and a galvanometer drive circuit board, and a welding torch. The welding torch contains a galvanometer motor, which drives the galvanometer to oscillate and reflect the laser beam. By controlling the galvanometer motor to oscillate the galvanometer at different amplitudes, the laser can be deflected at different angles, resulting in welds of varying widths. However, the galvanometer control signal used to control the galvanometer motor in existing laser welding machines is susceptible to interference, causing the galvanometer motor to malfunction and exhibiting problems such as abnormal vibration and whistling. Summary of the Invention

[0003] In view of this, this application provides a handheld laser welding system, welding method and galvanometer control method, which can avoid interference with the galvanometer control signal and improve the control capability of the galvanometer motor.

[0004] This application provides a handheld laser welding system, which includes a laser and a welding torch. The welding torch contains a galvanometer motor and a control module. The control module controls the galvanometer motor to oscillate at a set amplitude and frequency. The control module includes:

[0005] The control unit is used to acquire the state information of the galvanometer motor when it reaches the target state, and generate a control signal based on the state information;

[0006] A drive unit is used to acquire the control signal and control the galvanometer motor based on the control signal so that the galvanometer motor is in the target state.

[0007] Optionally, the driving unit includes a central processing subunit, an amplification subunit, and a driving subunit;

[0008] The central processing subunit is connected to the amplification subunit and is used to generate and output the target position signal based on the control signal;

[0009] The amplification subunit is connected to the driving subunit and is used to amplify the target position signal;

[0010] The drive subunit is connected to the galvanometer motor and is used to drive the galvanometer motor to swing to the target position based on the amplified target position signal.

[0011] Optionally, the driving unit further includes a detection subunit, a comparison subunit, and an adjustment subunit;

[0012] The detection subunit is connected to the galvanometer motor and is used to detect the actual position of the galvanometer motor and generate an actual position signal.

[0013] The comparison subunit is connected to the adjustment subunit and is used to compare the target position signal with the actual position signal to obtain an error signal;

[0014] The adjustment subunit is connected to the drive subunit and is used to generate an adjustment signal based on the error signal and transmit the adjustment signal to the drive subunit so that the drive subunit drives the galvanometer motor to swing to the target position based on the adjustment signal.

[0015] Optionally, the laser of the handheld laser welding system includes:

[0016] The laser control module is used to transmit the status information to the control unit when it is necessary to adjust the power of the emitted laser.

[0017] This application also provides a galvanometer control method in a handheld laser welding system, including:

[0018] The handheld laser welding system's welding torch is equipped with a galvanometer motor and a control module. The control module controls the galvanometer motor to oscillate at a set amplitude and frequency.

[0019] The control module acquires the state information of the galvanometer motor when it reaches the target state, and generates a control signal based on the state information to control the galvanometer motor so that the galvanometer motor is in the target state.

[0020] Optionally, the control module acquiring state information when the galvanometer motor reaches the target state and generating a control signal based on the state information further includes:

[0021] Based on the control signal, a target position signal is generated and output;

[0022] The target position signal is amplified;

[0023] The actual position of the galvanometer motor is detected and an actual position signal is generated;

[0024] The amplified target position signal is compared with the actual position signal to obtain an error signal;

[0025] An adjustment signal is generated based on the error signal, and the galvanometer motor is driven to swing to the target position according to the adjustment signal.

[0026] Optionally, it includes: configuring a laser control module within the laser of the handheld laser welding system, for transmitting the status information to the control module when adjusting the emitted laser power.

[0027] Optionally, the galvanometer control method includes:

[0028] A control unit and a drive unit are configured within the control module;

[0029] The control unit is used to acquire the state information when the galvanometer motor reaches the target state, and generate a control signal based on the state information;

[0030] The drive unit is used to acquire the control signal and control the galvanometer motor based on the control signal so that the galvanometer motor is in the target state.

[0031] Optionally, the galvanometer control method includes:

[0032] The drive unit is configured with a central processing subunit, an amplification subunit, and a drive subunit.

[0033] The central processing subunit is connected to the amplification subunit and is used to generate and output the target position signal based on the control signal;

[0034] The amplification subunit is connected to the driving subunit and is used to amplify the target position signal;

[0035] The drive subunit is connected to the galvanometer motor and is used to drive the galvanometer motor to swing to the target position based on the amplified target position signal.

[0036] In addition, this application also provides a welding method based on a handheld laser welding system, including:

[0037] The laser in the handheld laser welding system emits a laser beam;

[0038] Adjust the power parameters of the laser emitted by the laser;

[0039] Based on the mapping relationship between the adjusted power parameters and the status information, the corresponding status information is determined and transmitted to the welding torch control module in the handheld laser welding system.

[0040] The welding torch control module generates a control signal and controls the galvanometer motor in the welding torch to swing to the target position based on the control signal.

[0041] The welding torch directs a laser beam onto the processing area.

[0042] This application provides a handheld laser welding system, welding method, and galvanometer control method. The handheld laser welding system includes a laser and a welding torch. The welding torch houses a galvanometer motor and a control module. The control module includes a control unit for acquiring state information of the galvanometer motor when it reaches a target state and generating a control signal based on the state information, and a drive unit for acquiring the control signal and controlling the galvanometer motor based on the control signal. This handheld laser welding system enables the galvanometer motor to be in the target state. Because the handheld laser welding system of this application integrates the galvanometer motor and control module within the welding torch, they can be connected over a shorter distance, reducing signal transmission time and decreasing the probability of signal interference during transmission. This helps prevent signal interference from affecting the normal operation of the galvanometer motor. Furthermore, by having the control unit and drive unit process the state information and control signal respectively, the burden of information processing on the drive unit is reduced, thereby improving the drive unit's control capability over the galvanometer motor. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of an existing laser welding machine;

[0045] Figure 2 This is a schematic diagram of the handheld laser welding system provided in the embodiments of this application;

[0046] Figure 3 This is a schematic diagram of the structure of the detection subunit provided in the embodiments of this application;

[0047] Figure 4 This is a schematic diagram of the integral adjustment circuit provided in the embodiments of this application;

[0048] Figure 5 This is a schematic diagram of the speed regulation circuit provided in an embodiment of this application;

[0049] Figure 6 A schematic flowchart illustrating the galvanometer control method provided in an embodiment of this application;

[0050] Figure 7 A schematic flowchart of the welding method provided in the embodiments of this application;

[0051] Among them, 01, laser of existing handheld laser welding system; 02, welding torch of existing handheld laser welding system; 1, laser of handheld laser welding system of this application; 2, welding torch of handheld laser welding system of this application; 11, laser control module; 21, galvanometer motor; 22, control module. Detailed Implementation

[0052] Please see Figure 1 , Figure 1 This is a schematic diagram of an existing laser welding machine.

[0053] In existing laser welding machines, the galvanometer driver board is built into the laser 01, while the galvanometer motor 21 is built into the welding torch 02. The galvanometer driver board used in existing laser welding machines is very large and generates significant heat, requiring an external heat sink for cooling, resulting in a large overall size, typically around 80*50*30mm. For ease of welding, the welding torch 02 is connected to the laser 01 via a cable several meters to over ten meters long. The motor drive signals and feedback signals output from the galvanometer driver board need to be transmitted through this cable. Because the cable is long and easily damaged, and the connection between the cable and the welding torch 02 is prone to detachment, signal attenuation and interference can easily occur, affecting the normal operation of the galvanometer motor 21 and causing abnormal vibration and howling. To address the problems of existing laser welding machines, this application provides the following embodiments.

[0054] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In the absence of conflict, the following embodiments and their technical features can be combined with each other.

[0055] Please see Figure 2 , Figure 2 This is a schematic diagram of the handheld laser welding system provided in an embodiment of this application.

[0056] This application provides a handheld laser welding system, which includes a laser 1 and a welding torch 2, and the laser 1 and the welding torch 2 are connected.

[0057] The laser 1 of the handheld laser welding system includes:

[0058] The laser control module 11 is used to transmit status information to the control unit when it is necessary to adjust the power of the emitted laser.

[0059] It is understandable that the laser control module 11 can be a main control chip that controls the laser emitted by the handheld laser welding system according to the set power parameters.

[0060] The welding torch 2 of the handheld laser welding system includes a galvanometer motor 21 and a control module 22. The control module controls the galvanometer motor to oscillate at a set amplitude and frequency.

[0061] Control module 22 includes:

[0062] The control unit is used to acquire the status information of the galvanometer motor 21 when it reaches the target state, and to generate control signals based on the status information.

[0063] Understandably, the status information can be information describing the intensity of the laser emitted by the handheld laser welding system, such as laser scanning amplitude and frequency information, or it can be information describing the status of the galvanometer motor 21, such as motor power, motor swing amplitude, etc.

[0064] In some embodiments, the laser control module 11 communicates with the control module 22 through the control unit, for example, through wired or wireless communication, that is, transmitting status information such as laser scanning amplitude and frequency information to the control unit.

[0065] In some embodiments, the control module 22 uses a CPU chip, which can communicate with the laser control module 11 and implement indicator light indication and button detection functions as needed by the laser control module 11.

[0066] The drive unit is used to acquire control signals and control the galvanometer motor 21 based on the control signals so that the galvanometer motor 21 is in the target state.

[0067] In this embodiment, the handheld laser welding system is provided with a power supply, which supplies power to the laser 1 and the welding torch 2, and further supplies power to the laser control module 11, the galvanometer motor 21 and the control module 22.

[0068] Optionally, in some embodiments, the driving unit includes a central processing subunit, an amplification subunit, and a driving subunit.

[0069] The central processing subunit, connected to the amplification subunit, is used to generate and output the target position signal based on the control signal.

[0070] In some embodiments, the central processing subunit may be an arithmetic unit that performs logical operations, or it may be a CPU chip with stronger data and signal processing capabilities.

[0071] The amplification subunit, connected to the drive subunit, is used to amplify the target position signal.

[0072] In some embodiments, the amplification subunit may be an amplification circuit built around an integrated amplifier, or it may be an amplification circuit composed of active and passive devices combined and connected together.

[0073] The drive subunit, connected to the galvanometer motor 21, is used to drive the galvanometer motor 21 to swing to the target position based on the amplified target position signal.

[0074] In some embodiments, the drive subunit is a drive circuit for driving a stepper motor, such as a multiphase current circuit.

[0075] In this embodiment, the driving subunit is a driving circuit and is disposed on a circuit board with a length of 25mm and a width of 25mm.

[0076] It should be noted that, compared with existing drive circuits, the drive circuit in this embodiment, which is mounted on a circuit board with a length of 25mm and a width of 25mm, has a volume that is one-tenth that of existing drive circuits.

[0077] Optionally, in some embodiments, the driving unit further includes a detection subunit, a comparison subunit, and an adjustment subunit.

[0078] The detection subunit is connected to the galvanometer motor 21 and is used to detect the actual position of the galvanometer motor 21 and generate an actual position signal.

[0079] The comparison subunit, connected to the adjustment subunit, is used to compare the target position signal with the actual position signal to obtain an error signal.

[0080] In some embodiments, the comparison sub-unit may be a differential amplifier circuit or a more complex logic gate circuit.

[0081] The adjustment subunit, connected to the drive subunit, is used to generate an adjustment signal based on the error signal and transmit the adjustment signal to the drive subunit so that the drive subunit drives the galvanometer motor 21 to swing to the target position based on the adjustment signal.

[0082] In some embodiments, the adjustment subunit includes integral adjustment function, proportional adjustment function and derivative adjustment function, which are respectively implemented by an integral arithmetic unit, a proportional arithmetic unit and a derivative arithmetic unit.

[0083] Optionally, in some embodiments, the detection subunit includes a sensor assembly and a converter assembly.

[0084] The input terminal of the sensor assembly serves as the input terminal of the detection subunit and is used to input optical signals. The output terminal of the sensor assembly is connected to the input terminal of the converter assembly and is used to output current signals.

[0085] The output of the conversion device group serves as the output of the detection subunit and is used to output a voltage signal.

[0086] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of the detection subunit provided in an embodiment of this application.

[0087] The sensor assembly includes a first diode D1 and a second diode D2. The positive terminals of both the first diode D1 and the second diode D2 are grounded, and the negative terminals of both the first diode D1 and the second diode D2 serve as the output terminals of the sensor assembly.

[0088] The conversion device group includes a third operational amplifier OPA3, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, and a second capacitor C2.

[0089] The first terminal of the third operational amplifier OPA3 serves as the input terminal of the sensor assembly, the second terminal of the third operational amplifier OPA3 serves as the output terminal of the sensor assembly, and the third terminal of the third operational amplifier OPA3 is connected to the third resistor R3 and then grounded.

[0090] The first resistor R1 and the second resistor R2 are connected in series to the first terminal of the first operational amplifier.

[0091] One end of the first capacitor C1 is connected to the first terminal of the first operational amplifier, and the other end of the first capacitor C1 is grounded.

[0092] One end of the fourth resistor R4 and one end of the second capacitor C2 are both connected to the first terminal of the first operational amplifier, and the other end of the fourth resistor R4 and the second capacitor C2 are both connected to the second terminal of the first operational amplifier.

[0093] Optionally, in some embodiments, the adjustment subunit includes an integral adjustment circuit, which includes a first operational amplifier, a first capacitor bank, and a first variable resistor bank.

[0094] The first terminal of the first operational amplifier serves as the output terminal of the integral adjustment circuit, the second terminal of the first operational amplifier is connected to the output terminal of the first variable resistor device group, and the input terminal of the first variable resistor device group serves as the input terminal of the integral adjustment circuit.

[0095] The input terminal of the first capacitor bank is connected to the first terminal of the first operational amplifier, and the output terminal of the first capacitor bank is connected to the second terminal of the first operational amplifier.

[0096] Please see Figure 4 , Figure 4 This is a schematic diagram of the integral adjustment circuit provided in an embodiment of this application.

[0097] The first capacitor bank includes a third capacitor C3, and the first variable resistor bank includes a first variable resistor Rx1 and a fifth resistor R5.

[0098] The first terminal of the first operational amplifier OPA1 serves as the output terminal of the integral adjustment circuit, and the third terminal of the first operational amplifier OPA1 is grounded.

[0099] One end of the third capacitor C3 is connected to the first terminal of the first operational amplifier OPA1, and the other end of the third capacitor C3 is connected to the second terminal of the first operational amplifier OPA1.

[0100] The second terminal of the first operational amplifier OPA1 is connected to one end of the fifth resistor R5, and the other end of the fifth resistor R5 is connected to one end of the first variable resistor Rx1. The other end of the first variable resistor Rx1 serves as the input terminal of the integral adjustment circuit.

[0101] Optionally, in some embodiments, the adjustment subunit includes a speed adjustment circuit, and the fast-off adjustment circuit includes a second operational amplifier, a second capacitor bank, and a second variable resistor bank.

[0102] The first terminal of the second operational amplifier serves as the output terminal of the speed regulation circuit, the second terminal of the second operational amplifier is connected to the output terminal of the second capacitor bank, and the input terminal of the second capacitor bank serves as the input terminal of the speed regulation circuit.

[0103] The input terminal of the second variable resistor group is connected to the first terminal of the first operational amplifier, and the output terminal of the second variable resistor group is connected to the second terminal of the first operational amplifier.

[0104] Please see Figure 5 , Figure 5 This is a schematic diagram of the speed regulation circuit provided in an embodiment of this application.

[0105] The second capacitor bank includes a fifth capacitor C5, and the second variable resistor bank includes a second variable resistor Rx2, a fourth capacitor C4, and a sixth resistor R6.

[0106] The first terminal of the second operational amplifier OPA2 serves as the output terminal of the speed regulation circuit, while the third terminal of the first operational amplifier OPA1 is grounded.

[0107] One end of the fifth capacitor C5 is connected to the second terminal of the second operational amplifier OPA2, and the other end of the fifth capacitor C5 serves as the input terminal of the speed regulation circuit.

[0108] One end of the fourth capacitor C4 is connected to the second terminal of the second operational amplifier OPA2, and the other end of the fourth capacitor C4 is connected to the first terminal of the second operational amplifier OPA2.

[0109] The second terminal of the second operational amplifier OPA2 is connected to one end of the sixth resistor R6, the other end of the sixth resistor R6 is connected to one end of the second variable resistor Rx2, and the other end of the second variable resistor Rx2 is connected to the first terminal of the second operational amplifier OPA2.

[0110] Optionally, in some embodiments, the adjustment subunit includes a proportional adjustment circuit, which includes a third operational amplifier, a first group of resistors, and a second group of resistors.

[0111] The first terminal of the third operational amplifier serves as the output terminal of the proportional adjustment circuit, the second terminal of the third operational amplifier is connected to the output terminal of the first resistor group, and the input terminal of the first resistor group serves as the input terminal of the proportional adjustment circuit.

[0112] The input terminal of the second resistor group is connected to the first terminal of the third operational amplifier, and the output terminal of the second resistor group is connected to the second terminal of the third operational amplifier.

[0113] This application provides a handheld laser welding system. The welding torch 2 of the handheld laser welding system includes a galvanometer motor 21 and a control module 22. The control module 22 includes: a control unit for acquiring state information of the galvanometer motor 21 when it reaches a target state and generating a control signal based on the state information; and a drive unit for acquiring the control signal and controlling the galvanometer motor 21 based on the control signal. This handheld laser welding system enables the galvanometer motor 21 to be in the target state. Because both the galvanometer motor 21 and the control module 22 are located in the welding torch 2, the handheld laser welding system of this application embodiment can be connected over a shorter distance, shortening the signal transmission time and reducing the probability of signal interference during transmission. This helps to avoid signal interference affecting the normal operation of the galvanometer motor 21. In addition, by having the control unit and the drive unit process the state information and control signal respectively, the burden of information processing on the drive unit is reduced, thereby improving the drive unit's control capability over the galvanometer motor 21.

[0114] Please see Figure 6 , Figure 6 This is a flowchart illustrating the galvanometer control method provided in an embodiment of this application.

[0115] This application provides a galvanometer control method for a handheld laser welding system. The laser of the handheld laser welding system includes a laser control module, and the welding torch of the handheld laser welding system includes a galvanometer motor and a control module. The control module includes a control unit and a drive unit, and the control module controls the galvanometer motor to oscillate according to a set amplitude and frequency.

[0116] The control unit is used to acquire the status information of the galvanometer motor when it reaches the target state, and generates a control signal based on the status information; the drive unit is used to acquire the control signal and control the galvanometer motor based on the control signal so that the galvanometer motor is in the target state.

[0117] S11. The control module acquires the status information when the galvanometer motor reaches the target state.

[0118] S12. Generate control signals based on state information.

[0119] S13. Control the galvanometer motor based on the control signal to bring the galvanometer motor to the target state.

[0120] Optionally, in some embodiments, the driving unit includes a central processing subunit, an amplification subunit, and a driving subunit, wherein the central processing subunit is connected to the amplification subunit, and the amplification subunit is connected to the driving subunit.

[0121] Step S13 includes:

[0122] (131) The central processing subunit generates and outputs the target position signal based on the control signal.

[0123] (132) The target position signal is amplified by using an amplification subunit.

[0124] (133) The drive subunit drives the galvanometer motor to swing to the target position based on the amplified target position signal.

[0125] Optionally, in some embodiments, the driving unit further includes a detection subunit, a comparison subunit, and an adjustment subunit, wherein the detection subunit is connected to the galvanometer motor, the comparison subunit is connected to the adjustment subunit, and the adjustment subunit is connected to the driving subunit.

[0126] Step S13 also includes:

[0127] (134) The actual position of the galvanometer motor is detected by the detection subunit and the actual position signal is generated.

[0128] (135) The target position signal is compared with the actual position signal using the comparison sub-unit to obtain the error signal.

[0129] (136) The adjustment subunit generates an adjustment signal based on the error signal and transmits the adjustment signal to the drive subunit so that the drive subunit drives the galvanometer motor to swing to the target position based on the adjustment signal.

[0130] Optionally, in some embodiments, the laser control module is used to transmit status information to the control module when adjusting the emitted laser power.

[0131] In this embodiment, the handheld laser welding system is provided with a power supply, which supplies power to the laser 1 and the welding torch 2, and further supplies power to the laser control module 11, the galvanometer motor 21 and the control module 22.

[0132] In this embodiment, the driving subunit is a driving circuit and is disposed on a circuit board with a length of 25mm and a width of 25mm.

[0133] It should be noted that, compared with existing drive circuits, the drive circuit in this embodiment, which is mounted on a circuit board with a length of 25mm and a width of 25mm, has a volume that is one-tenth that of existing drive circuits.

[0134] Optionally, in some embodiments, the detection subunit includes a sensor assembly and a converter assembly.

[0135] The input terminal of the sensor assembly serves as the input terminal of the detection subunit and is used to input optical signals. The output terminal of the sensor assembly is connected to the input terminal of the converter assembly and is used to output current signals.

[0136] The output of the conversion device group serves as the output of the detection subunit and is used to output a voltage signal.

[0137] Optionally, in some embodiments, the adjustment subunit includes an integral adjustment circuit, which includes a first operational amplifier, a first capacitor bank, and a first variable resistor bank.

[0138] The first terminal of the first operational amplifier serves as the output terminal of the integral adjustment circuit, the second terminal of the first operational amplifier is connected to the output terminal of the first variable resistor group, and the input terminal of the first variable resistor group serves as the input terminal of the integral adjustment circuit.

[0139] The input terminal of the first capacitor bank is connected to the first terminal of the first operational amplifier, and the output terminal of the first capacitor bank is connected to the second terminal of the first operational amplifier.

[0140] Optionally, in some embodiments, the adjustment subunit includes a speed adjustment circuit, and the fast-off adjustment circuit includes a second operational amplifier, a second capacitor bank, and a second variable resistor bank.

[0141] The first terminal of the second operational amplifier serves as the output terminal of the speed regulation circuit, the second terminal of the second operational amplifier is connected to the output terminal of the second capacitor bank, and the input terminal of the second capacitor bank serves as the input terminal of the speed regulation circuit.

[0142] The input terminal of the second variable resistor group is connected to the first terminal of the first operational amplifier, and the output terminal of the second variable resistor group is connected to the second terminal of the first operational amplifier.

[0143] Optionally, in some embodiments, the adjustment subunit includes a proportional adjustment circuit, which includes a third operational amplifier, a first group of resistors, and a second group of resistors.

[0144] The first terminal of the third operational amplifier serves as the output terminal of the proportional adjustment circuit, the second terminal of the third operational amplifier is connected to the output terminal of the first resistor group, and the input terminal of the first resistor group serves as the input terminal of the proportional adjustment circuit.

[0145] The input terminal of the second resistor group is connected to the first terminal of the third operational amplifier, and the output terminal of the second resistor group is connected to the second terminal of the third operational amplifier.

[0146] This application provides a galvanometer control method. First, the power parameters of the emitted laser are adjusted using a laser control module. Then, a control unit determines the corresponding state information based on the mapping relationship between the adjusted power parameters and state information, and generates a control signal based on the corresponding state information. Finally, a drive unit controls the galvanometer motor based on the control signal, so that the galvanometer motor controls the galvanometer's oscillation. In this application embodiment, since both the galvanometer motor and the control module are located on the welding torch, they can be connected over a shorter distance, shortening the signal transmission time and reducing the probability of signal interference during transmission. This helps prevent signal interference from affecting the normal operation of the galvanometer motor. Furthermore, by having the control unit and drive unit process the state information and control signal respectively, the burden of information processing on the drive unit is reduced, thereby improving the drive unit's control capability over the galvanometer motor.

[0147] Please see Figure 7 , Figure 7 This is a schematic flowchart of the welding method provided in an embodiment of this application.

[0148] This embodiment provides a welding method based on a handheld laser welding system, which can be applied to any of the aforementioned handheld laser welding systems, including:

[0149] S21, The laser in the handheld laser welding system emits a laser beam.

[0150] S22. Adjust the power parameters of the laser emitted by the laser.

[0151] S23. Based on the mapping relationship between the adjusted power parameters and the status information, determine the corresponding status information and transmit the status information to the welding torch control module in the handheld laser welding system.

[0152] S24. The welding torch control module generates a control signal and controls the galvanometer motor in the welding torch to swing to the target position based on the control signal.

[0153] S25, The welding torch irradiates the processing area with a laser beam.

[0154] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0155] Although this application has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art based on a reading and understanding of this specification and drawings. This application includes all such modifications and variations and is limited only by the scope of the appended claims.

[0156] That is, the above description is only an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made using the content of this application’s specification and drawings, such as the combination of technical features between different embodiments, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of this application.

[0157] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0158] Furthermore, for structural elements with the same or similar characteristics, this application may use the same or different reference numerals for identification. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0159] The above description has been provided to enable any person skilled in the art to implement and use this application. Various details have been set forth in the above description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be implemented without using these specific details. In other embodiments, well-known structures and processes will not be described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

Claims

1. A handheld laser welding system, comprising a laser and a welding torch, characterized in that, The welding torch is equipped with a galvanometer motor and a control module. The control module controls the galvanometer motor to oscillate at a set amplitude and frequency. The control module includes: The control unit is used to acquire the state information of the galvanometer motor when it reaches the target state, and generate a control signal based on the state information; A drive unit is configured to acquire the control signal and control the galvanometer motor based on the control signal to bring the galvanometer motor into the target state. The driving unit includes a central processing subunit, an amplification subunit, a driving subunit, a detection subunit, a comparison subunit, and an adjustment subunit; The central processing subunit is connected to the amplification subunit; the amplification subunit is connected to the driving subunit; the driving subunit is connected to the galvanometer motor; the detection subunit is connected to the galvanometer motor; the comparison subunit is connected to the adjustment subunit; the adjustment subunit is connected to the driving subunit. The detection subunit includes a sensor assembly and a converter assembly; the adjustment subunit includes an integral adjustment circuit and / or a speed adjustment circuit and / or a proportional adjustment circuit.

2. The handheld laser welding system according to claim 1, characterized in that, The central processing subunit is used to generate and output a target position signal based on the control signal; the amplification subunit is used to amplify the target position signal; and the driving subunit is used to drive the galvanometer motor to swing to the target position based on the amplified target position signal.

3. The handheld laser welding system according to claim 2, characterized in that, The detection subunit is used to detect the actual position of the galvanometer motor and generate an actual position signal; the comparison subunit is used to compare the target position signal with the actual position signal to obtain an error signal; The adjustment subunit is used to generate an adjustment signal based on the error signal and transmit the adjustment signal to the drive subunit so that the drive subunit drives the galvanometer motor to swing to the target position based on the adjustment signal.

4. The handheld laser welding system according to claim 1, characterized in that, The laser in the handheld laser welding system includes: The laser control module is used to transmit the status information to the control unit when it is necessary to adjust the power of the emitted laser.

5. A galvanometer control method in a handheld laser welding system according to any one of claims 1 to 4, characterized in that, include: The handheld laser welding system's welding torch is equipped with a galvanometer motor and a control module. The control module controls the galvanometer motor to oscillate at a set amplitude and frequency. The control module acquires the state information of the galvanometer motor when it reaches the target state, and generates a control signal based on the state information to control the galvanometer motor so that the galvanometer motor is in the target state.

6. The galvanometer control method according to claim 5, characterized in that, The control module acquires the state information of the galvanometer motor when it reaches the target state, and generates a control signal based on the state information, further including: Based on the control signal, a target position signal is generated and output; The target position signal is amplified; The actual position of the galvanometer motor is detected and an actual position signal is generated; The amplified target position signal is compared with the actual position signal to obtain an error signal; An adjustment signal is generated based on the error signal, and the galvanometer motor is driven to swing to the target position according to the adjustment signal.

7. The galvanometer control method according to claim 5, characterized in that, This includes: configuring a laser control module within the laser of the handheld laser welding system, for transmitting the status information to the control module when adjusting the emitted laser power.

8. The galvanometer control method according to claim 5, characterized in that, include: A control unit and a drive unit are configured within the control module; The control unit is used to acquire the state information when the galvanometer motor reaches the target state, and generate a control signal based on the state information; The drive unit is used to acquire the control signal and control the galvanometer motor based on the control signal so that the galvanometer motor is in the target state.

9. The galvanometer control method according to claim 8, characterized in that, include: The drive unit is configured with a central processing subunit, an amplification subunit, and a drive subunit. The central processing subunit is connected to the amplification subunit and is used to generate and output the target position signal based on the control signal; The amplification subunit is connected to the driving subunit and is used to amplify the target position signal; The drive subunit is connected to the galvanometer motor and is used to drive the galvanometer motor to swing to the target position based on the amplified target position signal.

10. A welding method based on the handheld laser welding system according to any one of claims 1 to 4, characterized in that, include: The laser in the handheld laser welding system emits a laser beam; Adjust the power parameters of the laser emitted by the laser; Based on the mapping relationship between the adjusted power parameters and the status information, the corresponding status information is determined and transmitted to the welding torch control module in the handheld laser welding system. The welding torch control module generates a control signal and controls the galvanometer motor in the welding torch to swing to the target position based on the control signal. The welding torch directs a laser beam onto the processing area.

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