Laser welding system, laser welding method and related device

Abstract

The present application discloses a laser welding system, a laser welding method and related devices, and belongs to the field of laser welding technology. The laser welding system includes: a laser for outputting a Gaussian beam; a beam shaping module for shaping the Gaussian beam into a flat-top beam; one or more galvanometers for changing the scanning direction of the flat-top beam; one or more shooting components for collecting welding trajectories and areas to be welded; a deflection control module for partitioning the area to be welded to obtain multiple partitions; obtaining a preset welding trajectory; based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam, determining the deflection mode of the galvanometer to ensure that the beam energy corresponding to each partition in the multiple partitions is equal; controlling the galvanometer to deflect according to the deflection mode to improve the welding quality. The present application can realize the gridded management of the area to be welded, and effectively improve the quality of laser welding.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding, and in particular to a laser welding system, a laser welding method and related devices. Background Art

[0002] Laser welding is to focus the laser beam on a small welded area on the object to be welded through an optical system, so that a highly concentrated heat source area can be formed at the welded area in a short time to melt the object to be welded and form a strong weld and weld. Because the laser beam has excellent directionality and high density, laser welding is more and more widely used in life. However, since the energy of the laser beam is Gaussian during transmission, that is, the center power of the laser beam is large and the edge power is small, therefore, during the laser welding process, due to the large energy density at the center of the spot and the small energy density around, the center temperature of the welded area may be higher than the edge temperature, resulting in defects such as pores and bulges, which reduces the quality of welding. In addition, the energy distribution in different intervals of the internal space of the laser welding track also has an important influence on the welding quality. Therefore, how to improve the quality of laser welding has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a laser welding system, a laser welding method and related devices, which can improve the accuracy and efficiency of laser welding while ensuring the quality of laser welding. The technical solution is as follows:

[0004] In a first aspect, a laser welding system is provided, comprising:

[0005] A laser for outputting a Gaussian beam;

[0006] A beam shaping module, used for shaping the Gaussian beam into a flat-top beam;

[0007] One or more galvanometers, wherein the galvanometers are used to change the scanning direction of the flat-top beam;

[0008] One or more photographing components, wherein the photographing components are used to capture a welding trajectory and an area to be welded, wherein the welding trajectory is a trajectory obtained by welding the area to be welded by the flat-top beam;

[0009] Deflection control module for:

[0010] Dividing the area to be welded into multiple partitions, where the areas of the multiple partitions are equal;

[0011] Obtaining a preset welding trajectory, wherein the preset welding trajectory is a trajectory shape that needs to be welded in the area to be welded;

[0012] Based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam, determine the deflection mode of the galvanometer to ensure that the energy of the beam corresponding to each partition in the multiple partitions is equal, and the deflection mode includes the deflection trajectory and deflection speed of the galvanometer;

[0013] The galvanometer is controlled to deflect according to the deflection mode to improve welding quality.

[0014] Optionally, the deflection control module is specifically used to:

[0015] Dividing the preset welding trajectory according to the multiple partitions to obtain welding sub-trajectories corresponding to the multiple partitions respectively;

[0016] Determine the deflection speeds of the galvanometers corresponding to the multiple partitions respectively based on the welding sub-trajectories corresponding to the multiple partitions respectively and reference welding time, wherein the reference welding time is the welding time corresponding to each of the multiple partitions;

[0017] The deflection mode is determined based on the welding sub-trajectories respectively corresponding to the multiple partitions and the deflection speeds of the galvanometers respectively corresponding to the multiple partitions.

[0018] Optionally, the deflection control module is specifically used to:

[0019] Determine any one of the multiple partitions as a reference partition, the length of the welding sub-track corresponding to the reference partition is the reference length, and the deflection speed of the galvanometer when welding the reference partition is the reference speed;

[0020] According to the welding sub-trajectory corresponding to the target partition and the reference welding time, the deflection speed of the galvanometer in the target partition is adjusted to ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition. The target partition is any partition among the multiple partitions except the reference partition.

[0021] Optionally, the deflection control module is specifically used to:

[0022] If the length of the welding sub-track corresponding to the target partition is greater than the reference length, the deflection speed of the galvanometer in the target area is adjusted to a first speed, the first speed being greater than the reference speed, so as to speed up the deflection of the galvanometer, ensure that the welding time corresponding to the target partition is the reference welding time, and further ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition;

[0023] If the length of the welding sub-track corresponding to the target partition is less than the reference length, the deflection speed of the galvanometer in the target area is adjusted to a second speed, which is less than the reference speed, so as to slow down the deflection of the galvanometer, ensure that the welding time corresponding to the target partition is the reference welding time, and further ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition.

[0024] Optionally, the deflection control module is further used for:

[0025] Controlling the galvanometer to deflect according to the marking trajectory, so that the flat-top beam welds the area to be welded to obtain an actual welding trajectory, wherein the marking trajectory is a welding trajectory without optical distortion;

[0026] By comparing the actual welding trajectory and the marking trajectory, an area to be corrected is determined, and a plurality of coordinate data corresponding to the actual welding trajectory is collected in the area to be corrected to obtain a first coordinate data group, wherein the area to be corrected is used to indicate a portion where the actual welding trajectory has a large difference from the marking trajectory, and the coordinate data includes a coordinate value and a deflection angle of the galvanometer;

[0027] Determine a first reference data group corresponding to the first coordinate data group based on the marking trajectory, wherein the data in the first reference data group corresponds one-to-one to the data in the first coordinate data group;

[0028] Correcting the first coordinate data set based on the first reference data set to obtain a corrected first coordinate data set, and determining a first precision error corresponding to the corrected first coordinate data set and the first reference data set;

[0029] If the first precision error is not greater than an error threshold, the galvanometer is corrected based on the corrected first coordinate data set.

[0030] Optionally, if the first precision error is greater than the error threshold, the deflection control module is further configured to:

[0031] Acquire a second coordinate data set, where the second coordinate data set is obtained by collecting a plurality of coordinate data corresponding to the actual welding trajectory in the area to be corrected, and the number of coordinate data included in the second coordinate data set is greater than the number of coordinate data included in the first coordinate data set;

[0032] Determining a second reference data set corresponding to the second coordinate data set based on the marking trajectory, and correcting the second coordinate data set based on the second reference data set to obtain a corrected second coordinate data set;

[0033] determining an error between the corrected second coordinate data set and the second reference data set to obtain a second precision error;

[0034] If the second precision error is not greater than the error threshold, correcting the galvanometer based on the corrected second coordinate data set;

[0035] If the second precision error is greater than the error threshold, the process returns to the step of acquiring the coordinate data set.

[0036] In another aspect, a laser welding method is provided, the method comprising:

[0037] Dividing the area to be welded into multiple partitions, wherein the areas of the multiple partitions are equal;

[0038] Obtaining a preset welding trajectory, wherein the preset welding trajectory is a trajectory shape that needs to be welded in the area to be welded;

[0039] Based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam, determine the deflection mode of at least one galvanometer to ensure that the energy of the beam corresponding to each partition in the multiple partitions is equal, the at least one galvanometer is used to change the scanning direction of the flat-top beam, and the deflection mode includes the deflection trajectory and deflection speed of the at least one galvanometer;

[0040] The at least one galvanometer is controlled to deflect according to the deflection mode to improve welding quality.

[0041] Optionally, determining the deflection mode of at least one galvanometer based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam includes:

[0042] Dividing the preset welding trajectory according to the multiple partitions to obtain welding sub-trajectories corresponding to the multiple partitions respectively;

[0043] Determine the deflection speed of the at least one galvanometer mirror corresponding to the plurality of partitions respectively based on the welding sub-trajectories corresponding to the plurality of partitions respectively and a reference welding time, wherein the reference welding time is the welding time corresponding to each of the plurality of partitions;

[0044] The deflection mode is determined based on the welding sub-trajectories respectively corresponding to the multiple partitions and the deflection speed of the at least one galvanometer respectively corresponding to the multiple partitions.

[0045] On the other hand, a deflection control module is provided, which includes a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to implement the steps of the above-mentioned laser welding method by executing the computer program stored in the memory.

[0046] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored. The computer program is executed by a processor to implement the steps of the laser welding method described above.

[0047] On the other hand, a computer program product is provided, which includes a computer program and / or instructions, and when the computer program and / or instructions are executed by a processor, the steps of the laser welding method described above are implemented.

[0048] The technical solution provided by the embodiments of the present application can at least bring the following beneficial effects:

[0049] The laser welding system provided in the embodiment of the present application shapes a Gaussian beam into a flat-top beam with a more uniform energy distribution through a beam shaping unit, and welds the area to be welded through the flat-top beam, which can effectively reduce the probability of defects such as pores, spatter, impurities and ridges during welding, and improve the quality of laser welding; moreover, the deflection control module can also partition the area to be welded, and ensure that the beam energy corresponding to each of the multiple partitions is equal, which can realize grid-based management of the area to be welded and further improve the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a laser welding system provided in an embodiment of the present application;

[0051] Figure 2 Schematic diagram of energy distribution of a flat-top beam;

[0052] Figure 3 A schematic diagram of the structure of another laser welding system provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of the structure of another laser welding system provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of partitioning a welding area provided in an embodiment of the present application;

[0055] Figure 6 A flow chart of a laser welding method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0057] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0058] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0059] Please refer to Figure 1 , Figure 1 It is a structural schematic diagram of a laser welding system provided in an embodiment of the present application, and the laser welding system diagram includes: a laser 1, which is used to output a Gaussian beam. A beam shaping module 2, which is used to shape the Gaussian beam into a flat-top beam. One or more galvanometers 3, the galvanometer 3 is used to change the scanning direction of the flat-top beam. One or more shooting components 4, the shooting component 4 is used to collect welding trajectories and areas to be welded, and the welding trajectory is a trajectory obtained by welding the flat-top beam in the area to be welded. A deflection control module 5 is used to partition the area to be welded to obtain multiple partitions, and the areas of the multiple partitions are equal; obtain a preset welding trajectory, which is a trajectory shape that needs to be welded in the area to be welded; determine the deflection mode of the galvanometer 3 based on the multiple partitions, the preset welding trajectory and the energy of the flat-top beam to ensure that the beam energy corresponding to each partition in the multiple partitions is equal, and the deflection mode includes the deflection trajectory and deflection speed of the galvanometer; control the galvanometer 3 to deflect according to the deflection mode to improve the welding quality.

[0060] The laser may be a solid laser, a gas laser, a semiconductor laser or a fiber laser, etc., which is not limited in the embodiments of the present application.

[0061] like Figure 2 As shown in the figure, the flat-top beam has a flat intensity cross section, that is, the flat-top beam means that the intensity cross section of the laser beam is flat in a large area. This is different from the Gaussian beam, where the intensity of the Gaussian beam decreases gently from the maximum value to 0 along the beam axis. Since the characteristic of the flat-top beam is that the energy at the top is uniform, the energy distribution of the flat-top beam is more uniform than that of the Gaussian beam. In this way, when using the flat-top beam to weld the area to be welded, the probability of defects such as pores, spatter, impurities and bulges during the welding process can be effectively reduced, thereby improving the welding quality.

[0062] In some embodiments, Figure 3 As shown, the beam shaping module 2 may include a beam collimating lens 21 and a beam shaper 22. The beam collimating lens 21 can focus the scattered light into a parallel beam by utilizing the shape of the lens and the refraction law of light, that is, the beam collimating lens 21 can output a collimated Gaussian beam; the beam shaper 22 is a diffractive optical element that can modulate the received collimated Gaussian beam into a flat-top beam. In this way, the beam shaping module 2 can shape the Gaussian beam output by the laser 1 into a flat-top beam.

[0063] It should be noted that the above description is based on the beam shaping module including a beam collimating lens and a beam shaper, or, in application, the beam shaping module may also include other components to shape the Gaussian beam into a flat-top beam, and the embodiments of the present application are not limited to this.

[0064] In addition, in some embodiments, Figure 4 As shown, the galvanometer 3 may include an X galvanometer 31 and a Y galvanometer 32. Since the area to be welded is an XY plane, the moving direction of the flat-top beam on the X-axis of the area to be welded can be controlled by the X galvanometer 31, that is, the position of the flat-top beam on the X-axis of the area to be welded can be controlled by controlling the deflection direction of the X galvanometer 31; the moving direction of the flat-top beam on the Y-axis of the area to be welded can be controlled by the Y galvanometer 32, that is, the position of the flat-top beam on the Y-axis of the area to be welded can be controlled by controlling the deflection direction of the Y galvanometer 32, so that the deflection of the flat-top beam can be controlled on the XY plane.

[0065] It should be noted that the above description is based on the assumption that the galvanometer includes an X galvanometer and a Y galvanometer. Alternatively, in an application, the galvanometer may also include one or more galvanometers of other types, which is not limited in the embodiments of the present application.

[0066] In some embodiments, the laser welding system may further include a field lens to focus the flat-top beam into a flat-top spot. The flat-top spot is characterized by uniform energy at the top and a very sharp boundary. Therefore, focusing the flat-top beam into a flat-top spot before welding can further improve the welding quality.

[0067] Based on the above description, the photographing component can capture the area to be welded. In this way, after photographing the area to be welded, the photographing component can send the photo of the area to be welded to the deflection control module, thereby, the deflection control module can partition the area to be welded according to the photo of the area to be welded.

[0068] In order to achieve grid management of the welding area and thus improve the welding quality, the areas of the multiple partitions need to be equal. For example, please refer to Figure 5 , Figure 5 It is a schematic diagram of partitioning of an area to be welded provided in an embodiment of the present application. As can be seen from the figure, the area to be welded is divided into 25 partitions.

[0069] It should be noted that the above description is based on dividing the area to be welded into 25 partitions. In application, technicians can partition the area to be welded according to actual conditions. In other words, the embodiment of the present application does not limit the number of partitions of the area to be welded.

[0070] In some embodiments, before welding, the technician can set the laser welding system so that the deflection control module divides the area to be welded into a corresponding number of partitions. Alternatively, the deflection control module can divide the area to be welded into multiple partitions according to the area of ​​the area to be welded.

[0071] Continuing with the above description, the technician can set a preset welding trajectory, that is, the technician can set the shape of the trajectory that needs to be welded in the area to be welded. The preset welding trajectory can be a circular trajectory, a square trajectory or a trajectory of other shapes.

[0072] For example, the laser welding system may include a display panel, which may display welding trajectory options, whereby a technician may click on the welding trajectory options, thereby enabling the deflection control module to obtain the preset welding trajectory.

[0073] As another example, the laser welding system is connected to a computer, so that a technician can use the computer to set a preset welding trajectory, and send the set preset welding trajectory to the laser welding system, so that the deflection control module obtains the preset welding trajectory.

[0074] Based on the above description, it can be known that the scanning direction of the flat-top beam in the area to be welded (i.e., the welding direction) can be changed by changing the direction of the galvanometer, and the flat-top beam has corresponding energy. Therefore, in order to achieve grid management of the surface to be welded, that is, to ensure that the beam energies corresponding to the multiple partitions are equal, it is also necessary to determine the deflection mode of the galvanometer based on the multiple partitions, the preset welding trajectory, and the energy of the flat-top beam.

[0075] The deflection method may include a deflection trajectory and a deflection speed of the galvanometer, wherein the deflection trajectory corresponds to a preset welding trajectory, that is, the galvanometer deflects according to the deflection trajectory, and the actual welding trajectory obtained on the welding surface is the same as the preset welding trajectory. The beam energy corresponding to the multiple partitions is related to the speed at which the flat-top beam scans the multiple partitions and the length of the welding trajectory, and the scanning direction of the flat-top beam on the surface to be welded can be changed by deflecting the galvanometer, thereby changing the scanning speed of the flat-top beam on the surface to be welded by changing the deflection speed of the galvanometer, thereby ensuring that the multiple partitions have the same corresponding energy even when the welding trajectories are different.

[0076] Since this deflection method can ensure that the energy of the light beam corresponding to each of the multiple partitions is the same, controlling the galvanometer to deflect according to this deflection method can avoid the generation of pores and ridges due to uneven distribution of light beam energy, thereby improving the quality of laser welding.

[0077] In some embodiments, the deflection mode of the galvanometer can be determined according to the following steps (1)-(3).

[0078] (1) The preset welding trajectory is divided according to the multiple partitions to obtain welding sub-trajectories corresponding to the multiple partitions.

[0079] Based on the above description, it can be known that the area to be welded can be divided into zones, and the preset welding trajectory is the trajectory shape that needs to be welded in the area to be welded. Therefore, after the area to be welded is divided into zones, the preset welding trajectory can also be divided according to the multiple zones, so that the welding sub-trajectories corresponding to the multiple zones can be obtained. For example, please refer to Figure 5 , Figure 5 It can be seen that the area to be welded is divided into 25 partitions, and the preset welding trajectory is spiral. The 25 partitions correspond to welding sub-trajectories, respectively, and the welding sub-trajectories corresponding to the 25 partitions may be the same or different, that is, the lengths of the welding sub-trajectories corresponding to the 25 partitions may be equal or unequal.

[0080] (2) Determine the deflection speeds of the galvanometers corresponding to the multiple partitions based on the welding sub-trajectories corresponding to the multiple partitions and reference welding time, where the reference welding time is the welding time corresponding to each of the multiple partitions.

[0081] In some embodiments, the flat-top beam corresponds to a flat-top spot, which refers to the distribution of the flat-top beam in space, that is, the flat-top beam will focus to form a small and bright spot. In other words, the energy distribution of the flat-top beam includes the flat-top spot.

[0082] In addition, in some embodiments, in order to achieve grid management of the multiple partitions, the welding times corresponding to the multiple partitions are the same, that is, the time for welding any one of the multiple partitions through the flat-top beam is the same, which is the reference welding time.

[0083] Based on the above description, in order to ensure that the energy of the flat-top beams corresponding to the multiple partitions during welding is the same, when the flat-top beam is deflected by a galvanometer and used to weld the welding area, the beam energy of the sub-welding trajectories corresponding to the multiple partitions is also the same.

[0084] As an example, the beam energy corresponding to the multiple partitions may be calculated according to the following formula (1) based on the energy distribution of the flat-top beam and the reference welding time;

[0085] (1)

[0086] Wherein, P is the beam energy, F is the beam energy density, d is the diameter of the flat-top spot corresponding to the flat-top beam, and t is the time required for welding any one of the multiple partitions, that is, the reference welding time.

[0087] Continuing with the above description, since the welding times corresponding to the multiple partitions are the same, the galvanometer deflection speeds corresponding to the multiple partitions can be determined based on the welding sub-trajectories corresponding to the multiple partitions and the reference welding time.

[0088] In some embodiments, the specific process of determining the deflection speed of the galvanometer is as follows: any one of the multiple partitions is determined as a reference partition, the length of the welding sub-track corresponding to the reference partition is the reference length, the deflection speed of the galvanometer when welding the reference partition is the reference speed, and then, according to the welding sub-track corresponding to the target partition and the reference welding time, the deflection speed of the galvanometer in the target partition is adjusted to ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition, and the target partition is any one of the multiple partitions except the reference partition.

[0089] The length of the welding sub-track corresponding to the reference partition is the reference length, the corresponding galvanometer deflection speed is the reference speed, and the time spent on welding the reference partition is the reference welding time. That is to say, if the length of the welding sub-track is the reference length, the galvanometer deflects according to the reference speed, so that the flat-top beam can weld the reference partition, and the time required to weld a track identical to the welding sub-track on the reference partition is the reference welding time.

[0090] Based on the above description, it can be known that in order to ensure that the beam energies corresponding to the multiple partitions are the same, it is necessary to ensure that the welding times corresponding to the multiple partitions are all reference welding times. However, since the lengths of the welding sub-trajectories corresponding to the multiple partitions may be different, if the galvanometer deflects at the reference speed in the multiple partitions, the welding times corresponding to the multiple partitions may be different, that is, the welding time corresponding to the partition with a longer corresponding welding sub-trajectory length is longer, and the welding time corresponding to the partition with a shorter corresponding welding sub-trajectory length is shorter, resulting in different beam energies corresponding to the multiple partitions. Therefore, the deflection speed of the galvanometer in the target partition can be adjusted according to the welding sub-trajectory corresponding to the target partition and the reference welding time to ensure that the welding time corresponding to the target partition is the reference welding time, thereby ensuring that the beam energy corresponding to the target partition is the same as the beam energy corresponding to the reference partition.

[0091] In some embodiments, if the length of the welding sub-track corresponding to the target partition is greater than the reference length, the deflection speed of the galvanometer in the target area is adjusted to a first speed, which is greater than the reference speed, to speed up the deflection of the galvanometer, ensure that the welding time corresponding to the target partition is the reference welding time, and further ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition; if the length of the welding sub-track corresponding to the target partition is less than the reference length, the deflection speed of the galvanometer in the target area is adjusted to a second speed, which is less than the reference speed, to slow down the deflection of the galvanometer, ensure that the welding time corresponding to the target partition is the reference welding time, and further ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition.

[0092] As an example, the deflection speed of the galvanometer corresponding to the target partition may be determined according to the following formula (2);

[0093] (2)

[0094] Among them, V is the deflection speed of the galvanometer corresponding to the target partition, L is the length of the welding sub-track corresponding to the target partition, and t is the reference welding time. It can be seen from the above formula that when the welding time is constant, the deflection speed of the galvanometer is proportional to the length of the welding sub-track.

[0095] For example, it is assumed that there are a reference partition, partition 1 and partition 2, the length of the welding sub-track corresponding to the reference partition is the reference length L0, the length of the sub-welding track corresponding to partition 1 is L1, the length of the sub-welding track corresponding to partition 2 is L2, and the deflection speed of the galvanometer corresponding to the reference partition is V0, and the reference welding time is t0. If L1 is greater than L0, in order to ensure that the welding time corresponding to partition 1 is also the reference welding time, it is necessary to adjust the deflection speed of the galvanometer corresponding to partition 1 to V1, and V1 is equal to L1 divided by t0. Since the deflection speed of the galvanometer is proportional to the length of the welding sub-track, therefore, when L1 is greater than L0, V1 is greater than V0. If L2 is less than L0, in order to ensure that the welding time corresponding to partition 2 is also the reference welding time, it is necessary to adjust the deflection speed of the galvanometer corresponding to partition 2 to V2, and V2 is equal to L2 divided by t0. Therefore, when L2 is less than L0, V2 is less than V0. In this way, it can be ensured that the beam energies corresponding to the reference partition, partition 1 and partition 2 are the same.

[0096] (3) Determine a deflection mode based on the welding sub-trajectories corresponding to the plurality of partitions and the deflection speeds of the galvanometer mirrors corresponding to the plurality of partitions.

[0097] Based on the above description, it can be known that the welding sub-trajectories corresponding to the multiple partitions may be different, that is, the lengths of the welding sub-trajectories corresponding to the multiple partitions may be different, but the welding times corresponding to the multiple partitions are all reference welding times. Therefore, in order to ensure that the beam energies corresponding to the multiple partitions are the same. Therefore, the deflection mode of the galvanometer can be determined based on the welding sub-trajectories corresponding to the multiple partitions and the deflection speeds of the galvanometers corresponding to the multiple partitions.

[0098] Continuing with the above description, after determining the deflection speed of the galvanometer when welding each of the multiple partitions, the welding sub-trajectory corresponding to each of the multiple partitions and the deflection speed of the galvanometer can be integrated to determine the deflection mode of the galvanometer.

[0099] The corresponding relationship between the partition, the deflection speed of the galvanometer, and the welding sub-track can be stored, thereby obtaining the deflection mode of the galvanometer when welding the area to be welded.

[0100] It should be noted that the above is explained by integrating the welding sub-tracks corresponding to each of the multiple partitions and the deflection speed of the galvanometer to determine the deflection mode of the galvanometer. Alternatively, in the application, the corresponding relationship between the partition and the deflection speed of the galvanometer and the welding sub-track can also be stored, thereby obtaining the deflection mode of the galvanometer when welding the area to be welded. The embodiments of the present application are not limited to this.

[0101] In some embodiments, since various factors such as optical and physical properties may affect the galvanometer, the actual welding trajectory obtained by deflecting the galvanometer according to the determined deflection method may be different from the preset welding trajectory, that is, optical distortion may occur. Therefore, before welding the area to be welded, the deflection control module can also correct the galvanometer.

[0102] In some embodiments, the galvanometer can be corrected according to the following steps (1)-(5).

[0103] (1) The galvanometer is controlled to deflect according to the marking trajectory so that the flat-top beam welds the area to be welded to obtain an actual welding trajectory. The marking trajectory is a welding trajectory when there is no optical distortion.

[0104] In some embodiments, when the flat-top beam is welding in the area to be welded, the shooting component included in the laser welding system can shoot the area to be welded to obtain an image of the actual welding trajectory. In this way, in the subsequent process, the image of the actual welding trajectory can be compared with the marking trajectory.

[0105] It should be noted that the above description is based on the image of the actual welding trajectory obtained by the shooting component shooting the welding area, or, in the application, the actual welding trajectory can also be obtained by other methods, and the embodiments of the present application are not limited to this.

[0106] In some embodiments, before correcting the galvanometer, the technician can first set the marking trajectory. That is, the technician can first select a trajectory pattern and obtain the marking trajectory corresponding to the trajectory pattern through laser calibration. Among them, laser calibration refers to the method of adjusting the parameters of the laser and controlling the transmission path of the laser beam in the fields of mechanical processing, measurement, detection and medical treatment, so that the laser can accurately lock the target point or cover a specific area.

[0107] (2) By comparing the actual welding trajectory and the marking trajectory, the area to be corrected is determined, and multiple coordinate data corresponding to the actual welding trajectory are collected in the area to be corrected to obtain a first coordinate data group. The area to be corrected is used to indicate a portion where the actual welding trajectory has a large difference with the marking trajectory.

[0108] Due to the influence of external factors, the actual welding trajectory may have a certain error with the marking trajectory, that is, the actual welding trajectory may produce optical distortion. Therefore, the difference between the actual welding trajectory and the marking trajectory can be compared, and the trajectory area where the actual welding trajectory differs greatly from the marking trajectory can be determined as the area to be corrected.

[0109] In some embodiments, the actual welding trajectory and the marking trajectory can be compared according to the multiple partitions in the above content, that is, the actual welding area can be divided into multiple actual welding sub-trajectories according to the above multiple partitions, and the marking trajectory can also be divided into multiple marking sub-trajectories according to the multiple partitions, and the actual welding sub-trajectory and marking sub-trajectory corresponding to each partition are compared. If the difference between the actual welding sub-trajectory and the marking sub-trajectory corresponding to the partition is less than or equal to the error threshold, the partition is not determined as the area to be corrected; if the error value between the actual welding sub-trajectory and the marking sub-trajectory corresponding to the partition is greater than the error threshold, the partition is determined as the area to be corrected.

[0110] For example, the actual welding trajectory is divided into area A, area B and area C, area A includes actual welding sub-trajectory 1, area B includes actual welding sub-trajectory 2, and area B includes actual welding sub-trajectory 3; similarly, the marking trajectory is also divided into area A, area B and area C, area A includes marking sub-trajectory 1, area B includes marking sub-trajectory 2, and area C includes marking sub-trajectory 3. In this way, the actual welding sub-trajectory 1 and the marking sub-trajectory 1 corresponding to area A can be compared to determine the error value between the actual welding sub-trajectory 1 and the marking sub-trajectory 1. Assuming that the error value is less than the error threshold, it means that there is no need to correct the actual welding sub-trajectory 1 corresponding to area A, and area A is not determined as the area to be corrected; the actual welding sub-trajectory 2 and the marking sub-trajectory 2 corresponding to area B are compared to determine the error value between the actual welding sub-trajectory 2 and the marking sub-trajectory 2. Assuming that the error value is equal to the error threshold, it means that there is no need to correct the actual welding sub-trajectory 2 corresponding to area B, and area B is not determined as the area to be corrected; the actual welding sub-trajectory 3 and the marking sub-trajectory 3 corresponding to area C are compared to determine the error value between the actual welding sub-trajectory 3 and the marking sub-trajectory 3. Assuming that the error value is greater than the error threshold, it means that the actual welding sub-trajectory 3 corresponding to area C needs to be corrected, and area C is determined as the area to be corrected.

[0111] Continuing with the above description, after determining the area to be corrected, multiple coordinate data corresponding to the actual welding sub-trajectory in the area to be corrected can be collected as the first coordinate data group. In other words, the area to be corrected can be regarded as a coordinate system. In this way, the coordinate data of multiple welding points in the actual welding sub-trajectory included in the area to be corrected can be determined as the first coordinate data group.

[0112] In some embodiments, the one or more shooting components have a CCD (Charge Coupled Device) visual positioning system. Thus, after determining the area to be corrected in the actual welding trajectory, the CCD visual positioning system can be used to accurately determine the coordinate value of a certain welding point on the area to be corrected.

[0113] For example, assuming that region A is the region to be corrected, and region A includes the actual welding sub-track 1, then multiple welding points can be selected in the actual welding sub-track 1, and the coordinate values ​​of the multiple welding points in region A can be determined.

[0114] It should be noted that the above description is based on the determination of the first coordinate data set by taking the area to be corrected as a coordinate system. Alternatively, in the application, the area to be welded may also be taken as a coordinate system to determine the first coordinate value. For example, assuming that the area to be welded includes area A, area B, and area C, the area to be corrected is area A, and area A includes the actual welding sub-track 1, then multiple welding points may be selected in the actual welding sub-track 1, and the coordinate values ​​of the multiple welding points in the area to be welded may be determined. In other words, the embodiment of the present application does not limit the coordinate system corresponding to the first coordinate data set.

[0115] In addition, in some embodiments, in order to determine the first reference data set in the subsequent process and to perform more accurate correction on the galvanometer, after selecting multiple welding points in the actual welding trajectory, in addition to determining the coordinate values ​​of the multiple welding points, the deflection control module can also determine the deflection angle of the galvanometer corresponding to each welding point in the multiple welding points, and the deflection angle of the galvanometer determines the scanning direction of the flat-top beam, that is, the galvanometer can change the scanning direction of the flat-top beam by deflection. For example, assuming that the selected multiple welding points include welding point 1, welding point 2 and welding point 3, if the deflection angle of the galvanometer is 10 degrees, the flat-top beam is projected to welding point 1, indicating that the deflection angle of the galvanometer corresponding to welding point 1 is 10 degrees, similarly, if the deflection angle of the galvanometer is 11 degrees, the flat-top beam is projected to welding point 2, indicating that the deflection angle of the galvanometer corresponding to welding point 2 is 11 degrees, and if the deflection angle of the galvanometer is 12 degrees, the flat-top beam is projected to welding point 3, indicating that the deflection angle of the galvanometer corresponding to welding point 3 is 12 degrees.

[0116] Thus, a plurality of coordinate data corresponding to the actual welding trajectory in the area to be corrected can be obtained, and the plurality of coordinate data all include corresponding coordinate values ​​and the deflection angle of the galvanometer, so that a first coordinate data group can be obtained.

[0117] (3) Determine a first reference data set corresponding to the first coordinate data set based on the marking trajectory, wherein the data in the first reference data set corresponds one-to-one to the data in the first coordinate data set.

[0118] Continuing with the above description, since the first coordinate data group is determined after multiple welding points are selected in the actual welding trajectory, similarly, welding points corresponding to multiple welding points in the actual welding trajectory can be selected in the marking trajectory, and the coordinate data of the multiple welding points can be determined to obtain the first reference data group. It can be seen that the coordinate values ​​of the welding points in the first reference data group correspond to the coordinate values ​​of the welding points in the first coordinate data group one-to-one, and the deflection angle data of the galvanometer corresponding to each welding point in the first reference data group corresponds to the deflection angle data of the galvanometer corresponding to the welding point in the first coordinate data group. The first reference data group can be used to perform subsequent steps.

[0119] In some embodiments, since the coordinate data includes the coordinate values ​​of the multiple welding points and the deflection angle of the galvanometer, the welding points in the marking trajectory and the corresponding deflection angle data of the galvanometer can be determined according to the coordinate values ​​of the multiple welding points in the actual welding trajectory. For example, assuming that the multiple welding points determined in the actual welding trajectory are welding point 1, welding point 2 and welding point 3, the coordinate value of welding point 1 is (X1, Y1), the coordinate value of welding point 2 is (X2, Y2), the coordinate value of welding point 3 is (X3, Y3), and the deflection angle of the galvanometer corresponding to welding point 1 is 10 degrees, the deflection angle of the galvanometer corresponding to welding point 2 is 11 degrees, and the deflection angle of the galvanometer corresponding to welding point 3 is 12 degrees, so that the welding points and the corresponding deflection angles of the galvanometers can be determined in the marking trajectory, and the deflection angles and coordinate values ​​of the corresponding galvanometers of the three welding points in the above-mentioned marking trajectory are determined as the first reference data group.

[0120] In addition, in some embodiments, the welding points in the marking track and the corresponding galvanometer deflection angle data can also be determined based on the deflection angles of the galvanometers of the multiple welding points in the actual welding track. For example, assuming that the multiple welding points in the actual welding track are welding point 1, welding point 2, and welding point 3, the deflection angle of the galvanometer corresponding to welding point 1 is 10 degrees, the deflection angle of the galvanometer corresponding to welding point 2 is 11 degrees, and the deflection angle of the galvanometer corresponding to welding point 3 is 12 degrees, so that the welding points and their coordinate values ​​corresponding to the deflection angles of 10 degrees, 11 degrees, and 12 degrees can be determined in the marking track, and the coordinate values ​​of the three welding points in the marking track and the corresponding galvanometer deflection angles are used as the first reference data group.

[0121] It should be noted that the coordinate system corresponding to the first reference data set must be the same as the coordinate system corresponding to the first coordinate data set. That is, if the first coordinate data set is obtained by taking the area to be corrected as the coordinate system, then the first reference data set is also obtained by taking the area to be corrected as the coordinate system; if the first coordinate data set is obtained by taking the area to be welded as the coordinate system, then the first reference data set is also obtained by taking the area to be welded as the coordinate system.

[0122] (4) Correcting the first coordinate data set based on the first reference data set to obtain a corrected first coordinate data set, and determining a first precision error corresponding to the corrected first coordinate data set and the first reference data set.

[0123] In some embodiments, the deflection control module can determine the error of each coordinate data in the first coordinate data group relative to the corresponding data in the first reference data group to obtain multiple errors, determine a first correction coefficient based on the multiple errors, and then correct each coordinate data in the first coordinate data group according to the first correction coefficient to obtain a corrected first coordinate data group.

[0124] Based on the above description, it can be known that the coordinate values ​​of the welding points in the first reference data set correspond to the coordinate values ​​of the welding points in the first coordinate data set, and the deflection angle data of the galvanometer corresponding to each welding point in the first reference data set corresponds to the deflection angle data of the galvanometer corresponding to the welding point in the first coordinate data set. Therefore, the error between the deflection angle of the galvanometer of each welding point in the first coordinate data set and the deflection angle of the galvanometer of the corresponding welding point in the first reference data set can be determined, so that multiple errors can be obtained.

[0125] For example, the first coordinate data group includes coordinate 1, coordinate 2 and coordinate 3, and the first reference data group includes coordinate 4, coordinate 5 and coordinate 6, wherein the coordinate values ​​corresponding to coordinate 1 and coordinate 4 are the same, the coordinate values ​​corresponding to coordinate 2 and coordinate 5 are the same, and the coordinate values ​​corresponding to coordinate 3 and coordinate 6 are the same. In this way, it can be determined that the error of the deflection angle of the galvanometer between coordinate 1 and coordinate 4 is error A, the error of the deflection angle between coordinate 2 and coordinate 5 is error B, and the error of the deflection angle between coordinate 3 and coordinate 6 is error C.

[0126] Continuing with the above description, after the multiple errors are obtained, a first correction coefficient may be determined based on the multiple errors. As an example, assuming there are error A, error B and error C, the average of the three errors may be determined as the first correction coefficient.

[0127] It should be noted that the above description is based on taking the average of multiple errors as the first correction coefficient. In application, the number obtained by multiplying the average of multiple errors by the correction coefficient can also be used as the first correction coefficient, or the first correction coefficient can be determined in other ways. The embodiments of the present application do not limit this.

[0128] After determining the first correction coefficient, the deflection angle data of the galvanometer corresponding to each welding point in the first coordinate data group can be corrected according to the first correction coefficient, so as to obtain the corrected first coordinate data group. As an example, assuming that the first coordinate data group includes first data, second data and third data, the first data can be added to the first correction coefficient to correct the first data, the second data can be added to the first correction coefficient to correct the second data, and the third data can be added to the first correction coefficient to correct the third data, so as to obtain the corrected first coordinate data group. As another example, the first data, the second data and the third data can be respectively multiplied by the first correction coefficient to correct the first coordinate data group. In other words, the embodiment of the present application does not limit the way in which the first coordinate data group is corrected.

[0129] It should be noted that the above description is based on the fact that all data in the first coordinate data group are corrected by the first correction coefficient. In application, each data in the first coordinate data group may correspond to a corresponding correction coefficient and be corrected according to the respective correction coefficients. For example, assuming that the first coordinate data group includes first data, second data, and third data, the first data corresponds to correction coefficient A, the second data corresponds to correction coefficient B, and the third data corresponds to correction coefficient C. In this way, the first data can be corrected according to correction coefficient A, the second data can be corrected according to correction coefficient B, and the third data can be corrected according to correction coefficient C. The embodiments of the present application are not limited to this.

[0130] In some embodiments, in order to determine whether the galvanometer meets the accuracy requirement after being corrected according to the current corrected first coordinate data set, the deflection control module may also determine the first accuracy error between the corrected first coordinate data set and the first reference data set after obtaining the corrected first coordinate data set. For example, assuming that the corrected first coordinate data set includes first data, second data, and third data, the first reference data set includes data A, data B, and data C, and the first data corresponds to data A, the second data corresponds to data B, and the third data corresponds to data C, in this way, the error between the first data and data A, the error between the second data and data B, and the error between the third data and data C can be determined.

[0131] After determining multiple errors of each coordinate data in the corrected first coordinate data set relative to the corresponding data in the first reference data set, a first precision error can also be determined based on the multiple errors. As an example, assuming there are error A, error B, and error C, the average of the above three errors can be determined as the first precision error.

[0132] It should be noted that the above description is based on taking the average of multiple errors as the first precision error. In application, the number obtained by multiplying the average of multiple errors by the correction coefficient can also be used as the first precision error, or the first precision error can also be determined in other ways. The embodiments of the present application are not limited to this.

[0133] (5) If the first precision error is not greater than the error threshold, the galvanometer is corrected based on the corrected first coordinate data set.

[0134] After determining the first precision error, the first precision error can be compared with the error threshold to determine whether the current correction of the galvanometer meets the precision requirement. In other words, if the first precision error is not greater than the error threshold, it means that the galvanometer can meet the precision requirement after correction according to the current corrected first data set, so the galvanometer can be corrected according to the current corrected first coordinate data set.

[0135] In some embodiments, since the deflection of the galvanometer mirror is required to project the flat-top light beam onto the welding point corresponding to the coordinates included in the corrected first coordinate data set, the deflection angle of the galvanometer mirror at the welding point can be corrected according to the corrected first coordinate data set, thereby correcting the galvanometer mirror.

[0136] If the first precision error is greater than the error threshold, it means that the galvanometer cannot meet the precision requirement after correction according to the current corrected first data group. Therefore, the deflection control module can also obtain a second coordinate data group. The second coordinate group is obtained by collecting multiple coordinate data corresponding to the actual welding trajectory in the area to be corrected. The number of coordinate data included in the second coordinate data group is greater than the number of coordinate data included in the first coordinate data group. Then, the second reference data group corresponding to the second coordinate data group is determined based on the marking trajectory, and the second coordinate data group is corrected based on the second reference data group to obtain the corrected second coordinate data group; the error between the corrected second coordinate data group and the second reference data group is determined to obtain the second precision error; if the second precision error is not greater than the error threshold, the galvanometer is corrected based on the corrected second coordinate data group; if the second precision error is greater than the error threshold, return to the step of obtaining the coordinate data group.

[0137] That is to say, in order to further improve the deflection accuracy of the galvanometer, and thus improve the scanning accuracy of the flat-top beam in the area to be welded by the galvanometer deflection in the subsequent process, the number of coordinate data included in the coordinate data group determined from the actual welding trajectory can be increased. That is, the number of coordinate data included in the second coordinate data group is greater than the number of coordinate data included in the first coordinate data group. Among them, the process of obtaining the second coordinate data group is similar to the process of obtaining the first coordinate data group, which will not be repeated here, please refer to the relevant content above.

[0138] Continuing with the above description, after obtaining the second coordinate data set corresponding to the actual welding trajectory, it is also necessary to obtain the corresponding second reference data set from the marking trajectory, and perform correction according to the second reference data set, so as to obtain the corrected second coordinate data set. Among them, the method of obtaining the second reference data set is the same as the method of obtaining the first reference data set, and the process of correcting the second coordinate data set is similar to the process of correcting the first coordinate data set, which will not be repeated here, please refer to the relevant content above.

[0139] After the corrected second coordinate data set is obtained, the galvanometer can be corrected according to the corrected second coordinate data set.

[0140] Continuing with the above description, it is also necessary to determine the error between the corrected second coordinate data set and the second reference data set to obtain a second precision error. The method for determining the second precision error is similar to the method for determining the first precision error, which will not be repeated here. Please refer to the relevant content above.

[0141] If the second precision error is not greater than the error threshold, it means that the accuracy requirement can be met after the galvanometer is corrected according to the current corrected second data group. In this way, the galvanometer can be corrected according to the current corrected second data group. Therefore, in the subsequent process, by controlling the deflection of the corrected galvanometer, the difference between the actual welding trajectory obtained by welding the flat-top beam to the welding area and the preset welding trajectory is also smaller.

[0142] If the second precision error is greater than the error threshold, it means that the correction of the galvanometer according to the second data set after the current correction cannot meet the accuracy requirement. Therefore, if the deflection control module controls the deflection of the galvanometer after the current correction so that the flat-top beam welds the area to be welded, the difference between the actual welding trajectory and the marking trajectory is also large. Therefore, it is necessary to increase the number of coordinate data included in the coordinate data set again. In other words, the number of coordinates included in the coordinate data set acquired the last time should be greater than the number of coordinates included in the coordinate data set acquired the previous time, so as to improve the correction accuracy of the galvanometer.

[0143] The laser welding system provided in the embodiment of the present application shapes the Gaussian beam into a flat-top beam with a more uniform energy distribution through a beam shaping unit, and welds the area to be welded through the flat-top beam, which can effectively reduce the probability of defects such as pores, spatter, impurities and ridges during welding, and improve the quality of laser welding; moreover, the deflection control module can also partition the area to be welded, and ensure that the beam energy corresponding to each of the multiple partitions is equal, which can achieve grid management of the area to be welded, and further improve the welding quality. In addition, the deflection control module can also correct the galvanometer, which can avoid the influence of various factors such as optical and physical characteristics on the galvanometer, reduce optical distortion, and improve the accuracy of welding. The shooting component in the laser welding system can also have a CCD visual system, which can quickly locate the welding point, not only ensuring the efficiency of obtaining coordinate data, but also effectively improving the accuracy of obtaining coordinate data, thereby improving the efficiency of correcting the galvanometer.

[0144] Figure 6 This is a flow chart of a laser welding method provided in an embodiment of the present application. The method is applied to a deflection control module in a laser welding system. Figure 6 , the method comprises the following steps:

[0145] Step 601: partition the area to be welded to obtain a plurality of partitions, and the areas of the plurality of partitions are equal.

[0146] The process of the above step 601 has been described in detail above. Please refer to the relevant content above and will not be repeated here.

[0147] Step 602: Obtain a preset welding trajectory, which is a trajectory shape that needs to be welded in the area to be welded.

[0148] The process of the above step 602 has been described in detail above. Please refer to the relevant content above and will not be repeated here.

[0149] Step 603: Based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam, determine the deflection mode of at least one galvanometer to ensure that the energy of the beam corresponding to each partition in the multiple partitions is equal. The at least one galvanometer is used to change the scanning direction of the flat-top beam. The deflection mode includes the deflection trajectory and deflection speed of the at least one galvanometer.

[0150] In some embodiments, the specific process of determining the deflection mode of the at least one galvanometer is as follows: dividing the preset welding trajectory according to the multiple partitions to obtain welding sub-trajectories corresponding to the multiple partitions; determining the deflection speed of the at least one galvanometer corresponding to the multiple partitions based on the welding sub-trajectories corresponding to the multiple partitions and the reference welding time, wherein the reference welding time is the welding time corresponding to each partition in the multiple partitions; determining the deflection mode based on the welding sub-trajectories corresponding to the multiple partitions and the deflection speed of the at least one galvanometer corresponding to the multiple partitions.

[0151] The process of the above step 603 has been described in detail above. Please refer to the relevant content above and will not be repeated here.

[0152] Step 604: Control the at least one galvanometer to deflect according to the deflection mode to improve welding quality.

[0153] The embodiment of the present application shapes the Gaussian beam into a flat-top beam with a more uniform energy distribution, and welds the area to be welded with the flat-top beam, which can effectively reduce the probability of defects such as pores, spatter, impurities and ridges in the welding process, thereby improving the quality of laser welding; moreover, the area to be welded can be partitioned, and it can be ensured that the beam energy corresponding to each of the multiple partitions is equal, which can achieve grid-based management of the area to be welded and further improve the welding quality.

[0154] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above-mentioned embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and can be downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0155] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A laser welding system, characterized in that: include: A laser for outputting a Gaussian beam; A beam shaping module, used for shaping the Gaussian beam into a flat-top beam; One or more galvanometers, wherein the galvanometers are used to change the scanning direction of the flat-top beam; One or more photographing components, wherein the photographing components are used to capture a welding trajectory and an area to be welded, wherein the welding trajectory is a trajectory obtained by welding the area to be welded by the flat-top beam; Deflection control module for: Dividing the area to be welded into multiple partitions, where the areas of the multiple partitions are equal; Acquire a preset welding trajectory, wherein the preset welding trajectory is a trajectory shape that needs to be welded in the area to be welded, and divide the preset welding trajectory according to the multiple partitions to obtain welding sub-trajectories corresponding to the multiple partitions respectively; determine the deflection speeds of the galvanometers corresponding to the multiple partitions respectively based on the welding sub-trajectories corresponding to the multiple partitions and reference welding time, wherein the reference welding time is the welding time corresponding to each partition in the multiple partitions; wherein the welding time corresponding to each partition is the same; and the lengths of the welding sub-trajectories of each partition are different; Based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam, determine the deflection mode of the galvanometer to ensure that the energy of the beam corresponding to each partition in the multiple partitions is equal, and the deflection mode includes the deflection trajectory and deflection speed of the galvanometer; Controlling the galvanometer to deflect according to the deflection mode to improve welding quality; The deflection control module is also used for: The galvanometer is controlled to deflect according to the marking trajectory, so that the flat-top beam welds the area to be welded to obtain an actual welding trajectory, and the marking trajectory is a welding trajectory when there is no optical distortion.

2. The laser welding system according to claim 1, characterized in that: The deflection control module is specifically used for: Determine any one of the multiple partitions as a reference partition, the length of the welding sub-track corresponding to the reference partition is the reference length, and the deflection speed of the galvanometer when welding the reference partition is the reference speed; According to the welding sub-trajectory corresponding to the target partition and the reference welding time, the deflection speed of the galvanometer in the target partition is adjusted to ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition. The target partition is any partition among the multiple partitions except the reference partition.

3. The laser welding system according to claim 2, characterized in that: The deflection control module is specifically used for: If the length of the welding sub-track corresponding to the target partition is greater than the reference length, the deflection speed of the galvanometer in the target partition is adjusted to a first speed, the first speed being greater than the reference speed, so as to speed up the deflection of the galvanometer, ensure that the welding time corresponding to the target partition is the reference welding time, and further ensure that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition; If the length of the welding sub-track corresponding to the target partition is less than the reference length, the deflection speed of the galvanometer in the target partition is adjusted to a second speed, and the second speed is less than the reference speed to slow down the deflection of the galvanometer, ensuring that the welding time corresponding to the target partition is the reference welding time, and further ensuring that the beam energy corresponding to the target partition is equal to the beam energy corresponding to the reference partition.

4. The laser welding system according to claim 1, characterized in that: The deflection control module is also used for: By comparing the actual welding trajectory and the marking trajectory, an area to be corrected is determined, and a plurality of coordinate data corresponding to the actual welding trajectory is collected in the area to be corrected to obtain a first coordinate data group, wherein the area to be corrected is used to indicate a portion where the actual welding trajectory has a large difference from the marking trajectory, and the coordinate data includes a coordinate value and a deflection angle of the galvanometer; Determine a first reference data group corresponding to the first coordinate data group based on the marking trajectory, wherein the data in the first reference data group corresponds one-to-one to the data in the first coordinate data group; Correcting the first coordinate data set based on the first reference data set to obtain a corrected first coordinate data set, and determining a first precision error corresponding to the corrected first coordinate data set and the first reference data set; If the first precision error is not greater than an error threshold, the galvanometer is corrected based on the corrected first coordinate data set.

5. The laser welding system according to claim 4, characterized in that: If the first precision error is greater than the error threshold, the deflection control module is further configured to: Acquire a second coordinate data set, where the second coordinate data set is obtained by collecting a plurality of coordinate data corresponding to the actual welding trajectory in the area to be corrected, and the number of coordinate data included in the second coordinate data set is greater than the number of coordinate data included in the first coordinate data set; Determining a second reference data set corresponding to the second coordinate data set based on the marking trajectory, and correcting the second coordinate data set based on the second reference data set to obtain a corrected second coordinate data set; determining an error between the corrected second coordinate data set and the second reference data set to obtain a second precision error; If the second precision error is not greater than the error threshold, correcting the galvanometer based on the corrected second coordinate data set; If the second precision error is greater than the error threshold, the process returns to the step of acquiring the second coordinate data set.

6. A laser welding method, characterized in that: Applied to a laser welding system, the laser welding system includes at least one galvanometer, and the at least one galvanometer is used to change the scanning direction of the flat-top beam; the method includes: Dividing the area to be welded into multiple partitions, wherein the areas of the multiple partitions are equal; Acquire a preset welding trajectory, wherein the preset welding trajectory is a trajectory shape that needs to be welded in the area to be welded, and divide the preset welding trajectory according to the multiple partitions to obtain welding sub-trajectories corresponding to the multiple partitions respectively; determine the deflection speeds of the galvanometers corresponding to the multiple partitions respectively based on the welding sub-trajectories corresponding to the multiple partitions and reference welding time, wherein the reference welding time is the welding time corresponding to each partition in the multiple partitions; wherein the welding time corresponding to each partition is the same; and the lengths of the welding sub-trajectories of each partition are different; Based on the multiple partitions, the preset welding trajectory and the energy distribution of the flat-top beam, determine the deflection mode of the at least one galvanometer to ensure that the energy of the beam corresponding to each partition in the multiple partitions is equal, and the deflection mode includes the deflection trajectory and deflection speed of the at least one galvanometer; Controlling the at least one galvanometer to deflect according to the deflection mode to improve welding quality; The method further comprises: The galvanometer is controlled to deflect according to the marking trajectory, so that the flat-top beam welds the area to be welded to obtain an actual welding trajectory, and the marking trajectory is a welding trajectory when there is no optical distortion.

7. A deflection control module, characterized in that: The deflection control module comprises: Memory for storing computer programs; A processor, configured to implement the method according to claim 6 by executing the computer program stored in the memory.

8. A computer-readable storage medium, characterized in that: The medium stores a computer program, which can be executed by a processor to implement the method according to claim 6.

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