Laser welding track control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a laser welding track control method and device, electronic equipment and storage medium, belonging to the technical field of laser welding. The method comprises: acquiring welding track data, the welding track data being used to represent a planned welding track of a laser beam output by a laser welder; decoupling processing according to the welding track data to obtain original platform track data and original galvanometer track data; interpolation processing according to the original platform track data to obtain target platform axis track data; interpolation processing according to the original galvanometer track data to obtain target galvanometer axis track data; controlling the laser welder to output the laser beam according to a preset welding process parameter, and controlling the laser welder to move according to a preset target welding speed, the target platform axis track data and the target galvanometer axis track data, so as to weld a to-be-welded component by the laser welder. The embodiments of the present application can improve the accuracy of welding track control and improve the welding qualification rate.

Description

Technical Field

[0001] This application relates to the field of laser welding technology, and in particular to a laser welding trajectory control method and apparatus, electronic equipment and storage medium. Background Technology

[0002] Currently, during the laser welding process of battery top covers, the welding trajectory has corners, and the welding head often accelerates or decelerates during movement, causing fluctuations in the overall target welding speed. This results in inconsistent welding effects at different locations along the welding trajectory, and may even lead to over-welding. Fluctuations in the target welding speed can also easily cause welding trajectory deviation.

[0003] In summary, excessive fluctuations in laser target welding speed can negatively impact the product welding pass rate. Therefore, improving the welding pass rate has become an urgent technical problem to be solved. Summary of the Invention

[0004] The main objective of this application is to provide a laser welding trajectory control method, device, electronic equipment, and storage medium, which aims to improve the accuracy of welding trajectory control and increase the welding qualification rate.

[0005] To achieve the above objectives, a first aspect of this application proposes a laser welding trajectory control method applied to a controller of a servo platform. The controller is communicatively connected to a laser welder, and the component to be welded is placed on the side of the servo platform facing the laser welder. The method includes:

[0006] Acquire welding trajectory data; wherein, the welding trajectory data is used to characterize the planned welding trajectory of the laser beam output by the laser welder;

[0007] Decoupling processing is performed on the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data;

[0008] The target platform axis trajectory data is obtained by interpolating the original platform trajectory data.

[0009] Interpolation processing is performed on the original galvanometer trajectory data to obtain the target galvanometer axis trajectory data;

[0010] The laser welder outputs a laser beam according to preset welding process parameters, and moves according to preset target welding speed, target platform axis trajectory data and target galvanometer axis trajectory data, so as to weld the component to be welded by the laser welder.

[0011] In some embodiments, the decoupling process based on the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data includes:

[0012] The frequency signal of the welding trajectory data is acquired to obtain the trajectory frequency signal;

[0013] The trajectory frequency signal is decoupled to obtain a first frequency signal and a second frequency signal;

[0014] The welding trajectory data corresponding to the first frequency signal is used as the original galvanometer trajectory data, and the welding trajectory data corresponding to the second frequency signal is used as the original platform trajectory data.

[0015] In some embodiments, the target platform axis trajectory data includes first platform axis parameters and second platform axis parameters. The servo platform further includes a driver, the controller is connected to the driver, and the driver is connected to the laser welder. Controlling the movement of the laser welder according to a preset target welding speed, the target platform axis trajectory data, and the target galvanometer axis trajectory data to weld the component to be welded using the laser welder includes:

[0016] The rotation of the laser welder's galvanometer is controlled based on the target galvanometer axis trajectory data;

[0017] The laser welder is controlled to move above the component to be welded by the driver, the preset target welding speed, the first platform axis parameters, and the second platform axis parameters, so that the laser beam output by the laser welder moves along the planned welding trajectory at the target welding speed to weld the component.

[0018] In some embodiments, the target galvanometer axis trajectory data includes first galvanometer axis parameters and second galvanometer axis parameters. The laser welder includes a laser, a first galvanometer, and a second galvanometer. The laser beam output from the laser to the first galvanometer is reflected to the second galvanometer, and the laser beam, after being reflected by the second galvanometer, is output to the surface of the component to be welded. Controlling the rotation of the galvanometer mirrors of the laser welder according to the target galvanometer axis trajectory data includes:

[0019] The rotation of the first galvanometer is controlled according to the first galvanometer axis parameters;

[0020] The rotation of the second galvanometer is controlled according to the axis parameters of the second galvanometer.

[0021] In some embodiments, before controlling the laser beam output of the laser welder according to preset welding process parameters, the method further includes:

[0022] Acquire introduction trajectory data and exit trajectory data; wherein, the introduction trajectory data is the position data of the introduction trajectory segment, the exit trajectory data is the position data of the exit trajectory segment, the introduction trajectory segment intersects with the planned welding trajectory at a reset point, and the exit trajectory segment intersects with the planned welding trajectory at the reset point;

[0023] Based on the introduced trajectory data and the welding trajectory data, the welding start point is determined on the introduced trajectory segment;

[0024] Based on the lead-out trajectory data and the welding trajectory data, the welding endpoint is determined on the lead-out trajectory segment;

[0025] The laser welder is moved to the welding start point by the driver, and then moved to the welding end point along the planned welding trajectory according to the welding trajectory data.

[0026] In some embodiments, the initial position of the laser welder is the reset point; the step of moving the laser welder to the welding start point via the driver, and moving the laser welder to the welding end point along the planned welding trajectory according to the welding trajectory data, includes:

[0027] The laser welder is controlled by the driver to move from the reset point to the welding start point; wherein the laser welder is in the off state.

[0028] When the laser welder is located at the welding starting point, the laser welder is switched to the on state so that the laser welder outputs a laser beam;

[0029] Based on the welding trajectory data, the laser welder is controlled to move along the planned welding trajectory to the welding endpoint;

[0030] When the laser welder is at the welding endpoint, the laser welder is switched to the off state;

[0031] The laser welder is controlled by the driver to move from the welding endpoint to the reset point.

[0032] In some embodiments, the process parameters include laser power and laser frequency; before controlling the laser welder to output the laser beam according to preset welding process parameters, the method further includes:

[0033] Obtain the component information of the component to be welded; wherein, the component information includes the material of the component to be welded, the weld penetration depth, and the weld width;

[0034] The welding process parameters are selected from the preset candidate process parameters based on the component information.

[0035] To achieve the above objectives, a second aspect of this application provides a laser welding trajectory control device, applied to a controller of a servo platform. The controller is communicatively connected to a laser welder, and the component to be welded is placed on the side of the servo platform facing the laser welder. The device includes:

[0036] The first data acquisition module is used to acquire welding trajectory data; wherein, the welding trajectory data is used to characterize the planned welding trajectory of the laser beam output by the laser welder;

[0037] The decoupling module is used to perform decoupling processing based on the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data.

[0038] The interpolation module is used to perform interpolation processing on the original platform trajectory data to obtain target platform axis trajectory data; and to perform interpolation processing on the original galvanometer trajectory data to obtain target galvanometer axis trajectory data.

[0039] The welding module is used to control the output of the laser beam of the laser welder according to preset welding process parameters, and to control the movement of the laser welder according to preset target welding speed, target platform axis trajectory data and target galvanometer axis trajectory data, so as to weld the component to be welded by the laser welder.

[0040] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0041] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0042] The laser welding trajectory control method, apparatus, electronic device, and storage medium proposed in this application improve data accuracy by decoupling welding trajectory data to obtain original platform trajectory data and original galvanometer trajectory data, interpolating the original platform trajectory data to obtain target platform axis trajectory data, and interpolating the original galvanometer trajectory data to obtain target galvanometer axis trajectory data. The laser welder outputs a laser beam according to preset welding process parameters, and moves according to preset target welding speed, target platform axis trajectory data, and target galvanometer axis trajectory data to weld the components to be welded. Specifically, the target platform axis trajectory data is sent by the controller to the laser welder to enable horizontal movement of the laser welder on the components to be welded, and the target galvanometer axis trajectory data is sent by the controller to the galvanometer inside the laser welder to control the deflection of the laser beam. The position where the laser beam output by the laser welder is focused on the components to be welded is jointly determined by the target platform axis trajectory data and the target galvanometer axis trajectory data. Therefore, by using the target platform axis trajectory data and the target galvanometer axis trajectory data, the control accuracy can be improved, and the laser welder can be controlled more precisely to weld along the planned welding trajectory. This reduces the speed fluctuation of the laser welder when welding at the corners of the planned welding trajectory, thereby improving the uniformity of the welding effect, welding yield, and the pass rate of welded products. Attached Figure Description

[0043] Figure 1 This is a flowchart of the laser welding trajectory control method provided in the embodiments of this application;

[0044] Figure 2 This is an embodiment provided by this application. Figure 1 The flowchart for step 102 in the document;

[0045] Figure 3 This is an embodiment provided by this application. Figure 1 The flowchart for step 105 in the document;

[0046] Figure 4 This is a schematic diagram of the platform axis trajectory corresponding to the target platform axis trajectory data provided in the embodiments of this application;

[0047] Figure 5 This is an embodiment provided by this application. Figure 3 The flowchart for step 301 in the document;

[0048] Figure 6 This is a schematic diagram of the structure of the laser welder provided in the embodiments of this application;

[0049] Figure 7 This is a schematic diagram of the galvanometer axis trajectory corresponding to the target galvanometer axis trajectory data provided in the embodiments of this application;

[0050] Figure 8 This is a flowchart of a laser welding trajectory control method provided in another embodiment of this application;

[0051] Figure 9 This is a schematic diagram of the planned welding trajectory provided in the embodiments of this application;

[0052] Figure 10 This is a flowchart of a laser welding trajectory control method provided in another embodiment of this application;

[0053] Figure 11 This is a schematic diagram of the structure of the laser welding trajectory control device provided in the embodiments of this application;

[0054] Figure 12 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0056] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0058] First, let's analyze some of the terms used in this application:

[0059] A servo system, also known as a follow-up system, is a feedback control system used to accurately follow or reproduce a process. A servo system is an automatic control system that enables the output controlled variables, such as the position, orientation, and state of an object, to change in accordance with changes in the input target (or given value). Servo systems are an important component of CNC machine tools.

[0060] Interpolation is the process by which the CNC system of a CNC machine tool determines the motion trajectory of welding tools according to a certain method.

[0061] A galvanometer is an optical element that can guide a transmitted beam of light in a new direction, such as deflecting the direction of the beam.

[0062] The laser welding trajectory control method, apparatus, electronic device, and storage medium provided in this application are specifically described through the following embodiments. First, the laser welding trajectory control method in this application embodiment is described.

[0063] Figure 1 This is an optional flowchart of the laser welding trajectory control method provided in this application embodiment. The laser welding trajectory control method is applied to the controller of a servo platform. The controller is communicatively connected to the laser welder, and the component to be welded is placed on the side of the servo platform facing the laser welder. The laser welding trajectory control method may include, but is not limited to, steps 101 to 105.

[0064] Step 101: Obtain welding trajectory data; wherein, the welding trajectory data is used to characterize the planned welding trajectory of the laser beam output by the laser welder.

[0065] Step 102: Decouple the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data;

[0066] Step 103: Perform interpolation processing on the original platform trajectory data to obtain the target platform axis trajectory data;

[0067] Step 104: Perform interpolation processing based on the original galvanometer trajectory data to obtain the target galvanometer axis trajectory data;

[0068] Step 105: Control the laser welder to output a laser beam according to the preset welding process parameters, and control the movement of the laser welder according to the preset target welding speed, target platform axis trajectory data and target galvanometer axis trajectory data, so as to weld the components to be welded by the laser welder.

[0069] It should be noted that the component to be welded can be a battery top cover, specifically a lithium battery top cover. In this embodiment, the battery top cover is laser welded to seal it.

[0070] In step 101 of some embodiments, the welding trajectory data can be sent from a host computer to a servo platform, wherein the host computer and the servo platform are communicatively connected. Welding trajectory data can also be obtained in other ways, and is not limited to these.

[0071] It should be noted that interpolation processing is the process by which the controller calculates the intermediate points between known points according to the interpolation algorithm. Specifically, it can be the data densification of the trajectory between the start and end points of the curve described by the original platform trajectory data (or the original galvanometer trajectory data) to form the target platform axis trajectory data (or the target galvanometer axis trajectory data).

[0072] It should be noted that welding process parameters can be sent from the host computer to the servo platform. These parameters may include laser power, laser frequency, and ramp-up / ramp-down time. The ramp-up / ramp-down time refers to the time it takes for the laser welder to gradually increase or decrease the laser power at the start or end of welding.

[0073] Specifically, the target welding speed can range from 300 mm / s to 500 mm / s. Other values ​​are also possible, and this application does not limit the specific values ​​used in its embodiments.

[0074] It should be noted that at any given moment, the coordinates of the planned welding trajectory are equal to the sum of the coordinates of the target platform axis trajectory data and the coordinates of the target galvanometer axis trajectory data. Specifically, the planned welding trajectory can be a rounded rectangle.

[0075] It should be noted that both the target platform axis trajectory data and the target galvanometer axis trajectory data have data on two mutually perpendicular axes, namely the X-axis and the Y-axis. In other words, the servo platform used for laser welding in this application is a four-axis drive.

[0076] The beneficial effects of this application embodiment include, but are not limited to, improving data accuracy by decoupling the welding trajectory data to obtain original platform trajectory data and original galvanometer trajectory data, interpolating the original platform trajectory data to obtain target platform axis trajectory data, and interpolating the original galvanometer trajectory data to obtain target galvanometer axis trajectory data. The laser welder outputs a laser beam according to preset welding process parameters, and moves according to preset target welding speed, target platform axis trajectory data, and target galvanometer axis trajectory data to weld the component to be welded. Specifically, the target platform axis trajectory data is sent by the controller to the laser welder to enable horizontal movement of the laser welder on the component to be welded, and the target galvanometer axis trajectory data is sent by the controller to the galvanometer inside the laser welder to control the galvanometer to deflect the laser beam. The position where the laser beam output by the laser welder is focused on the component to be welded is jointly determined by the target platform axis trajectory data and the target galvanometer axis trajectory data. Therefore, by using the target platform axis trajectory data and the target galvanometer axis trajectory data, the control accuracy can be improved, and the laser welder can be controlled more precisely to weld along the planned welding trajectory. This reduces the speed fluctuation of the laser welder when welding at the corners of the planned welding trajectory, thereby improving the uniformity of the welding effect, welding yield, and the pass rate of welded products.

[0077] Please see Figure 2 In some embodiments, step 102 may include, but is not limited to, steps 201 to 203:

[0078] Step 201: Obtain the frequency signal of the welding trajectory data to obtain the trajectory frequency signal;

[0079] Step 202: Decouple the trajectory frequency signal to obtain the first frequency signal and the second frequency signal;

[0080] Step 203: Use the welding trajectory data corresponding to the first frequency signal as the original galvanometer trajectory data, and use the welding trajectory data corresponding to the second frequency signal as the original platform trajectory data.

[0081] In step 202 of some embodiments, the first frequency signal may be a high-frequency signal and the second frequency signal may be a low-frequency signal.

[0082] It should be noted that after obtaining the first frequency signal and the second frequency signal, the first frequency signal is sent to the driver so that the driver controls the laser welder to move according to the first frequency signal, and the second frequency signal is sent to the galvanometer of the laser welder so that the galvanometer rotates according to the second frequency signal.

[0083] The advantage of this embodiment is that by acquiring the trajectory frequency signal and decoupling it, the trajectory frequency signal is divided into a first frequency signal and a second frequency signal. The first frequency signal is sent to the driver so that the driver controls the movement of the laser welder according to the first frequency signal, and the second frequency signal is sent to the galvanometer of the laser welder so that the galvanometer rotates according to the second frequency signal. This refines the influencing factors on controlling the movement of the laser welder during the laser welding process. The position change of the laser beam output by the laser welder is controlled according to the original platform trajectory data and the original galvanometer trajectory data. Thus, during high-speed welding at corners, the laser welding position can be precisely and dynamically adjusted without large speed fluctuations of the laser welder, thereby improving the welding qualification rate.

[0084] Please see Figure 3 In some embodiments, the target platform axis trajectory data includes first platform axis parameters and second platform axis parameters. The servo platform also includes a driver, a controller connected to the driver, and the driver connected to the laser welder. Step 105 may include, but is not limited to, steps 301 to 302:

[0085] Step 301: Control the rotation of the laser welder's galvanometer based on the target galvanometer axis trajectory data;

[0086] Step 302: Using the driver, preset target welding speed, first platform axis parameters and second platform axis parameters, control the laser welder to move above the component to be welded, so that the laser beam output by the laser welder moves along the planned welding trajectory at the target welding speed to weld the component to be welded.

[0087] It should be noted that the target platform axis trajectory data is coordinate data. The X-axis of the target platform axis trajectory data is the first platform axis, and the Y-axis of the target platform axis trajectory data is the second platform axis.

[0088] It should be noted that the coordinate system of the target platform axis trajectory data is located on a plane parallel to the servo platform and is used to place the components to be soldered.

[0089] The advantage of this embodiment is that by controlling the movement of the laser welder through the first platform axis parameters and the second platform axis parameters, the accuracy of the laser welder's translation on the plane of the servo platform used to place the components to be welded is improved, and the accuracy of welding control is improved. Thus, during high-speed welding at corners, the laser welding position can be finely and dynamically adjusted without large speed fluctuations of the laser welder, thereby improving the welding qualification rate.

[0090] Please see Figure 4 In one application example, the target platform axis trajectory data is as follows: Figure 4 As shown. The value range of the first platform axis parameter is [-60, 60], and the value range of the second platform axis parameter is [-20, 20]. The units for both the first and second platform axis parameters are mm (millimeters). Specifically, the origin of the coordinate system for the target platform axis trajectory data can be the center of the battery top cover.

[0091] Please see Figure 5 In some embodiments, the target galvanometer axis trajectory data includes first galvanometer axis parameters and second galvanometer axis parameters. The laser welder includes a laser, a first galvanometer, and a second galvanometer. The laser beam output from the laser to the first galvanometer is reflected to the second galvanometer, and after being reflected by the second galvanometer, the laser beam is output to the surface of the component to be welded. Step 301 may include, but is not limited to, steps 501 to 502:

[0092] Step 501: Control the rotation of the first galvanometer according to the first galvanometer axis parameters;

[0093] Step 502: Control the rotation of the second galvanometer according to the axis parameters of the second galvanometer.

[0094] It should be noted that the target galvanometer axis trajectory data is coordinate data. The X-axis of the target galvanometer axis trajectory data is the first galvanometer axis, and the Y-axis of the target galvanometer axis trajectory data is the second galvanometer axis. The first galvanometer can be an X-axis galvanometer, and the second galvanometer can be a Y-axis galvanometer. The first galvanometer is used to control the deflection of the laser beam along the first galvanometer axis, and the second galvanometer is used to control the deflection of the laser beam along the second galvanometer axis.

[0095] It should be noted that high-speed welding at corners requires high control precision from the laser welder. Currently, the conventional welding speed for battery top cover sealing is within 150-250 mm / s. Increasing the welding speed often leads to a decrease in welding yield at corners. In this embodiment, in addition to controlling the laser welder's movement via the target platform axis trajectory data, the laser welder's internal galvanometer is also controlled via the target galvanometer axis trajectory data to fine-tune the position of the output laser beam. This allows for control of the laser beam to follow the planned welding path while ensuring that the driver does not experience significant speed fluctuations at corners. The welding speed in this embodiment can reach 500 mm / s.

[0096] The advantage of this embodiment is that by controlling the rotation of the first galvanometer of the laser welder through the first galvanometer axis parameters to control the deflection of the laser beam on the first galvanometer axis, and by controlling the rotation of the second galvanometer of the laser welder through the second galvanometer axis parameters to control the deflection of the laser beam on the second galvanometer axis, the laser beam output from the laser inside the laser welder can be offset in the coordinate system of the target galvanometer axis trajectory data during high-speed welding at corners. This allows for precise dynamic adjustment of the laser welding position without causing large speed fluctuations in the laser welder, thereby improving the accuracy of welding control and increasing the welding qualification rate.

[0097] Please see Figure 6 , Figure 6 In this diagram, Cy1 represents the laser, LensX is the first galvanometer, LensY is the second galvanometer, and Lens is a focusing lens. The axis of the first galvanometer is perpendicular to the plane containing the coordinate system of the target galvanometer's trajectory data, and the axis of the second galvanometer is parallel to the X-axis of the target galvanometer's trajectory data. In one application example, the laser outputs a laser beam, which reaches the first galvanometer and is reflected to the second galvanometer. After being reflected by the second galvanometer, the laser beam is focused by the focusing lens and reaches the surface of the component to be soldered.

[0098] Please see Figure 7 In one application example, the target galvanometer axis trajectory data is as follows: Figure 7 As shown. The value range of the first galvanometer axis parameter is [-2.5, 2.5], and the value range of the second galvanometer axis parameter is [-2.5, 2.5]. The units for both the first and second galvanometer axis parameters are mm. Specifically, the origin of the coordinate system for the target galvanometer axis trajectory data is the center of the laser welding head.

[0099] Please see Figure 8 In some embodiments, prior to step 105, the laser welding trajectory control method further includes:

[0100] Step 801: Obtain the introduction trajectory data and the exit trajectory data; wherein, the introduction trajectory data is the position data of the introduction trajectory segment, the exit trajectory data is the position data of the exit trajectory segment, the introduction trajectory segment intersects with the planned welding trajectory at the reset point, and the exit trajectory segment intersects with the planned welding trajectory at the reset point.

[0101] Step 802: Determine the welding start point on the introduced trajectory segment based on the introduced trajectory data and welding trajectory data;

[0102] Step 803: Determine the welding endpoint on the lead-out trajectory segment based on the lead-out trajectory data and welding trajectory data;

[0103] Step 804: Move the laser welder to the welding start point using the driver, and move the laser welder to the welding end point along the planned welding trajectory according to the welding trajectory data.

[0104] In step 801 of some embodiments, a corresponding planned welding trajectory is obtained based on the welding trajectory data, and a corresponding introduced trajectory segment is obtained based on the introduced trajectory data; wherein, the reset point is one endpoint of the introduced trajectory segment; and the other endpoint of the introduced trajectory segment is used as the welding start point.

[0105] In step 802 of some embodiments, a corresponding lead-out trajectory segment is obtained based on the lead-out trajectory data; wherein, the reset point is one end point of the lead-out trajectory segment; and the other end point of the lead-out trajectory segment is used as the welding end point.

[0106] Specifically, the introduction trajectory segment and the exit trajectory segment can be circular arcs. In one embodiment, the introduction trajectory segment is tangent to the planned welding trajectory at the reset point, and the exit trajectory segment is tangent to the planned welding trajectory at the reset point.

[0107] If a point on the planned welding trajectory is directly used as the welding start and end point, they will coincide, which places excessive demands on welding precision. If the laser welder starts welding from the start point but fails to reach the end point when welding ends, the welding path will be incomplete. If the laser welder exceeds the end point when welding ends, some parts of the welding path will be repeatedly welded, significantly reducing welding quality and wasting welding materials and resources. The advantage of this embodiment is that by distinguishing the welding start and end point based on the position data of the introduced and exited trajectory segments, welding quality is improved, and the pass rate of welded products is increased.

[0108] In some embodiments, the initial position of the laser welder is a reset point. Step 804 includes:

[0109] The laser welder is controlled by a driver to move from the reset point to the welding start point; the laser welder is in the off state during this process.

[0110] When the laser welder is at the welding start point, switch the laser welder to the on state so that the laser welder outputs a laser beam;

[0111] Based on the welding trajectory data, the laser welder is controlled to move along the planned welding trajectory to the welding endpoint;

[0112] When the laser welder is at the welding endpoint, switch the laser welder to the off state;

[0113] The laser welder is controlled by a driver to move from the welding endpoint to the reset point.

[0114] It should be noted that, initially, the laser welding head is located at the reset point. Before welding begins, the laser welding head moves from the reset point along the lead-in trajectory segment to the welding start point; during this process, the laser welding head does not emit light, i.e., welding does not occur. When the laser welding head reaches the welding start point, the laser is turned on, and it moves clockwise along the planned welding trajectory to perform welding. When the laser welding head reaches the welding end point, the laser is turned off. After welding is completed, the laser welding head moves back to the return point along the lead-out trajectory segment.

[0115] The advantage of this embodiment is that by moving the laser welding head from the reset point along the introduction trajectory segment to the welding start point before welding begins, and moving the laser welding head from the welding end point to the reset point after welding ends, the laser welding head is reset, so that the laser welder is in the initial state after a welding workflow is completed, which facilitates the next workflow, thereby improving welding efficiency and welding convenience.

[0116] In some embodiments, the host computer can generate a planned welding trajectory based on the welding processing information input by the user. Additionally, if there are special requirements for the planned welding trajectory, such as the angle of the battery top cover corner needing to be set to an angle other than 90 degrees, the host computer can also obtain the welding diagram of the component to be welded and generate the planned welding trajectory based on the welding diagram. The welding processing information includes, but is not limited to, the size data of the component to be welded, the R-angle data of the battery top cover, the lead-in trajectory data, the lead-out trajectory data, the welding direction, the reset point data, and the edge where the reset point is located. Specifically, the size data of the component to be welded includes the length and width of the battery top cover; the lead-in trajectory data includes the type and length of the lead-in trajectory segment; the lead-out trajectory data includes the type and length of the lead-out trajectory segment; and the welding direction uses clockwise as the positive direction.

[0117] It should be noted that the radius of the transition arc at the intersection of two straight lines is the radius of the corner. It is usually used to create fillets during the casting of parts. Fillets can disperse internal stress and ensure that the edges of the parts are smooth.

[0118] For example, if the component to be welded is a rectangular battery top cover, the user can set the following parameters through the human-machine interface on the host computer: length 146.829mm, width 25.318mm, radius (R) 2.5mm, type of lead-in trajectory segment (arc), radius 30 degrees, length 10mm, type of lead-out trajectory segment (arc), radius 30 degrees, length 10mm, welding direction positive, X and Y coordinates of the reset point (0, 12.659), and the side containing the reset point as the first straight side. It should be noted that the units of the coordinate axes are the same as other length data, which is mm. The lead-in trajectory segment intersects the side containing the reset point at the reset point; one end of the lead-in trajectory segment is the reset point, and the other end is the welding start point.

[0119] It should be noted that the lead-out trajectory segment intersects the side containing the reset point at the reset point. One end of the lead-out trajectory segment is the reset point, and the other end is the welding endpoint. It should also be noted that in this embodiment, the length and width values ​​of the battery top cover include the radius (R-angle), meaning the length (or width) of the battery top cover is numerically equal to the length of the straight section plus the sum of the two R-angles.

[0120] Please see Figure 9 In one application example, the planned welding trajectory is a rounded rectangle composed of the first straight side, the first rounded corner R1, the second straight side, the second rounded corner R2, the third straight side, the third rounded corner R3, the fourth straight side, and the fourth rounded corner R4. The first and third straight sides are the longer straight sides of the rounded rectangle, and the second and fourth straight sides are the shorter straight sides. Por i is the welding start point, Pend is the welding end point, Prst is the reset point, L is the length of the battery top cover, W is the width of the battery top cover, and D1 is the distance between the reset point and the rounded corner.

[0121] Specifically, the angles of the first fillet R1, the second fillet R2, the third fillet R3, and the fourth fillet R4 are all 90 degrees, and their radii are all equal to the R-angle of the battery top cover of the host computer, which can be 2.5mm.

[0122] Specifically, the distance between the reset point and the rounded corner can be set via the host computer, thus setting the position of the reset point on the edge. For example, using the fourth rounded corner R4 as a reference, the distance between the reset point and the rounded corner can be set to 70.9145mm. According to the example above, the length of the battery top cover is 146.829mm, and the radii of the first rounded corner R1 and the fourth rounded corner R4 are both 2.5mm. Therefore, the length of the first straight side is equal to the length of the battery top cover minus twice the radius of the battery top cover's rounded corner, which is 146.829 - 2 * 2.5 = 141.829mm. Since 141.829 / 2 = 70.9145, the distance between the reset point and the rounded corner is half the length of the first straight side, effectively setting the reset point as the midpoint of the first straight side.

[0123] Please see Figure 7 and Figure 9 In the coordinate system of the target galvanometer axis trajectory data, the first fillet R1 is located in the first quadrant, the second fillet R2 is located in the second quadrant, the third fillet R3 is located in the third quadrant, and the fourth fillet R4 is located in the fourth quadrant. Specifically, if the laser welder moves from the first straight edge to the first fillet R1, the value of the first galvanometer axis parameter changes from 0 to 2.5, and the value of the second galvanometer axis parameter changes from 0 to 2.5. If the laser welder moves from the second straight edge to the second fillet R2, the value of the first galvanometer axis parameter changes from 0 to 2.5, and the value of the second galvanometer axis parameter changes from 0 to -2.5. If the laser welder moves from the third straight edge to the third fillet R3, the value of the first galvanometer axis parameter changes from 0 to -2.5, and the value of the second galvanometer axis parameter changes from 0 to -2.5. If the laser welder moves from the fourth straight edge to the fourth rounded corner R4, the value of the first galvanometer axis parameter changes from 0 to -2.5, and the value of the second galvanometer axis parameter changes from 0 to 2.5.

[0124] Please see Figure 10 In some embodiments, the process parameters include laser power and laser frequency. Prior to step 105, the laser welding trajectory control method further includes:

[0125] Step 1001: Obtain component information of the component to be welded; wherein, the component information includes the material of the component to be welded, the weld penetration depth and the weld width;

[0126] Step 1002: Select welding process parameters from the preset candidate process parameters based on the component information.

[0127] The advantage of this embodiment is that welding process parameters are selected from multiple candidate process parameters based on component information, so as to perform welding according to the characteristics of the components to be welded, thereby improving the welding qualification rate.

[0128] In some embodiments, the laser welder further includes a coaxial air blowing device. The advantage of this embodiment is that during laser welding, debris or molten metal in the weld seam can be removed by the coaxial air blowing device, increasing welding speed at corners and improving weld quality.

[0129] Please see Figure 11 This application also provides a laser welding trajectory control device, applied to a servo platform controller. The controller is communicatively connected to the laser welder, and the component to be welded is placed on the side of the servo platform facing the laser welder. This device can implement the aforementioned laser welding trajectory control method. The device includes:

[0130] The first data acquisition module 1101 is used to acquire welding trajectory data; wherein, the welding trajectory data is used to characterize the planned welding trajectory of the laser beam output by the laser welder.

[0131] Decoupling module 1102 is used to perform decoupling processing based on welding trajectory data to obtain original platform trajectory data and original galvanometer trajectory data;

[0132] The interpolation module 1103 is used to perform interpolation processing on the original platform trajectory data to obtain the target platform axis trajectory data; and to perform interpolation processing on the original galvanometer trajectory data to obtain the target galvanometer axis trajectory data.

[0133] The welding module 1104 is used to control the output of the laser beam of the laser welder according to the preset welding process parameters, and to control the movement of the laser welder according to the preset target welding speed, target platform axis trajectory data and target galvanometer axis trajectory data, so as to weld the components to be welded by the laser welder.

[0134] In one embodiment, the laser welding trajectory control device further includes a second data acquisition module for acquiring introduction trajectory data and extraction trajectory data; wherein, the introduction trajectory data is the position data of the introduction trajectory segment, the extraction trajectory data is the position data of the extraction trajectory segment, the introduction trajectory segment intersects with the planned welding trajectory at a reset point, and the extraction trajectory segment intersects with the planned welding trajectory at a reset point.

[0135] In one embodiment, the laser welding trajectory control device further includes a trajectory start point determination module, which is used to determine the welding start point on the introduced trajectory segment based on the introduced trajectory data and the welding trajectory data.

[0136] In one embodiment, the laser welding trajectory control device further includes a trajectory endpoint determination module, used to determine the welding endpoint on the lead-out trajectory segment based on the lead-out trajectory data and the welding trajectory data.

[0137] In one embodiment, before controlling the laser welder to output a laser beam according to preset welding process parameters, the welding module 1104 is also used to move the laser welder to the welding start point via a driver.

[0138] In one embodiment, the laser welding trajectory control device further includes a reset module, used to switch the laser welder to a closed state if the laser welder is located at the welding endpoint; and to control the laser welder to move from the welding endpoint to the reset point via a driver.

[0139] In one embodiment, the laser welding trajectory control device further includes a third data acquisition module for acquiring component information of the component to be welded; wherein, the component information includes the material of the component to be welded, the weld penetration depth and the weld width; and welding process parameters are selected from preset candidate process parameters based on the component information.

[0140] The specific implementation of this laser welding trajectory control device is basically the same as the specific embodiment of the laser welding trajectory control method described above, and will not be repeated here.

[0141] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described laser welding trajectory control method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0142] Please see Figure 12 , Figure 12 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0143] The processor 1201 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0144] The memory 1202 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1202 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1202 and is called and executed by the processor 1201 to execute the laser welding trajectory control method of the embodiments of this application.

[0145] The input / output interface 1203 is used to implement information input and output;

[0146] The communication interface 1204 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0147] Bus 1205 transmits information between various components of the device (e.g., processor 1201, memory 1202, input / output interface 1203, and communication interface 1204);

[0148] The processor 1201, memory 1202, input / output interface 1203 and communication interface 1204 are connected to each other within the device via bus 1205.

[0149] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described laser welding trajectory control method.

[0150] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0151] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0152] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0153] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; 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.

[0154] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0155] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0156] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0157] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A laser welding trajectory control method, characterized in that, A controller for a servo platform, the controller being communicatively connected to a laser welder, wherein the component to be welded is placed on the side of the servo platform facing the laser welder; the method includes: Acquire welding trajectory data; wherein, the welding trajectory data is used to characterize the planned welding trajectory of the laser beam output by the laser welder; Decoupling processing is performed on the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data; The target platform axis trajectory data is obtained by interpolating the original platform trajectory data. Interpolation processing is performed on the original galvanometer trajectory data to obtain the target galvanometer axis trajectory data; The laser welder outputs a laser beam according to preset welding process parameters, and moves according to preset target welding speed, target platform axis trajectory data, and target galvanometer axis trajectory data to weld the component to be welded. At any given moment, the coordinates of the planned welding trajectory are equal to the sum of the coordinates of the target platform axis trajectory data and the target galvanometer axis trajectory data. The target platform axis trajectory data is sent by the controller to the laser welder to enable horizontal movement of the laser welder on the component to be welded. The target galvanometer axis trajectory data is sent by the controller to the galvanometer inside the laser welder to control the galvanometer to deflect the laser beam.

2. The laser welding trajectory control method according to claim 1, characterized in that, The step of decoupling the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data includes: The frequency signal of the welding trajectory data is acquired to obtain the trajectory frequency signal; The trajectory frequency signal is decoupled to obtain a first frequency signal and a second frequency signal; The welding trajectory data corresponding to the first frequency signal is used as the original galvanometer trajectory data, and the welding trajectory data corresponding to the second frequency signal is used as the original platform trajectory data.

3. The laser welding trajectory control method according to claim 2, characterized in that, The target platform axis trajectory data includes first platform axis parameters and second platform axis parameters. The servo platform also includes a driver. The controller is connected to the driver, and the driver is connected to the laser welder. Controlling the movement of the laser welder according to the preset target welding speed, the target platform axis trajectory data, and the target galvanometer axis trajectory data to weld the component to be welded using the laser welder includes: The rotation of the laser welder's galvanometer is controlled based on the target galvanometer axis trajectory data; The laser welder is controlled to move above the component to be welded by the driver, the preset target welding speed, the first platform axis parameters, and the second platform axis parameters, so that the laser beam output by the laser welder moves along the planned welding trajectory at the target welding speed to weld the component.

4. The laser welding trajectory control method according to claim 3, characterized in that, The target galvanometer axis trajectory data includes first galvanometer axis parameters and second galvanometer axis parameters. The laser welder includes a laser, a first galvanometer, and a second galvanometer. The laser beam output from the laser to the first galvanometer is reflected to the second galvanometer, and the laser beam, after being reflected by the second galvanometer, is output to the surface of the component to be welded. Controlling the rotation of the galvanometer mirrors of the laser welder according to the target galvanometer axis trajectory data includes: The rotation of the first galvanometer is controlled according to the first galvanometer axis parameters; The rotation of the second galvanometer is controlled according to the axis parameters of the second galvanometer.

5. The laser welding trajectory control method according to claim 3, characterized in that, Before controlling the laser beam output of the laser welder according to preset welding process parameters, the method further includes: Acquire introduction trajectory data and exit trajectory data; wherein, the introduction trajectory data is the position data of the introduction trajectory segment, the exit trajectory data is the position data of the exit trajectory segment, the introduction trajectory segment intersects with the planned welding trajectory at a reset point, and the exit trajectory segment intersects with the planned welding trajectory at the reset point; Based on the introduced trajectory data and the welding trajectory data, the welding start point is determined on the introduced trajectory segment; Based on the lead-out trajectory data and the welding trajectory data, the welding endpoint is determined on the lead-out trajectory segment; The laser welder is moved to the welding start point by the driver, and then moved to the welding end point along the planned welding trajectory according to the welding trajectory data.

6. The laser welding trajectory control method according to claim 5, characterized in that, The initial position of the laser welder is the reset point; the step of moving the laser welder to the welding start point via the driver, and moving the laser welder to the welding end point along the planned welding trajectory according to the welding trajectory data, includes: The laser welder is controlled by the driver to move from the reset point to the welding start point; wherein the laser welder is in the off state. When the laser welder is located at the welding starting point, the laser welder is switched to the on state so that the laser welder outputs a laser beam; Based on the welding trajectory data, the laser welder is controlled to move along the planned welding trajectory to the welding endpoint; When the laser welder is at the welding endpoint, the laser welder is switched to the off state; The laser welder is controlled by the driver to move from the welding endpoint to the reset point.

7. The laser welding trajectory control method according to claim 1, characterized in that, The process parameters include laser power and laser frequency; before controlling the laser welder to output the laser beam according to the preset welding process parameters, the method further includes: Obtain the component information of the component to be welded; wherein, the component information includes the material of the component to be welded, the weld penetration depth, and the weld width; The welding process parameters are selected from the preset candidate process parameters based on the component information.

8. A laser welding trajectory control device, characterized in that, A controller for a servo platform, the controller being communicatively connected to a laser welder, the component to be welded being placed on the side of the servo platform facing the laser welder; the device includes: The first data acquisition module is used to acquire welding trajectory data; wherein, the welding trajectory data is used to characterize the planned welding trajectory of the laser beam output by the laser welder; The decoupling module is used to perform decoupling processing based on the welding trajectory data to obtain the original platform trajectory data and the original galvanometer trajectory data. The interpolation module is used to perform interpolation processing on the original platform trajectory data to obtain target platform axis trajectory data; and to perform interpolation processing on the original galvanometer trajectory data to obtain target galvanometer axis trajectory data. The welding module is used to control the output laser beam of the laser welder according to preset welding process parameters, and to control the movement of the laser welder according to preset target welding speed, target platform axis trajectory data, and target galvanometer axis trajectory data, so as to weld the component to be welded by the laser welder; wherein, at the same time, the coordinates of the planned welding trajectory are equal to the sum of the coordinates of the target platform axis trajectory data and the coordinates of the target galvanometer axis trajectory data, the target platform axis trajectory data is sent by the controller to the laser welder so that the laser welder moves horizontally on the component to be welded, and the target galvanometer axis trajectory data is sent by the controller to the galvanometer inside the laser welder so as to control the galvanometer to deflect the laser beam.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the laser welding trajectory control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the laser welding trajectory control method according to any one of claims 1 to 7.

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