A laser welding system and method

Abstract

The application provides a laser welding system and method, and relates to the technical field of laser welding.The system comprises a laser gun head, a motor connected with the laser gun head, the motor being used to drive the laser gun head to move, the motor comprising an encoder used to represent the corresponding pulse position when the motor moves, a controller connected with the motor and the laser gun head, used to control the motor to drive the laser gun head to move according to a target track determined by a trigonometric function graph, and determine the position of the laser gun head moved by the motor according to the pulse position, and control the laser gun head to perform dot welding on a target to be welded when the laser gun head moves to a target point on the target track.The laser welding system and method provided by the application can realize laser dot welding at equal intervals, thereby improving the welding quality.

Description

Technical Field

[0001] This application relates to the field of laser welding technology, and in particular to a laser welding system and method. Background Technology

[0002] When conventional pulsed lasers are used to weld sealing nails, the laser gun head is controlled by a servo motor, moving along the X and Y axes and welding along a predetermined trajectory. During the welding process, the servo motor's speed undergoes acceleration, constant speed, and deceleration, and its speed is affected by external factors such as sudden load changes, angle transitions between two straight lines, and arc transitions. In contrast, the pulsed laser gun head emits light at a pre-set, constant frequency for spot welding. This results in inconsistent laser spot spacing, affecting the weld quality. Summary of the Invention

[0003] This application provides a laser welding system and method that can achieve laser-based spot welding at equal intervals, thereby improving welding quality.

[0004] In a first aspect, embodiments of this application provide a laser welding system, comprising:

[0005] Laser gun head;

[0006] A motor is connected to the laser gun head; the motor is used to drive the laser gun head to move; the motor includes an encoder, which is used to characterize the pulse position corresponding to the movement of the motor.

[0007] The controller, connected to the motor and the laser gun head, is used for:

[0008] The motor is controlled to drive the laser gun head to move along the target trajectory determined by the trigonometric function graph, and the position of the laser gun head driven by the motor is determined according to the pulse position;

[0009] When the laser gun head moves to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded;

[0010] The position of the target point is determined by dividing the trigonometric function graph equally according to the number of weld points on the target to be welded.

[0011] In one embodiment, the controller is specifically used for:

[0012] Convert the trigonometric function graph into a circle;

[0013] The circle is divided equally according to the number of solder joints, and the central angle corresponding to each solder joint is determined.

[0014] The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

[0015] In one embodiment, the controller is further configured to:

[0016] The trigonometric function graph is converted into a circle, and the quadrants of the circle in the plane coordinate system are determined.

[0017] The central angles of each quadrant are divided equally according to the number of solder joints in each quadrant, and the central angle corresponding to each solder joint in each quadrant is determined.

[0018] The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

[0019] In one embodiment, the controller is further configured to:

[0020] In the first or second quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0021] θ = [arccos(1-M / N)*180 / π]

[0022] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0023] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the first or second quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

[0024] In one embodiment, the controller is further configured to:

[0025] In the third or fourth quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0026] θ=[2π-arccos(1-M / N)*180 / π]

[0027] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0028] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the third or fourth quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

[0029] Secondly, embodiments of this application provide a laser welding method, including:

[0030] Determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0031] The trigonometric function graph is divided equally according to the number of solder joints to determine the target point on the target trajectory;

[0032] When the motor drives the laser gun head to move to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded.

[0033] In one embodiment, the step of dividing the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory includes:

[0034] Convert the trigonometric function graph into a circle;

[0035] The circle is divided equally according to the number of solder joints, and the central angle corresponding to each solder joint is determined.

[0036] The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

[0037] In one embodiment, the step of dividing the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory includes:

[0038] The trigonometric function graph is converted into a circle, and the quadrants of the circle in the plane coordinate system are determined.

[0039] The central angles of each quadrant are divided equally according to the number of solder joints in each quadrant, and the central angle corresponding to each solder joint in each quadrant is determined.

[0040] The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

[0041] Thirdly, embodiments of this application provide a laser welding apparatus, comprising:

[0042] The determination module is used to determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0043] The equal division module is used to divide the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory;

[0044] The control module is used to control the laser gun head to perform spot welding on the target when the motor drives the laser gun head to move to the target point on the target trajectory.

[0045] Fourthly, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the second aspect.

[0046] The laser welding system and method provided in this application embodiment control the motor to drive the laser gun head to move precisely, then divide the trigonometric function graph corresponding to the target trajectory to determine the position of the target point, and control the laser gun head to perform spot welding on the evenly divided target points, which can realize laser spot welding at equal intervals, thereby improving the welding quality. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of the laser welding system provided in the embodiments of this application;

[0049] Figure 2 This is a graph of trigonometric functions provided in the embodiments of this application;

[0050] Figure 3 This is a schematic diagram of the target points of the circle in the planar coordinate system provided in the embodiments of this application;

[0051] Figure 4 This is a schematic flowchart of the laser welding method provided in the embodiments of this application;

[0052] Figure 5 This is a schematic diagram of the structure of the laser welding apparatus provided in the embodiments of this application;

[0053] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] Figure 1 This is a schematic diagram of the laser welding system provided in an embodiment of this application. (Refer to...) Figure 1 This application provides a laser welding system, which may include:

[0056] Laser gun head 110;

[0057] Motor 120 is connected to laser gun head 110; motor 120 is used to drive laser gun head 110 to move; motor 120 includes encoder 121, encoder 121 is used to characterize the pulse position corresponding to the movement of the motor;

[0058] Controller 130, connected to motor 120 and laser gun head 110, is used for:

[0059] The control motor 120 drives the laser gun head 110 to move along the target trajectory determined by the trigonometric function graph, and the position of the laser gun head 110 driven by the motor 120 is determined according to the pulse position.

[0060] When the laser gun head 110 moves to the target point on the target trajectory, the laser gun head 110 is controlled to perform spot welding on the target to be welded.

[0061] The location of the target point is determined by dividing the trigonometric function graph equally based on the number of weld points on the target to be welded.

[0062] Lasers can be categorized into continuous lasers and pulsed lasers based on their operation. A pulsed laser is a laser with a single laser pulse width of less than 0.25 seconds, operating only once at regular intervals. It has high output power and is suitable for laser marking, cutting, and ranging. The laser used for spot welding in this application embodiment can be a pulsed laser.

[0063] Motors can be classified into drive motors and control motors according to their application. Control motors can be further divided into stepper motors and servo motors. Compared with other motors, servo motors have higher precision and response speed, enabling precise motion control. The motor 120 used in this embodiment can be a servo motor. The energy of the laser can be output to the laser head 110 through a flexible optical fiber. The motor 120 can be connected to the laser head 110 and can drive the laser head 110 to move. The motor 120 may also include an encoder 121, which can characterize the pulse position corresponding to the movement of the motor 120.

[0064] The controller 130 can be connected to the motor 120 and the laser gun head 110, and can control the motor 120 to drive the laser gun head 110 according to a trigonometric function graph (such as... Figure 2 The laser gun head 110 moves along a target trajectory (as shown), and the position of the laser gun head 110 driven by the motor 120 is determined according to the pulse position. When the laser gun head 110 moves to the target point on the target trajectory, the controller 130 can control the laser gun head 110 to perform spot welding on the target to be welded. The position of the target point can be determined by evenly dividing the trigonometric function graph according to the number of weld points on the target to be welded. The number of weld points on the target to be welded can be set to 8, 10, 20, etc., as needed, and this application does not specifically limit this.

[0065] The laser welding system provided in this application embodiment controls the motor to drive the laser gun head to move precisely. Then, the trigonometric function graph corresponding to the target trajectory is evenly divided to determine the position of the target point. The controller controls the laser gun head to perform spot welding on the evenly divided target points, which can realize laser spot welding at equal intervals, thereby improving the welding quality.

[0066] In one embodiment, controller 130 is specifically used for:

[0067] Convert the graph of a trigonometric function into a circle;

[0068] Divide the circle into equal parts based on the number of solder joints, and determine the central angle corresponding to each solder joint.

[0069] The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

[0070] The controller 130 can convert the trigonometric function graph into a circle according to the correspondence between trigonometric functions and circles, and divide the circle equally according to the number of weld points of the target to be welded, determine the central angle corresponding to each weld point, and then determine the corresponding weld point from the starting position of the laser gun head 110 in a clockwise or counterclockwise manner, at intervals of the corresponding central angle, that is, determine the position of each target point on the target trajectory.

[0071] For example, when there are 8 solder joints, the controller 130 can divide the circle into 8 equal parts. Using 360° / 8*1, the central angle corresponding to solder joint 1 is calculated to be 45°, the central angle corresponding to solder joint 2 is 360° / 8*2 = 90°, the central angle corresponding to solder joint 3 is 360° / 8*3 = 135°, and so on. Then, the controller 130 can determine the position of target point 1 by rotating 45° counterclockwise from the starting position of the laser gun head 110, then determine the position of target point 2 by rotating 90° counterclockwise from the starting position of the laser gun head 110, then determine the position of target point 3 by rotating 135° counterclockwise from the starting position of the laser gun head 110, and so on, until the positions of all target points are determined.

[0072] The laser welding system provided in this application converts a trigonometric function graph into a circle and divides the circle into equal parts to determine the welding target point. It can precisely control the laser gun head to perform equally spaced spot welding on the entire circular trajectory, thereby improving the welding quality.

[0073] In one embodiment, controller 130 is specifically used for:

[0074] Convert the trigonometric function graph into a circle and determine the quadrants of the circle in the plane coordinate system;

[0075] Divide the central angle of each quadrant equally according to the number of solder joints in each quadrant, and determine the central angle corresponding to each solder joint in each quadrant.

[0076] The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

[0077] like Figure 3 As shown, after the controller 130 converts the trigonometric function graph into a circle based on the correspondence between trigonometric functions and circles, it can establish a planar coordinate system with the X and Y axes and determine the quadrants of the circle in the planar coordinate system. The quadrants of the circle in the planar coordinate system can be determined sequentially by rotating 90 degrees counterclockwise from the positive X-axis as the starting point.

[0078] The controller 130 can divide the central angle of each quadrant (θ is the central angle corresponding to point B) equally according to the number of solder joints in each quadrant, determine the central angle corresponding to each solder joint in each quadrant, and determine the position of each target point (such as points A, B, C, D, E, F, G, H, I, J, K, L in the figure) on the target trajectory by rotating counterclockwise by the corresponding central angle from the starting position of the laser gun head 110.

[0079] The laser welding system provided in this application converts a trigonometric function graph into a circle, determines the quadrants of the circle in a plane coordinate system, and equally divides the central angle of each quadrant to determine the welding target points in each quadrant. This allows for precise control of the laser torch head to perform equally spaced spot welding on each quadrant of the circular trajectory. Determining the target points in each quadrant by dividing them into quadrants further improves the spot welding accuracy and welding quality.

[0080] In one embodiment, controller 130 is specifically used for:

[0081] In the first or second quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0082] θ = [arccos(1-M / N)*180 / π]

[0083] Where θ is the central angle corresponding to the current position; M is the number of pulses on the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses on the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0084] When the central angle corresponding to the current position is equal to the central angle corresponding to any welding point in the first or second quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

[0085] The starting position in the first quadrant of the circular trajectory can be taken as the 0-degree position. The circular trajectory of the laser gun head 110 can be decomposed into components along the X and Y axes in the planar coordinate system. The motor 120 drives the laser gun head 110 to move in the form of pulses. In the first or second quadrant, based on the number of pulses M of the motor 120 on the X axis when the laser gun head 110 moves to the current position, and the number of pulses N of the motor 120 driving the laser gun head 110 to complete a quarter circle, the controller 130 can calculate the central angle corresponding to each welding point as follows:

[0086] θ = [arccos(1-M / N)*180 / π]

[0087] Where θ is the central angle corresponding to the current position; M is the number of pulses on the X-axis of the planar coordinate system when the laser gun head 110 is driven by the motor 120 to the current position; and N is the number of pulses on the X-axis when the laser gun head 110 is driven by the motor 120 to complete a quarter circle.

[0088] When the central angle corresponding to the current position is equal to the central angle corresponding to a certain welding point in the first or second quadrant, the controller 130 can determine the current position as the target point and control the laser gun head 110 to perform spot welding.

[0089] For example, when the number of pulses corresponding to the motor 120 on the X-axis is M = 2636039 in the first quadrant, and the number of pulses corresponding to the motor 120 driving the laser gun head 110 to complete a quarter circle is N = 9000000, substituting these into the formula θ = [arccos(1-M / N)*180 / π], we can obtain the central angle θ = 45° corresponding to the current position.

[0090] When four points are marked in the first quadrant, the central angle corresponding to weld point 2 can be calculated to be 45°, which is equal to the central angle of 45° corresponding to the current position. At this time, the controller 130 can determine the current position as the target point and control the laser gun head 110 to perform spot welding.

[0091] The laser welding system provided in this application provides a method for determining each target point by calculating the central angle corresponding to the current position in the first or second quadrant based on the current number of pulses and the number of pulses corresponding to the quarter circle, thereby ensuring the implementation of the laser welding step.

[0092] In one embodiment, controller 130 is specifically used for:

[0093] In the third or fourth quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0094] θ=[2π-arccos(1-M / N)*180 / π]

[0095] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0096] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the third or fourth quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

[0097] The starting position in the first quadrant of the circular trajectory can be taken as the 0-degree position. The circular trajectory of the laser gun head 110 can be decomposed into components along the X and Y axes in the planar coordinate system. The motor 120 drives the laser gun head 110 to move in the form of pulses. In the third or fourth quadrant, based on the number of pulses M of the motor 120 on the X axis when the laser gun head 110 moves to the current position, and the number of pulses N of the motor 120 driving the laser gun head 110 to complete a quarter circle, the controller 130 can calculate the central angle corresponding to each welding point as follows:

[0098] θ=[2π-arccos(1-M / N)*180 / π]

[0099] Where θ is the central angle corresponding to the current position; M is the number of pulses on the X-axis of the planar coordinate system when the laser gun head 110 is driven by the motor 120 to the current position; and N is the number of pulses on the X-axis when the laser gun head 110 is driven by the motor 120 to complete a quarter circle.

[0100] When the central angle corresponding to the current position is equal to the central angle corresponding to a certain welding point in the third or fourth quadrant, the controller 130 can determine the current position as the target point and control the laser gun head 110 to perform spot welding.

[0101] For example, when in the third quadrant, the current pulse count of motor 120 on the X-axis is M = 9,000,000, and the pulse count of the laser gun head 110 on the X-axis when motor 120 drives it to complete a quarter circle is N = 9,000,000. Substituting these values ​​into the formula θ = [2π - arccos(1 - M / N) * 180 / π], we can obtain the central angle θ = 270° corresponding to the current position.

[0102] When two points are welded in the third quadrant, the central angle corresponding to weld point 2 can be calculated to be 270°, which is equal to the central angle of 270° corresponding to the current position. At this time, the controller 130 can determine the current position as the target point and control the laser gun head 110 to perform spot welding.

[0103] The laser welding system provided in this application provides a method for determining each target point by calculating the central angle corresponding to the current position in the third or fourth quadrant based on the current number of pulses and the number of pulses corresponding to the quarter circle, thereby ensuring the implementation of the laser welding step.

[0104] The laser welding method and apparatus provided in this application are described below. The laser welding method and apparatus described below can be referred to in correspondence with the laser welding system described above.

[0105] Figure 4 This is a schematic flowchart of the laser welding method provided in an embodiment of this application. (Refer to...) Figure 4 The laser welding method provided in this application embodiment may include:

[0106] Step 410: Determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0107] Step 420: Divide the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory;

[0108] Step 430: When the motor drives the laser gun head to move to the target point on the target trajectory, control the laser gun head to perform spot welding on the target to be welded.

[0109] The laser welding method provided in this application embodiment uses a controller to control a motor to drive the laser gun head to move precisely. Then, the trigonometric function graph corresponding to the target trajectory is divided equally to determine the position of the target point. The controller then controls the laser gun head to perform spot welding on the equally divided target points, which can realize laser spot welding at equal intervals, thereby improving the welding quality.

[0110] In one embodiment, the laser welding method further includes:

[0111] Convert the trigonometric function graph into a circle;

[0112] The circle is divided equally according to the number of solder joints, and the central angle corresponding to each solder joint is determined.

[0113] The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

[0114] In one embodiment, the laser welding method further includes:

[0115] The trigonometric function graph is converted into a circle, and the quadrants of the circle in the plane coordinate system are determined.

[0116] The central angles of each quadrant are divided equally according to the number of solder joints in each quadrant, and the central angle corresponding to each solder joint in each quadrant is determined.

[0117] The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

[0118] In one embodiment, the laser welding method further includes:

[0119] In the first or second quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0120] θ = [arccos(1-M / N)*180 / π]

[0121] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0122] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the first or second quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

[0123] In one embodiment, the laser welding method further includes:

[0124] In the third or fourth quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0125] θ=[2π-arccos(1-M / N)*180 / π]

[0126] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0127] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the third or fourth quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

[0128] Figure 5 This is a schematic diagram of the laser welding apparatus provided in an embodiment of this application. (Refer to...) Figure 6 The laser welding apparatus provided in this application embodiment may include:

[0129] The determination module 510 is used to determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0130] The equal division module 520 is used to divide the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory;

[0131] The control module 530 is used to control the laser gun head to perform spot welding on the target to be welded when the motor drives the laser gun head to move to the target point on the target trajectory.

[0132] The laser welding device provided in this application embodiment controls the motor to drive the laser gun head to move precisely. Then, the trigonometric function graph corresponding to the target trajectory is evenly divided to determine the position of the target point. The controller controls the laser gun head to perform spot welding on the evenly divided target points, which can realize laser spot welding at equal intervals, thereby improving the welding quality.

[0133] In one embodiment, the control module 530 is specifically used for:

[0134] Convert the trigonometric function graph into a circle;

[0135] The circle is divided equally according to the number of solder joints, and the central angle corresponding to each solder joint is determined.

[0136] The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

[0137] In one embodiment, the control module 530 is further configured to:

[0138] The trigonometric function graph is converted into a circle, and the quadrants of the circle in the plane coordinate system are determined.

[0139] The central angles of each quadrant are divided equally according to the number of solder joints in each quadrant, and the central angle corresponding to each solder joint in each quadrant is determined.

[0140] The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

[0141] In one embodiment, the control module 530 is further configured to:

[0142] In the first or second quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0143] θ = [arccos(1-M / N)*180 / π]

[0144] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0145] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the first or second quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding. In one embodiment, the control module 530 is further configured to:

[0146] In the third or fourth quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula:

[0147] θ=[2π-arccos(1-M / N)*180 / π]

[0148] Where θ is the central angle corresponding to the current position; M is the number of pulses corresponding to the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; and N is the number of pulses corresponding to the X-axis when the motor drives the laser gun head to complete a quarter circle.

[0149] When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the third or fourth quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding. It should be noted that the laser welding method and apparatus provided in this application embodiment can achieve the same technical effect based on the above-described laser welding system; therefore, the parts and beneficial effects that are the same as those in the system embodiment will not be described in detail here.

[0150] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a laser welding method. For example, it may include:

[0151] Determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0152] The trigonometric function graph is divided equally according to the number of solder joints to determine the target point on the target trajectory;

[0153] When the motor drives the laser gun head to move to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded.

[0154] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to perform the steps of the laser welding methods provided by the above-described methods. For example, it includes:

[0156] Determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0157] The trigonometric function graph is divided equally according to the number of solder joints to determine the target point on the target trajectory;

[0158] When the motor drives the laser gun head to move to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded.

[0159] Furthermore, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the laser welding methods provided by the above methods, including, for example:

[0160] Determine the number of weld points on the target to be welded, and the trigonometric function graph;

[0161] The trigonometric function graph is divided equally according to the number of solder joints to determine the target point on the target trajectory;

[0162] When the motor drives the laser gun head to move to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded.

[0163] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0164] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A laser welding system, characterized in that, include: Laser gun head; A motor is connected to the laser gun head; the motor is used to drive the laser gun head to move. The motor includes an encoder, which is used to characterize the pulse position corresponding to the movement of the motor. The controller, connected to the motor and the laser gun head, is used for: The motor is controlled to drive the laser gun head to move along the target trajectory determined by the trigonometric function graph, and the position of the laser gun head driven by the motor is determined according to the pulse position; When the laser gun head moves to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded; The position of the target point is determined by dividing the trigonometric function graph equally according to the number of weld points of the target to be welded; The controller is specifically used for: In the first or second quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula: θ = [arccos(1-M / N)*180 / π]; Where θ is the central angle corresponding to the current position; M is the number of pulses on the X-axis of the planar coordinate system when the motor drives the laser gun head to the current position; N is the number of pulses on the X-axis when the motor drives the laser gun head to complete a quarter circle; the controller is used to convert the trigonometric function graph into a circle according to the correspondence between trigonometric functions and circles, establish a planar coordinate system with the X-axis and Y-axis, and determine the quadrants of the circle in the planar coordinate system. The quadrants of the circle in the planar coordinate system are determined sequentially by rotating 90 degrees counterclockwise from the positive X-axis direction as the starting point. When the central angle corresponding to the current position is equal to the central angle corresponding to any weld point in the first or second quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

2. The laser welding system according to claim 1, characterized in that, The controller is specifically used for: Convert the trigonometric function graph into a circle; The circle is divided equally according to the number of solder joints, and the central angle corresponding to each solder joint is determined. The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

3. The laser welding system according to claim 1, characterized in that, The controller is specifically used for: The trigonometric function graph is converted into a circle, and the quadrants of the circle in the plane coordinate system are determined. The central angles of each quadrant are divided equally according to the number of solder joints in each quadrant, and the central angle corresponding to each solder joint in each quadrant is determined. The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

4. The laser welding system according to claim 3, characterized in that, The controller is specifically used for: In the third or fourth quadrant, the central angle corresponding to the current position of the laser gun head on the target trajectory is determined according to the following formula: θ=[2π-arccos(1-M / N)*180 / π]; Where θ is the central angle corresponding to the current position; M is the number of pulses of the motor on the X-axis of the plane coordinate system when the motor drives the laser gun head to the current position; N is the number of pulses of the motor on the X-axis when the motor drives the laser gun head to complete a quarter circle. When the central angle corresponding to the current position is equal to the central angle corresponding to any welding point in the third or fourth quadrant, the current position is determined as the target point, and the laser gun head is controlled to perform spot welding.

5. A laser welding method, characterized in that, The method, applied to the laser welding system as described in any one of claims 1 to 4, comprises: Determine the number of weld points on the target to be welded, and the trigonometric function graph; The trigonometric function graph is divided equally according to the number of solder joints to determine the target point on the target trajectory; When the motor drives the laser gun head to move to the target point on the target trajectory, the laser gun head is controlled to perform spot welding on the target to be welded.

6. The laser welding method according to claim 5, characterized in that, The step of dividing the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory includes: Convert the trigonometric function graph into a circle; The circle is divided equally according to the number of solder joints, and the central angle corresponding to each solder joint is determined. The target points on the target trajectory are determined based on the central angle corresponding to each weld point.

7. The laser welding method according to claim 5, characterized in that, The step of dividing the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory includes: The trigonometric function graph is converted into a circle, and the quadrants of the circle in the plane coordinate system are determined. The central angles of each quadrant are divided equally according to the number of solder joints in each quadrant, and the central angle corresponding to each solder joint in each quadrant is determined. The target points on the target trajectory are determined based on the central angles of each weld point in each quadrant.

8. A laser welding apparatus, characterized in that, Applied to the laser welding system as described in any one of claims 1 to 4, the apparatus comprises: The determination module is used to determine the number of weld points on the target to be welded, and the trigonometric function graph; The equal division module is used to divide the trigonometric function graph equally according to the number of solder joints to determine the target point on the target trajectory; The control module is used to control the laser gun head to perform spot welding on the target when the motor drives the laser gun head to move to the target point on the target trajectory.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the laser welding method as described in any one of claims 5 to 7.

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