Welding path planning method and related equipment

Abstract

The embodiment of the invention provides a welding path planning method and related equipment, which are used for improving the welding efficiency of a bonding pad as much as possible. The method comprises the steps that workpiece coordinate points of all workpieces to be welded in a plane coordinate set of the circuit board are obtained; the coordinate distribution number of the workpiece coordinate points is judged, and a first judgment result is obtained; sorting the to-be-distributed workpiece coordinate points according to the first judgment result, and judging whether the to-be-distributed workpiece coordinate points belong to the collision area or not to obtain a second judgment result; according to the second judgment result, the workpiece coordinate points to be distributed are distributed to target welding equipment, the coordinate distribution number of the target welding equipment is increased, and the target coordinate distribution number of the target welding equipment is obtained; and when the workpiece coordinate points of all the to-be-welded workpieces are distributed, a target welding path is determined, and the target welding path is sent to a motion platform controller, so that all the to-be-welded workpieces are welded through the motion platform controller.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of circuit welding, and in particular to a welding path planning method and related equipment. Background Art

[0002] In the circuit board laser welding scenario, when the laser performs point-to-point welding on the pads of a flexible printed circuit (FPC) or a printed circuit board (PCB), two lasers are usually used on the same plane for welding, with each laser assigned half of the pads. For scenarios where there are two lasers on the same moving plane, in order to avoid the problem of mutual interference between the two laser heads in the structure, the traditional solution is to directly divide the welding area into two equal areas, so that the two laser heads are each responsible for the pads in their respective areas.

[0003] However, because the distribution of pads is variable, for example, if the pads are randomly distributed on the circuit board, and the welding area is directly divided into equal areas, all pads will eventually fall into one welding area. Therefore, the solution of directly dividing the welding area into equal areas cannot be flexibly adapted to all welding scenarios. At the same time, simply increasing the number of lasers on the same surface cannot improve the welding efficiency of a single pad. Summary of the invention

[0004] The embodiments of the present application provide a welding path planning method and related equipment for improving the welding efficiency of the welding pad as much as possible.

[0005] A first aspect of an embodiment of the present application provides a welding path planning method, which is applied to an industrial computer, and the method includes:

[0006] Obtaining the workpiece coordinate points of all workpieces to be welded in the plane coordinate set of the circuit board;

[0007] In the allocated coordinate set, the coordinate allocation quantity of the allocated workpiece coordinate points of the near-origin welding equipment and the far-origin welding equipment is determined to obtain a first determination result; wherein the initial position of the near-origin welding equipment is the welding equipment located at the coordinate origin of the plane coordinate set, and the initial position of the far-origin welding equipment is the welding equipment located far from the coordinate origin of the plane coordinate set;

[0008] According to the first judgment result, in the unassigned coordinate set, the workpiece coordinate points to be assigned are sorted based on a preset sorting method, and it is judged whether the workpiece coordinate points to be assigned belong to the collision area to obtain a second judgment result;

[0009] According to the second judgment result, the workpiece coordinate point to be allocated is allocated to the target welding device, and the coordinate allocation quantity of the target welding device is increased based on the coordinate point quantity of the workpiece coordinate point to be allocated, so as to obtain the target coordinate allocation quantity of the target welding device; wherein the target welding device is one of the near-origin welding device or the far-origin welding device;

[0010] When the workpiece coordinate points of all the workpieces to be welded are allocated, a target welding path is determined according to all the workpiece coordinate points and the corresponding target welding equipment, and the target welding path is sent to the motion platform controller, so that the motion platform controller drives the target welding equipment to weld all the workpieces to be welded according to the target welding path.

[0011] Optionally, the step of sorting the workpiece coordinate points to be allocated in the unallocated coordinate set based on a preset sorting method according to the first judgment result includes:

[0012] If the first judgment result is that the number of coordinates allocated to the near-origin welding device is not greater than the number of coordinates allocated to the far-origin welding device, in the unallocated coordinate set, the horizontal coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the smallest horizontal coordinate sorting; or

[0013] If the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is not greater than the number of coordinate allocations of the far-origin welding equipment, in the unallocated coordinate set, the vertical coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the smallest vertical coordinate sorting.

[0014] Optionally, the step of sorting the workpiece coordinate points to be allocated in the unallocated coordinate set based on a preset sorting method according to the first judgment result includes:

[0015] If the first judgment result is that the number of coordinates assigned to the near-origin welding device is greater than the number of coordinates assigned to the far-origin welding device, in the unassigned coordinate set, the horizontal coordinates of all the workpiece coordinate points to be assigned are sorted to obtain the workpiece coordinate point with the largest horizontal coordinate sorting; or

[0016] If the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is greater than the number of coordinate allocations of the far-origin welding equipment, in the unallocated coordinate set, the vertical coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the largest vertical coordinate sorting.

[0017] Optionally, in the unassigned coordinate set, sorting the workpiece coordinate points to be assigned based on a preset sorting method, and determining whether the workpiece coordinate points to be assigned belong to the collision area includes:

[0018] All the workpiece coordinate points to be allocated in the unallocated coordinate set are sorted in order from small to large according to the horizontal axis dimension;

[0019] Determine any two workpiece coordinate points to be allocated, and set the any two workpiece coordinate points to be respectively the near-origin center coordinate point of the near-origin welding device and the far-origin center coordinate point of the far-origin welding device; wherein the near-origin center coordinate point includes a near-origin horizontal coordinate and a near-origin vertical coordinate, and the far-origin center coordinate point includes a far-origin horizontal coordinate and a far-origin vertical coordinate;

[0020] When the absolute value of the difference between the ordinates of the near-origin ordinate and the far-origin ordinate is greater than the length of the welding device, determining whether the far-origin abscissa is not greater than the near-origin abscissa; or,

[0021] When the absolute value of the difference between the longitudinal coordinates of the near-origin longitudinal coordinate and the far-origin longitudinal coordinate is not greater than the length value of the welding equipment, it is determined whether the far-origin horizontal coordinate is not greater than the sum of the near-origin horizontal coordinate and the width value of the welding equipment.

[0022] Optionally, obtaining the second judgment result includes:

[0023] If the value of the far original horizontal coordinate is not greater than the value of the near original horizontal coordinate, it is determined that the second judgment result is that the workpiece coordinate point to be allocated belongs to the collision area; or,

[0024] If the value of the far original horizontal coordinate is greater than the value of the near original horizontal coordinate, it is determined that the second judgment result is that the workpiece coordinate point to be allocated does not belong to the collision area; or,

[0025] If the value of the far-origin horizontal coordinate is not greater than the sum of the value of the near-origin horizontal coordinate and the width of the welding device, determining that the second judgment result is that the workpiece coordinate point to be allocated belongs to the collision area;

[0026] If the value of the far-origin horizontal coordinate is greater than the sum of the value of the near-origin horizontal coordinate and the width of the welding device, determining that the second judgment result is that the workpiece coordinate point to be allocated does not belong to the collision area;

[0027] After obtaining the second judgment result, the method further includes:

[0028] When the workpiece coordinate points to be allocated belong to the collision area, any two workpiece coordinate points to be allocated are identified based on the collision area number until all the workpiece coordinate points to be allocated are judged; wherein, the workpiece coordinate points within any collision area number are only allocated to one of the near-origin welding equipment or the far-origin welding equipment.

[0029] Optionally, allocating the workpiece coordinate points to be allocated to a target welding device, and increasing the number of coordinate allocations of the target welding device based on the number of coordinate points of the workpiece coordinate points to be allocated, comprises:

[0030] If the workpiece coordinate point to be allocated belongs to the collision area, all the workpiece coordinate points to be allocated in the collision area are taken out in sequence, and all the workpiece coordinate points to be allocated in the collision area are allocated to the target welding device, and the target coordinate allocation quantity of the target welding device is determined to be the sum of the coordinate point quantity of all the workpiece coordinate points to be allocated in the collision area and the coordinate allocation quantity corresponding to the target welding device in the allocated coordinate set;

[0031] Or, if the workpiece coordinate point to be allocated does not belong to the collision area, the workpiece coordinate point to be allocated is allocated to the target welding device, and the target coordinate allocation quantity of the target welding device is determined to be the sum of the coordinate allocation quantity corresponding to the target welding device in the allocated coordinate set and the number of coordinate points corresponding to the workpiece coordinate point to be allocated.

[0032] Optionally, after obtaining the target coordinate allocation quantity of the target welding equipment, the method further includes:

[0033] Placing the workpiece coordinate point to be allocated in the allocated coordinate set, and determining whether the unallocated coordinate set includes the unallocated workpiece coordinate point;

[0034] If the unallocated coordinate set includes the unallocated workpiece coordinate point, executing the step of determining the number of coordinate allocations of the allocated workpiece coordinate points of the near-origin welding device and the far-origin welding device to obtain a first determination result;

[0035] If the unassigned workpiece coordinate point is not included in the unassigned coordinate set, the step of determining a target welding path according to all the workpiece coordinate points and corresponding target welding devices and sending the target welding path to the motion platform controller is performed.

[0036] Optionally, the near-original welding equipment includes a front near-original welding equipment and a back near-original welding equipment which are arranged in a mirror image with the circuit board;

[0037] The remote welding equipment includes a front remote welding equipment and a back remote welding equipment which are arranged in a mirror image with the circuit board;

[0038] The front near-origin welding device and the front far-origin welding device perform the planning method as shown in the first aspect from the front side of the circuit board;

[0039] The reverse side near-origin soldering device and the reverse side far-origin soldering device perform the planning method as shown in the first aspect from the reverse side of the circuit board.

[0040] A second aspect of an embodiment of the present application provides a welding path planning method, which is applied to a motion platform controller, wherein the motion platform controller includes a horizontal axis motor and a vertical axis motor, and the method includes:

[0041] Acquire a target welding path for all workpieces to be welded; wherein the target welding path includes workpiece coordinate points of all workpieces to be welded, and a target welding device for welding all workpieces to be welded;

[0042] According to the target welding path, the workpiece coordinate points of all the workpieces to be welded are sequentially taken out, so as to drive the horizontal axis motor to move to the horizontal axis coordinates of the workpiece coordinate points in the taken out order, and drive the vertical axis motor to move to the vertical axis coordinates of the workpiece coordinate points, so that the target welding device sequentially welds the workpieces to be welded;

[0043] If there are workpiece coordinate points of the workpieces to be welded that have not been welded, the step of obtaining the target welding paths for all the workpieces to be welded is performed until the welding of all the workpieces to be welded is completed.

[0044] A third aspect of an embodiment of the present application provides a welding path planning device, comprising:

[0045] CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply;

[0046] The memory is a short-term storage memory or a persistent storage memory;

[0047] The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the welding path planning method described in the first aspect or the second aspect.

[0048] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes instructions. When the instructions are executed on a computer, the computer executes the welding path planning method described in the first aspect or the second aspect.

[0049] A fifth aspect of an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the welding path planning method described in the first aspect or the second aspect.

[0050] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: through a welding path planning method disclosed in the embodiments of the present application, on the same plane on the circuit board, the industrial computer can control multiple lasers (near-origin welding equipment and far-origin welding equipment) to weld simultaneously according to the welding path, thereby improving the overall welding efficiency. At the same time, multiple lasers on the same plane work simultaneously and independently, avoiding collisions and ensuring welding safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0052] Figure 1 A schematic diagram of the system architecture of a multi-laser welding system disclosed in an embodiment of the present application;

[0053] Figure 2 A schematic flow chart of a welding path planning method for an industrial computer disclosed in an embodiment of the present application;

[0054] Figure 3 A schematic flow chart of another method for planning a welding path for an industrial computer disclosed in an embodiment of the present application;

[0055] Figure 4 A schematic flow chart of another method for planning a welding path for an industrial computer disclosed in an embodiment of the present application;

[0056] Figure 5 A schematic flow chart of another method for planning a welding path for an industrial computer disclosed in an embodiment of the present application;

[0057] Figure 6 A schematic flow chart of a welding path planning method applied to a motion platform controller disclosed in an embodiment of the present application;

[0058] Figure 7 A schematic diagram of a laser collision disclosed in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of a motion platform controller driving a laser disclosed in an embodiment of the present application;

[0060] Fig. 9 A motion path planning diagram of a laser disclosed in an embodiment of the present application;

[0061] Fig.10 A schematic diagram of another deployment of a welding area disclosed in an embodiment of the present application;

[0062] Fig.11 This is a schematic diagram of the structure of a welding path planning device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] To solve the technical problems described in the above background technology, please refer to Figure 1 , Figure 1 The system architecture diagram of a multi-laser welding system disclosed in an embodiment of the present application. Among them, the multi-laser welding system 101 is a multi-laser industrial welding system, including a flexible circuit board carrier 102 (FPC, Flexible Printed Circuit), an FPC pad 103, a front near-source laser 104, a rear near-source laser 105, a front far-source laser 106 and a rear far-source laser 107. It should be noted that the welding equipment described above can specifically be a laser in this embodiment, and the workpiece to be welded is the FPC pad 103 to be welded in this embodiment. The FPC can be replaced with a printed circuit board (PCB, Printed Circuit Board), which is not specifically limited here. Among them, Figure 1 The system architecture shown is a schematic diagram of front and back welding with lasers. In the actual motion planning and motion control of this scene, the motion control logic of the front near-source laser 104 and the rear near-source laser 105 are the same, and the motion control logic of the front far-source laser 106 and the rear far-source laser 107 are also the same. Secondly, the motion control logic of the rear (near-source and far-source) laser and the front (near-source and far-source) laser are also exactly the same. In order to simplify the description, the following description of the entire system introduces the control logic of the two lasers on the same plane, and specifically describes the front near-source laser 104 and the front far-source laser 106 in detail.

[0065] Further, the multi-laser welding system in the embodiment of the present application is composed of two key modules, an industrial computer and a motion platform controller. The industrial computer is responsible for allocating the pad coordinate set that each laser needs to weld based on the path planning algorithm according to the pad coordinate set, such as for a single-plane dual-laser scene, it is divided into two pad coordinate sets of near-original laser and far-original laser, and the allocated coordinate set is sent to the motion platform controller. The motion platform controller is responsible for parsing the pad coordinate set of each laser, and simultaneously drives the X motor (horizontal axis) of the corresponding laser mechanical axis, and the Y motor (vertical axis) moves to each pad position in turn to complete the welding task. Specifically, the motion platform controller can control multiple drive motors (for example, front laser 1 drive motor, ..., front laser n drive motor, reverse laser 1 drive motor, ..., reverse laser n drive motor), that is, the front laser n and the reverse laser n belong to a parallel relationship, and the two are the same in number, and at the same time, the coordinate set movement mode is also the same.

[0066] Furthermore, in another feasible technical solution, the front side or the back side may also include only one laser. The specific composition will not be described in detail here.

[0067] For the above Figure 1 For a description of the operation of the multi-laser welding system shown, see Figure 2 , Figure 2 The flowchart of a welding path planning method for an industrial computer disclosed in an embodiment of the present application includes steps 201 to 205.

[0068] 201. Obtain workpiece coordinate points of all workpieces to be welded in the plane coordinate set of the circuit board.

[0069] Combined with the above Figure 1, the whole system process can be divided into two parts. The first part is motion path planning, which is the responsibility of the industrial computer; the second part is to drive the laser to click motion control, which is the responsibility of the motion platform controller. Specifically, the industrial computer is responsible for this embodiment, that is, motion path planning. Among them, in the motion path planning, it is divided into two steps, the first step is collision area identification, and the second step is pad coordinate allocation. The purpose of collision area identification is to identify the pad coordinates that will collide when the dual lasers on the same plane (for example, two lasers on the front, or two lasers on the back) move at the same time. The way to solve the collision is to assign all the pads in the collision area to only one laser for welding on the same plane. It should be noted that a collision area may contain more than two coordinate points. Therefore, in order to realize collision area identification, it is necessary to first obtain the workpiece coordinate points of all workpieces to be welded in the plane coordinate set of the circuit board. Among them, it should be noted that the workpiece in this embodiment can be a pad or other mechanical equipment, and the welding equipment can be an electric welder or a laser, etc., which is not limited here. For the convenience of understanding and description, the workpiece is understood to be the welding pad described above, and the welding equipment is the laser described above, which will not be described in detail later.

[0070] In one specific embodiment, the workpiece coordinate points of all workpieces to be welded on the circuit board are first identified, wherein the workpiece coordinate points are to set the circuit board as a plane coordinate system (two dimensions XY, X is the horizontal axis, Y is the vertical axis), and the set of all workpiece coordinate points is located in the plane coordinate set. Furthermore, the coordinate origin of the plane coordinate system can be set to the lower left corner or the upper right corner, which is not limited here. However, in this embodiment, for the convenience of description, the lower left corner of the circuit board is used as the coordinate origin of the plane coordinate system.

[0071] In other feasible technical solutions, on the circuit board, the workpiece coordinate points of the workpiece to be welded can be set in advance in a coordinate set, and then the plane coordinate system of the circuit board at this time can be determined based on all the workpiece coordinate points, without specific limitation.

[0072] 202. In the allocated coordinate set, determine the number of coordinate allocations of the allocated workpiece coordinate points of the near-origin welding equipment and the far-origin welding equipment to obtain a first determination result.

[0073] Furthermore, in the allocated coordinate set, the number of coordinate allocations of the allocated workpiece coordinate points of the near-origin welding equipment and the far-origin welding equipment is determined, thereby obtaining a first determination result. It should be noted that, in this embodiment, the initial position (or default position) of the near-origin welding equipment is considered to be a welding equipment located at the coordinate origin of the plane coordinate set, and the initial position (or default position) of the far-origin welding equipment is considered to be a welding equipment located far from the coordinate origin of the plane coordinate set. At the same time, the allocated coordinate set is a coordinate set composed of the workpiece coordinate points that have been allocated after the workpiece coordinate points of the workpiece to be welded have been allocated in the plane coordinate set.

[0074] In one of the specific embodiments, in the pad coordinate allocation step, in order to ensure maximum efficiency, the basic allocation principle is average allocation, because the initial position of the near-origin laser head is at the lower left (coordinate origin), and the movement path is from left to right; the initial position of the far-origin laser head is at the upper right, and the movement path is from right to left. In order to avoid collision between two laser heads moving in both directions on the same plane, the pad coordinates of the collision area will only be allocated to one laser on the plane. Furthermore, it is necessary to determine the size of the coordinate number allocated by the near-origin laser head and the coordinate number allocated by the far-origin laser head in the allocated coordinate set, and then obtain the first judgment result.

[0075] 203. According to the first judgment result, in the unassigned coordinate set, the workpiece coordinate points to be assigned are sorted based on a preset sorting method, and it is determined whether the workpiece coordinate points to be assigned belong to the collision area to obtain a second judgment result.

[0076] Therefore, combined with the first judgment result, the workpiece coordinate points to be assigned can be sorted in the unassigned coordinate set based on the preset sorting method, and it is determined whether the workpiece coordinate points to be assigned belong to the collision area to obtain the second judgment result. It should be noted that in this embodiment, the unassigned coordinate set is a coordinate set composed of the unassigned workpiece coordinate points of the workpiece to be welded in the plane coordinate set, and can also be understood as a coordinate set in the plane coordinate set except the assigned coordinate set.

[0077] In one of the specific embodiments, in combination with the ratio of the number of near-original laser head coordinates to the number of far-original laser head coordinates in the first judgment result, the allocation status of the workpiece coordinate points of the workpieces to be welded that have not been allocated subsequently can be determined. Specifically, firstly, based on the first judgment result, the order of the workpiece coordinate points of the workpieces to be welded in the unallocated coordinate set at this time is determined. For example, when the number of near-original laser head coordinates is less than the number of far-original laser head coordinates, they can be sorted in order from small to large, and then the coordinates with the smallest order can be taken. When the number of near-original laser head coordinates is greater than the number of far-original laser head coordinates, they can be sorted in order from large to small, and then the coordinates with the largest order can be taken. For details, please refer to Figure 3Then, it is determined whether the extracted coordinate point, i.e., the coordinate point of the workpiece to be allocated, belongs to the collision area. Figure 4 The embodiment shown.

[0078] 204. According to the second judgment result, the workpiece coordinate points to be allocated are allocated to the target welding equipment, and the coordinate allocation quantity of the target welding equipment is increased based on the coordinate point quantity of the workpiece coordinate points to be allocated, so as to obtain the target coordinate allocation quantity of the target welding equipment.

[0079] Furthermore, the workpiece coordinate point to be assigned can be assigned to the target welding device according to the judgment result of whether the workpiece coordinate point to be assigned belongs to the collision area, and then the coordinate assignment quantity of the target welding device is increased based on the coordinate point quantity of the workpiece coordinate point to be assigned, thereby obtaining the target coordinate assignment quantity of the target welding device.

[0080] In one of the specific embodiments, different coordinate point allocation principles can be executed according to the judgment result of whether the workpiece coordinate point to be allocated belongs to the collision area. Specifically, since the allocation principles of the near-origin welding equipment and the far-origin welding equipment are the same, the allocation principles of the near-origin welding equipment are explained below. Specifically, when the workpiece coordinate point to be allocated belongs to the collision area, all the coordinate points in the collision area can be taken out in turn, and then all assigned to the near-origin welding equipment, and then, the number of coordinates allocated to the near-origin welding equipment at this time needs to be added to the number of coordinates in the collision area. Conversely, when the workpiece coordinate point to be allocated does not belong to the collision area, the coordinate is directly assigned to the near-origin welding equipment, and then the number of coordinates of the near-origin welding equipment can be directly increased by 1. For ease of understanding, please refer to Figure 5 The embodiment shown.

[0081] 205. When the workpiece coordinate points of all the workpieces to be welded are allocated, a target welding path is determined according to all the workpiece coordinate points and the corresponding target welding devices, and the target welding path is sent to the motion platform controller, so that the motion platform controller drives the target welding device to weld all the workpieces to be welded according to the target welding path.

[0082] Furthermore, when the workpiece coordinate points of all workpieces to be welded are allocated, the target welding path can be determined based on all the allocated workpiece coordinate points and the corresponding target welding equipment, and the target welding path can be sent to the motion platform controller, so that the motion platform controller drives the target welding equipment to weld all workpieces to be welded according to the target welding path.

[0083] In one of the specific embodiments, because the industrial computer has completed the motion path planning of all lasers, the main task of the motion platform controller is to drive the corresponding laser motor to move in the coordinate sequence. It should be noted here that all lasers move and stop independently without interfering with each other. In other words, after the industrial computer completes the allocation of workpiece coordinate points of all workpieces to be welded and the allocated welding equipment, it can form a target welding path in the coordinate sequence (generally from near to far), and the industrial computer sends the target welding path to the motion platform controller. Furthermore, the motion platform controller controls different drive motors based on the target welding path, and respectively controls the near-origin welding equipment (near-origin laser head) and far-origin welding equipment (far-origin laser head) to weld the workpieces to be welded. For ease of understanding, please refer to Figure 6 The embodiment shown.

[0084] Through the welding path planning method disclosed in this embodiment, on the same plane on the circuit board, the industrial computer can control multiple lasers (near-origin welding equipment and far-origin welding equipment) to weld simultaneously according to the welding path, thereby improving the overall welding efficiency. At the same time, multiple lasers on the same plane work simultaneously and independently to avoid collision, ensuring welding safety.

[0085] Figure 3 This is a flow chart of another method for planning a welding path for an industrial computer disclosed in an embodiment of the present application, including steps 301 to 305.

[0086] 301. In the allocated coordinate set, determine the number of coordinate allocations of the allocated workpiece coordinate points of the near-origin welding equipment and the far-origin welding equipment to obtain a first determination result.

[0087] In this embodiment, step 301 is the same as the aforementioned Figure 2 The step 202 in the above embodiment is similar to the step 202 in the above embodiment, and will not be described in detail here. However, it should be noted that in this embodiment, the coordinate allocation number of the near original welding equipment and the coordinate allocation number of the far original welding equipment are specifically determined to obtain the first judgment result. Then, according to the judgment result, any one of step 302, step 303, step 304 or step 305 is executed respectively.

[0088] 302. If the first judgment result is that the number of coordinate allocations of the near-origin welding device is not greater than the number of coordinate allocations of the far-origin welding device, in the unallocated coordinate set, the horizontal coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the smallest horizontal coordinate sorting.

[0089] Based on step 301, when the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is not greater than the number of coordinate allocations of the far-origin welding equipment, the horizontal coordinates of all the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set to obtain the workpiece coordinate point with the smallest horizontal coordinate sorting.

[0090] In one specific embodiment, when the number of coordinates allocated to the near-origin welding device is not greater than (i.e., less than or equal to) the number of coordinates allocated to the far-origin welding device, the horizontal coordinates of the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set (from small to large, or from large to small), and then the workpiece coordinate point with the smallest horizontal coordinate sorting is selected. Then, the subsequent Figure 2 The step of "determining whether the workpiece coordinate point to be allocated belongs to the collision area and obtaining a second determination result" in step 203.

[0091] It should be noted that, in the subsequent process, the coordinate points of the workpiece to be allocated will be allocated to the welding equipment near the original one.

[0092] 303. If the first judgment result is that the number of coordinates allocated to the near-origin welding device is not greater than the number of coordinates allocated to the far-origin welding device, in the unallocated coordinate set, the ordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the smallest ordinate sorting.

[0093] Based on step 301, when the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is not greater than the number of coordinate allocations of the far-origin welding equipment, the vertical coordinates of all the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set to obtain the workpiece coordinate point with the smallest vertical coordinate sorting.

[0094] In one specific embodiment, when the number of coordinates allocated to the near-origin welding device is not greater than (i.e., less than or equal to) the number of coordinates allocated to the far-origin welding device, the ordinates of the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set (from small to large, or from large to small), and then the workpiece coordinate point with the smallest ordinate is selected. Then, the subsequent Figure 2 The step of "determining whether the workpiece coordinate point to be allocated belongs to the collision area and obtaining a second determination result" in step 203.

[0095] It should be noted that, in the subsequent process, the coordinate points of the workpiece to be allocated will be allocated to the welding equipment near the original one.

[0096] 304. If the first judgment result is that the number of coordinate allocations of the near-origin welding device is greater than the number of coordinate allocations of the far-origin welding device, in the unallocated coordinate set, the horizontal coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the largest horizontal coordinate sorting.

[0097] Based on step 301, when the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is greater than the number of coordinate allocations of the far-origin welding equipment, the horizontal coordinates of all the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set to obtain the workpiece coordinate point with the largest horizontal coordinate sorting.

[0098] In one specific embodiment, when the number of coordinates allocated to the near-origin welding device is greater than the number of coordinates allocated to the far-origin welding device, the horizontal coordinates of the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set (from large to small, or from small to large), and then the workpiece coordinate point with the largest horizontal coordinate is selected. Then, the subsequent Figure 2 The step of "determining whether the workpiece coordinate point to be allocated belongs to the collision area and obtaining a second determination result" in step 203.

[0099] It should be noted that, subsequently, the workpiece coordinate points to be allocated will be allocated to the remote welding equipment.

[0100] 305. If the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is greater than the number of coordinate allocations of the far-origin welding equipment, in the unallocated coordinate set, the ordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the largest ordinate sorting.

[0101] Based on step 301, when the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is greater than the number of coordinate allocations of the far-origin welding equipment, the vertical coordinates of all the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set to obtain the workpiece coordinate point with the largest vertical coordinate sorting.

[0102] In one specific embodiment, when the number of coordinates allocated to the near-origin welding device is greater than the number of coordinates allocated to the far-origin welding device, the ordinates of the workpiece coordinate points to be allocated can be sorted in the unallocated coordinate set (from large to small, or from small to large), and then the workpiece coordinate point with the largest ordinate is selected. Then, the subsequent Figure 2 The step of "determining whether the workpiece coordinate point to be allocated belongs to the collision area and obtaining a second determination result" in step 203.

[0103] It should be noted that, subsequently, the workpiece coordinate points to be allocated will be allocated to the remote welding equipment.

[0104] The welding path planning method disclosed in this embodiment can effectively ensure the even distribution of pad coordinates, thereby maximizing the welding efficiency and improving the feasibility of the solution.

[0105] Figure 4This is a flow chart of another method for planning a welding path for an industrial computer disclosed in an embodiment of the present application, including steps 401 to 405.

[0106] 401. Sort all the workpiece coordinate points to be allocated in the unallocated coordinate set in order from small to large according to the horizontal axis dimension, determine any two workpiece coordinate points to be allocated, and set the any two workpiece coordinate points to be allocated as the near-origin center coordinate points of the near-origin welding equipment and the far-origin center coordinate points of the far-origin welding equipment.

[0107] It should be noted that the execution order of this embodiment is Figure 2 After step 202, that is, after the first judgment result is obtained. Specifically, in this embodiment, all the workpiece coordinate points to be allocated in the unallocated coordinate set can be sorted in order from small to large according to the horizontal axis dimension, and any two workpiece coordinate points to be allocated are determined, and any two workpiece coordinate points to be allocated are set as the near-origin center coordinate points of the near-origin welding equipment and the far-origin center coordinate points of the far-origin welding equipment. It should be noted that the near-origin center coordinate point includes the near-origin horizontal coordinate and the near-origin vertical coordinate, and the far-origin center coordinate point includes the far-origin horizontal coordinate and the far-origin vertical coordinate.

[0108] In one of the specific embodiments, the industrial computer can sort all the to-be-assigned workpiece coordinate points in the unassigned coordinate set according to the horizontal dimension from small to large. It should be noted that the purpose of sorting is to plan the movement order of the two welding devices. The near-original welding equipment moves sequentially from the lower left to the right; the far-original welding equipment moves sequentially from the upper right to the left; the distance between the coordinate point passed by each welding device and the original coordinate is from near to far. Furthermore, in order to prevent the welding equipment from colliding when welding with similar workpiece coordinate points, it is necessary to determine two of the to-be-assigned workpiece coordinate points, and then assume that the two workpiece coordinate points are the coordinate center point of the near-original welding equipment and the coordinate center point of the far-original welding equipment, respectively. For ease of understanding and description, please refer to Figure 7 , Figure 7 FIG. 1 is a schematic diagram of a laser collision disclosed in an embodiment of the present application. Figure 7 As shown, on the same plane, the coordinate center point of the near-origin laser head (near-origin welding equipment) is set to (X near-origin, Y near-origin), and the coordinate center point of the far-origin laser head (far-origin welding equipment) is set to (X far-origin, Y far-origin). It should be noted that the X dimension is the horizontal coordinate and the Y dimension is the vertical coordinate. In addition, the width (Y direction) of the welding equipment is W, and the length (Y direction) is H.

[0109] 402. When the absolute value of the difference between the ordinates of the near-origin ordinate and the far-origin ordinate is greater than the length of the welding device, it is determined whether the far-origin abscissa is not greater than the near-origin abscissa.

[0110] Furthermore, based on step 401, when the absolute value of the difference between the ordinates of the near-origin ordinate and the far-origin ordinate is greater than the length of the welding device, it is determined whether the far-origin abscissa is not greater than the near-origin abscissa.

[0111] In one specific embodiment, in combination Figure 7 As shown, the ratio of |Y near source - Y far source| to H is calculated, wherein when |Y near source - Y far source>H, it is necessary to determine the ratio between X far source and X near source, and then execute step 404.

[0112] 403. When the absolute value of the difference between the ordinates of the near-origin ordinate and the far-origin ordinate is not greater than the length of the welding device, determine whether the far-origin abscissa is not greater than the sum of the near-origin abscissa and the width of the welding device.

[0113] Furthermore, based on step 401, when the absolute value of the difference between the ordinates of the near-origin ordinate and the far-origin ordinate is not greater than the length of the welding device, it is necessary to determine whether the far-origin abscissa is not greater than the near-origin abscissa.

[0114] In one specific embodiment, in combination Figure 7 As shown, the ratio of |Y near source - Y far source| to H is calculated, wherein when |Y near source - Y far source|≤H, it is necessary to determine the ratio between X far source and X near source + W, and then execute step 404.

[0115] 404. Obtain a second judgment result.

[0116] Furthermore, combined with the above judgment basis, there are the following four situations. If the value of the far original horizontal coordinate is not greater than the value of the near original horizontal coordinate, the second judgment result is determined to be that the workpiece coordinate point to be assigned belongs to the collision area; or, if the value of the far original horizontal coordinate is greater than the value of the near original horizontal coordinate, the second judgment result is determined to be that the workpiece coordinate point to be assigned does not belong to the collision area; or, if the value of the far original horizontal coordinate is not greater than the sum of the value of the near original horizontal coordinate and the width value of the welding equipment, the second judgment result is determined to be that the workpiece coordinate point to be assigned belongs to the collision area; if the value of the far original horizontal coordinate is greater than the sum of the value of the near original horizontal coordinate and the width value of the welding equipment, the second judgment result is determined to be that the workpiece coordinate point to be assigned does not belong to the collision area.

[0117] In short, when |Y near source - Y far source > H, if X far source ≤ X near source, collision will occur. In this case, the near source mechanical axis and the far source mechanical axis will collide. When |Y near source - Y far source | ≤ H, if X far source ≤ X near source + W, collision will occur; in this case, the near source welding equipment and the far source welding equipment will collide. In other cases, collision will not occur, that is, it does not belong to the collision area.

[0118] 405. When the workpiece coordinate points to be allocated belong to the collision area, any two workpiece coordinate points to be allocated are identified based on the collision area number until all the workpiece coordinate points to be allocated are determined.

[0119] Furthermore, when the workpiece coordinate points to be allocated belong to the collision area, any two workpiece coordinate points to be allocated can be identified based on the collision area number until all the workpiece coordinate points to be allocated are determined.

[0120] In one specific embodiment, the two workpiece coordinate points in the collision area can be identified by the collision area number, wherein the workpiece coordinate points in the same collision area are only assigned to one welding device. Conversely, if the two workpiece coordinate points do not collide, they will not be identified.

[0121] Furthermore, it is further determined whether all workpiece coordinate points have been judged. If not, step 401 is continued. If all workpiece coordinate points have been judged, it is determined that the collision area recognition is completed, and then the collision area recognition can be performed. Figure 2 Step 204.

[0122] Through the welding path planning method disclosed in this embodiment, the coordinates of the pads that will collide when the two lasers on the same plane move simultaneously can be effectively identified. Then, all the pads in the collision area are assigned to only one laser for welding on the same plane, which improves the feasibility of the solution. Furthermore, multiple lasers can be welded simultaneously on the same plane to improve the overall welding efficiency.

[0123] Figure 5 This is a flow chart of another method for planning a welding path for an industrial computer disclosed in an embodiment of the present application, including steps 501 to 506.

[0124] 501. Obtain a second judgment result.

[0125] In this embodiment, step 501 is the same as the aforementioned Figure 2 The second judgment result obtained in step 203 is similar, and the details are not repeated here. Further, it can also be extended to Figure 4 Step 404.

[0126] 502. If the workpiece coordinate point to be allocated belongs to the collision area, all the workpiece coordinate points to be allocated in the collision area are taken out in sequence, and all the workpiece coordinate points to be allocated in the collision area are allocated to the target welding equipment, and the target coordinate allocation quantity of the target welding equipment is determined to be the sum of the coordinate point quantity of all the workpiece coordinate points to be allocated in the collision area and the coordinate allocation quantity corresponding to the target welding equipment in the allocated coordinate set.

[0127] Based on step 501, when the workpiece coordinate point to be allocated belongs to the collision area, all the workpiece coordinate points to be allocated in the collision area can be taken out in sequence, and then all the workpiece coordinate points to be allocated in the collision area are allocated to the target welding device, and the target coordinate allocation number of the target welding device is determined to be the number of coordinate points of all the workpiece coordinate points to be allocated in the collision area and the number of coordinate allocations corresponding to the target welding device in the allocated coordinate set.

[0128] In one specific embodiment, since the near-origin welding device or the far-origin welding device allocates the workpiece coordinate points in the collision area in a similar manner, the near-origin welding device is used for description in this embodiment. If the workpiece coordinate points to be allocated belong to the collision area at this time, it is necessary to take out all the workpiece coordinate points in the collision area in sequence, and then allocate them to the near-origin welding device (when the far-origin welding device makes a judgment, it is allocated to the far-origin welding device), and then, the target coordinate allocation number of the near-origin welding device at this time is the coordinate allocation number that the near-origin welding device has allocated at this time, plus the coordinate number in the collision area. The target coordinate allocation number corresponding to the far-origin welding device is the coordinate allocation number that the far-origin welding device has allocated at this time, plus the coordinate number in the collision area.

[0129] 503. If the workpiece coordinate point to be allocated does not belong to the collision area, the workpiece coordinate point to be allocated is allocated to the target welding device, and the target coordinate allocation quantity of the target welding device is determined to be the sum of the coordinate allocation quantity corresponding to the target welding device in the allocated coordinate set and the coordinate point quantity corresponding to the workpiece coordinate point to be allocated.

[0130] Based on step 501, when the workpiece coordinate point to be allocated does not belong to the collision area, the workpiece coordinate point to be allocated can be allocated to the target welding device, and the target coordinate allocation number of the target welding device is determined to be the sum of the coordinate allocation number corresponding to the target welding device in the allocated coordinate set and the number of coordinate points corresponding to the workpiece coordinate point to be allocated.

[0131] In one specific embodiment, since the near-origin welding device or the far-origin welding device allocates the workpiece coordinate points in the collision area in a similar manner, the near-origin welding device is used for description in this embodiment. If the workpiece coordinate point to be allocated does not belong to the collision area at this time, the workpiece coordinate point can be allocated to the near-origin welding device (when the far-origin welding device makes a judgment, it is allocated to the far-origin welding device), and then, the target coordinate allocation number of the near-origin welding device at this time is the coordinate allocation number that the near-origin welding device has allocated at this time, plus 1. The target coordinate allocation number corresponding to the far-origin welding device is the coordinate allocation number that the far-origin welding device has allocated at this time, plus 1.

[0132] 504 . Place the workpiece coordinate point to be allocated in the allocated coordinate set, and determine whether the unallocated coordinate set includes the unallocated workpiece coordinate point.

[0133] Then, the workpiece coordinate point to be allocated can be placed in the allocated coordinate set, and it is determined whether the unallocated coordinate set includes the unallocated workpiece coordinate point.

[0134] In one specific embodiment, the workpiece coordinate points that have been allocated (i.e., the workpiece coordinate points to be allocated described above) can be placed in the allocated coordinate set, and then it is determined whether there are any unallocated workpiece coordinate points in the unallocated coordinate set.

[0135] Furthermore, it is also possible to directly determine whether there are any remaining unallocated workpiece coordinate points in the entire plane coordinate set.

[0136] 505. If the unallocated coordinate set includes unallocated workpiece coordinate points, a step of determining the number of coordinate allocations of the allocated workpiece coordinate points of the near-origin welding device and the far-origin welding device is performed to obtain a first determination result.

[0137] Based on step 504, when the unassigned coordinate set includes unassigned workpiece coordinate points, the step of determining the number of coordinate assignments of the assigned workpiece coordinate points of the near-origin welding device and the far-origin welding device can be performed to obtain a first determination result. Figure 2 Step 202.

[0138] 506. If the unassigned coordinate set does not include unassigned workpiece coordinate points, determine a target welding path according to all workpiece coordinate points and corresponding target welding devices, and send the target welding path to the motion platform controller.

[0139] Based on step 504, when the unassigned coordinate set does not include unassigned workpiece coordinate points, the step of determining the target welding path according to all workpiece coordinate points and the corresponding target welding equipment and sending the target welding path to the motion platform controller can be performed. Figure 2 Step 205.

[0140] The welding path planning method disclosed in this embodiment effectively ensures that the number of workpiece coordinate points in the near-origin welding equipment and the far-origin welding equipment is basically evenly distributed, thereby improving the feasibility of the solution. At the same time, since welding equipment can be set on both the front and back sides of the circuit board in this embodiment, the front and back sides can be welded at the same time, which can improve the welding efficiency of a single pad. Correspondingly, when a single welding device fails, the remaining welding devices can continue to work, thereby improving the reliability of the equipment.

[0141] Figure 6The flowchart of a welding path planning method applied to a motion platform controller disclosed in an embodiment of the present application includes steps 601 to 603.

[0142] 601. Obtain target welding paths for all workpieces to be welded.

[0143] It should be noted that this embodiment is mainly executed by the motion platform controller. Specifically, because the motion path planning of all lasers has been completed in the industrial computer, the main task of the motion platform controller is to drive the corresponding laser motor to move in the coordinate sequence. Furthermore, in this embodiment, the motion platform controller needs to obtain the target welding path for all workpieces to be welded. Among them, the target welding path includes the workpiece coordinate points of all workpieces to be welded, and the target welding equipment for welding all workpieces to be welded.

[0144] In one specific embodiment, the motion platform controller first obtains the target welding path of all workpieces to be welded on the circuit board sent by the industrial computer, wherein the target welding path should describe the welding path of the near-origin welding equipment or the far-origin welding equipment for all workpieces to be welded.

[0145] 602. According to the target welding path, the workpiece coordinate points of all the workpieces to be welded are taken out in sequence, and the horizontal axis motor is driven to move to the horizontal axis coordinate of the workpiece coordinate point in the taken out order, and the vertical axis motor is driven to move to the vertical axis coordinate of the workpiece coordinate point, so that the target welding equipment can weld the workpieces to be welded in sequence.

[0146] Then, according to the target welding path, the workpiece coordinate points of all the workpieces to be welded are taken out in sequence, so that the horizontal axis motor is driven to move to the horizontal axis coordinate of the workpiece coordinate point in the order of taking out, and the vertical axis motor is driven to move to the vertical axis coordinate of the workpiece coordinate point, so that the target welding equipment can weld the workpieces to be welded in sequence.

[0147] In one of the specific embodiments, since the movement of the welding equipment is from near to far, the distances between each workpiece coordinate point and the initial position coordinates are sorted from near to far. The workpiece coordinate points (pad coordinates) of all the workpieces to be welded are taken out in sequence, and then the X-mechanical axis motor is driven to move to the X-coordinate of the workpiece coordinate point of the first workpiece to be welded. At the same time, the Y-mechanical axis motor can also be driven to move to the Y-coordinate of the workpiece coordinate point of the first workpiece to be welded. It should be noted that the first workpiece to be welded described at this time should be the workpiece to be welded that is closest to the coordinate origin of the circuit board. Then, the target welding equipment (one of the near-original welding equipment or the far-original welding equipment) performs welding processing on the first workpiece to be welded. Then, in order from near to far, the X-mechanical axis motor and the Y-mechanical axis motor are controlled in sequence to perform welding processing on the next workpiece to be welded.

[0148] 603. If there are workpiece coordinate points of the workpieces to be welded that have not been welded, a step of acquiring target welding paths for all the workpieces to be welded is performed until the welding of all the workpieces to be welded is completed.

[0149] Furthermore, when there are workpiece coordinate points of unwelded workpieces to be welded, the step of obtaining target welding paths for all workpieces to be welded can be performed until the welding of all workpieces to be welded is completed.

[0150] In one specific embodiment, when there are still unwelded workpiece coordinate points, the remaining workpiece coordinate points can be retrieved again, and then based on step 602, the remaining unwelded workpieces are welded.

[0151] Through the welding path planning method disclosed in this embodiment, the motion platform controller drives the corresponding laser motor to move in the coordinate sequence. At the same time, all driven welding devices move and stop independently without interfering with each other, thereby improving welding efficiency.

[0152] For ease of understanding and description, please refer to Figure 8 and Fig. 9 .in, Figure 8 A schematic diagram of a motion platform controller driving a laser disclosed in an embodiment of the present application; Fig. 9 This is a motion path planning diagram of a laser disclosed in the embodiment of the present application. It should be noted that the motion path planning diagram of a laser disclosed in the embodiment of the present application Figure 8 and Fig. 9 It can be understood as Figures 2 to 5 A simplified description of the illustrated embodiments or steps in actual operation.

[0153] like Fig. 9 As shown in the figure, the path planning steps for the industrial computer movement on the same platform are as follows:

[0154] 1. In the XY motion platform coordinate system, the coordinates of the five pads are sorted in ascending order based on the X dimension, and it is identified that pads 1 to 3 belong to the same collision area.

[0155] 2. Assign pad coordinates to the two laser heads (near-origin laser and far-origin laser, i.e. corresponding to near-origin welding equipment and far-origin welding equipment). In the first round, since pads 1 to 3 belong to the same collision area, they are assigned to the near-origin laser head, with a quantity of 3; pad 5 is assigned to the far-origin laser head, with a quantity of 1.

[0156] 3. In the second round, since the number of coordinates of the near-origin laser head is greater than that of the far-origin laser head, pad 4 is assigned to the far-origin laser head.

[0157] 4. The industrial computer sends the path planning data of the two laser heads to the XY motion platform controller. The motion path of the near-original laser head is [pad 1, pad 2, pad 3], and the motion path of the far-original laser head is [pad 5, pad 4].

[0158] Furthermore, we can combine Figure 8 As shown, it should be noted that the various numbers in the figure are: near-origin laser X-axis motor 801, near-origin laser Y-axis motor 802, near-origin laser X-mechanical axis 803, near-origin laser Y-mechanical axis 804, near-origin laser 805, far-origin laser X-axis motor 806, far-origin laser Y-axis motor 807, far-origin laser X-mechanical axis 808, far-origin laser Y-mechanical axis 809, near-origin laser 810.

[0159] Specifically, the movement of the two lasers is accomplished by the motion platform controller driving the corresponding motors:

[0160] 1. The motion platform controller obtains the coordinates of pad 1, and drives the near-origin laser X-axis motor 801 and the near-origin laser Y-axis motor 802 at the same time to make the near-origin laser 805 reach above pad 1.

[0161] 2. Start the near-original laser 805 to complete the welding task.

[0162] 3. Repeat steps 1 to 2 to complete the welding of pad 1, pad 2, and pad 3 in turn.

[0163] 4. The motion platform controller drives the motor to move the near-original laser 805 to the initial position.

[0164] The above is the control process of the near-origin laser head. The process of the far-origin laser head is the same. The difference is that the initial position and the coordinate position of the movement are different. The two lasers move independently at the same time.

[0165] For other possible technical solutions, please refer to Fig.10 , Fig.10 This is a schematic diagram of another welding area deployment disclosed in the embodiment of the present application. Specifically, for a single plane, the technical solution of the present application can be expanded to support the scenario of 2×n laser heads working simultaneously. It is necessary to divide the FPC or PCB into n welding areas, and deploy 2 lasers in each welding area to further improve the welding efficiency. Correspondingly, for welding on the front and back sides, the number of deployed lasers needs to be doubled.

[0166] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0167] See below Fig.11 , a structural schematic diagram of a welding path planning device disclosed in an embodiment of the present application includes:

[0168] CPU 1101, memory 1105, input / output interface 1104, wired or wireless network interface 1103 and power supply 1102;

[0169] The memory 1105 is a temporary storage memory or a permanent storage memory;

[0170] The CPU 1101 is configured to communicate with the memory 1105 and execute the instructions in the memory 1105 to perform the aforementioned Figures 2 to 6 A method for planning a welding path in any of the illustrated embodiments.

[0171] The embodiment of the present application also provides a chip system, the chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used to run a computer program or instruction to execute the aforementioned Figures 2 to 6 A method for planning a welding path in any of the illustrated embodiments.

[0172] The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium includes instructions, when the instructions are executed on a computer, the computer executes the aforementioned Figures 2 to 6 A method for planning a welding path in any of the illustrated embodiments.

[0173] The present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the aforementioned Figures 2 to 6 A method for planning a welding path in any of the illustrated embodiments.

[0174] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0175] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0176] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0178] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A method for planning a welding path, characterized in that: Applied to an industrial computer, the industrial computer controls a near-origin welding device and a far-origin welding device, the method comprising: Obtaining the workpiece coordinate points of all workpieces to be welded in the plane coordinate set of the circuit board; In the allocated coordinate set, the coordinate allocation quantity of the allocated workpiece coordinate points of the near-origin welding device and the far-origin welding device is determined to obtain a first determination result; wherein the initial position of the near-origin welding device is the welding device located at the coordinate origin of the plane coordinate set, and the initial position of the far-origin welding device is the welding device located far from the coordinate origin of the plane coordinate set; According to the first judgment result, in the unassigned coordinate set, the workpiece coordinate points to be assigned are sorted based on a preset sorting method, and it is judged whether the workpiece coordinate points to be assigned belong to the collision area to obtain a second judgment result; According to the second judgment result, the workpiece coordinate point to be allocated is allocated to the target welding device, and the coordinate allocation quantity of the target welding device is increased based on the coordinate point quantity of the workpiece coordinate point to be allocated, so as to obtain the target coordinate allocation quantity of the target welding device; wherein the target welding device is one of the near-origin welding device or the far-origin welding device; When the workpiece coordinate points of all the workpieces to be welded are allocated, a target welding path is determined according to all the workpiece coordinate points and the corresponding target welding equipment, and the target welding path is sent to the motion platform controller, so that the motion platform controller drives the target welding equipment to weld all the workpieces to be welded according to the target welding path.

2. The welding path planning method according to claim 1, characterized in that: According to the first judgment result, in the unassigned coordinate set, the workpiece coordinate points to be assigned are sorted based on a preset sorting method, including: If the first judgment result is that the number of coordinates allocated to the near-origin welding device is not greater than the number of coordinates allocated to the far-origin welding device, in the unallocated coordinate set, the horizontal coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the smallest horizontal coordinate sorting; or If the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is not greater than the number of coordinate allocations of the far-origin welding equipment, in the unallocated coordinate set, the vertical coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the smallest vertical coordinate sorting.

3. The welding path planning method according to claim 1, characterized in that: According to the first judgment result, in the unassigned coordinate set, the workpiece coordinate points to be assigned are sorted based on a preset sorting method, including: If the first judgment result is that the number of coordinates assigned to the near-origin welding device is greater than the number of coordinates assigned to the far-origin welding device, in the unassigned coordinate set, the horizontal coordinates of all the workpiece coordinate points to be assigned are sorted to obtain the workpiece coordinate point with the largest horizontal coordinate sorting; or If the first judgment result is that the number of coordinate allocations of the near-origin welding equipment is greater than the number of coordinate allocations of the far-origin welding equipment, in the unallocated coordinate set, the vertical coordinates of all the workpiece coordinate points to be allocated are sorted to obtain the workpiece coordinate point with the largest vertical coordinate sorting.

4. The welding path planning method according to claim 1, characterized in that: The step of sorting the workpiece coordinate points to be allocated in the unallocated coordinate set based on a preset sorting method, and determining whether the workpiece coordinate points to be allocated belong to the collision area includes: All the workpiece coordinate points to be allocated in the unallocated coordinate set are sorted in order from small to large according to the horizontal axis dimension; Determine any two workpiece coordinate points to be allocated, and set the any two workpiece coordinate points to be respectively the near-origin center coordinate point of the near-origin welding device and the far-origin center coordinate point of the far-origin welding device; wherein the near-origin center coordinate point includes a near-origin horizontal coordinate and a near-origin vertical coordinate, and the far-origin center coordinate point includes a far-origin horizontal coordinate and a far-origin vertical coordinate; When the absolute value of the difference between the ordinates of the near-origin ordinate and the far-origin ordinate is greater than the length of the welding device, determining whether the far-origin abscissa is not greater than the near-origin abscissa; or, When the absolute value of the difference between the longitudinal coordinates of the near-origin longitudinal coordinate and the far-origin longitudinal coordinate is not greater than the length value of the welding equipment, it is determined whether the far-origin horizontal coordinate is not greater than the sum of the near-origin horizontal coordinate and the width value of the welding equipment.

5. The method for planning a welding path according to claim 4, characterized in that: The obtaining of the second judgment result includes: If the value of the far original horizontal coordinate is not greater than the value of the near original horizontal coordinate, it is determined that the second judgment result is that the workpiece coordinate point to be allocated belongs to the collision area; or, If the value of the far original horizontal coordinate is greater than the value of the near original horizontal coordinate, it is determined that the second judgment result is that the workpiece coordinate point to be allocated does not belong to the collision area; or, If the value of the far-origin horizontal coordinate is not greater than the sum of the value of the near-origin horizontal coordinate and the width of the welding device, determining that the second judgment result is that the workpiece coordinate point to be allocated belongs to the collision area; If the value of the far-origin horizontal coordinate is greater than the sum of the value of the near-origin horizontal coordinate and the width of the welding device, determining that the second judgment result is that the workpiece coordinate point to be allocated does not belong to the collision area; After obtaining the second judgment result, the method further includes: When the workpiece coordinate points to be allocated belong to the collision area, any two workpiece coordinate points to be allocated are identified based on the collision area number until all the workpiece coordinate points to be allocated are judged; wherein, the workpiece coordinate points within any collision area number are only allocated to one of the near-origin welding equipment or the far-origin welding equipment.

6. The welding path planning method according to claim 1, characterized in that: The step of allocating the workpiece coordinate points to be allocated to the target welding equipment and increasing the number of coordinate allocations of the target welding equipment based on the number of coordinate points of the workpiece coordinate points to be allocated includes: If the workpiece coordinate point to be allocated belongs to the collision area, all the workpiece coordinate points to be allocated in the collision area are taken out in sequence, and all the workpiece coordinate points to be allocated in the collision area are allocated to the target welding device, and the target coordinate allocation quantity of the target welding device is determined to be the sum of the coordinate point quantity of all the workpiece coordinate points to be allocated in the collision area and the coordinate allocation quantity corresponding to the target welding device in the allocated coordinate set; Or, if the workpiece coordinate point to be allocated does not belong to the collision area, the workpiece coordinate point to be allocated is allocated to the target welding device, and the target coordinate allocation quantity of the target welding device is determined to be the sum of the coordinate allocation quantity corresponding to the target welding device in the allocated coordinate set and the number of coordinate points corresponding to the workpiece coordinate point to be allocated.

7. The method for planning a welding path according to claim 6, characterized in that: After obtaining the target coordinate allocation quantity of the target welding equipment, the method further includes: Placing the workpiece coordinate point to be allocated in the allocated coordinate set, and determining whether the unallocated coordinate set includes the unallocated workpiece coordinate point; If the unallocated coordinate set includes the unallocated workpiece coordinate point, the step of determining the number of coordinate allocations of the allocated workpiece coordinate points of the near-origin welding device and the far-origin welding device is performed to obtain a first determination result; or If the unassigned workpiece coordinate point is not included in the unassigned coordinate set, the step of determining a target welding path according to all the workpiece coordinate points and corresponding target welding devices and sending the target welding path to the motion platform controller is performed.

8. The method for planning a welding path according to any one of claims 1 to 7, characterized in that: The near-original welding equipment includes a front near-original welding equipment and a back near-original welding equipment which are arranged in a mirror image with the circuit board; The remote welding equipment includes a front remote welding equipment and a back remote welding equipment which are arranged in a mirror image with the circuit board; The front near-origin welding device and the front far-origin welding device perform the welding path planning method according to any one of claims 1 to 7 from the front side of the circuit board; The reverse side near-origin soldering device and the reverse side far-origin soldering device perform the soldering path planning method according to any one of claims 1 to 7 from the reverse side of the circuit board.

9. A method for planning a welding path, characterized in that: Applied to a motion platform controller, the motion platform controller includes a horizontal axis motor and a vertical axis motor, and the method includes: Acquire a target welding path for all workpieces to be welded; wherein the target welding path includes workpiece coordinate points of all workpieces to be welded, and a target welding device for welding all workpieces to be welded; According to the target welding path, the workpiece coordinate points of all the workpieces to be welded are sequentially taken out, so as to drive the horizontal axis motor to move to the horizontal axis coordinates of the workpiece coordinate points in the taken out order, and drive the vertical axis motor to move to the vertical axis coordinates of the workpiece coordinate points, so that the target welding device sequentially welds the workpieces to be welded; If there are workpiece coordinate points of the workpieces to be welded that have not been welded, the step of obtaining the target welding paths for all the workpieces to be welded is performed until the welding of all the workpieces to be welded is completed.

10. A welding path planning device, characterized in that: The device comprises: CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply; The memory is a short-term storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instruction operations in the memory to perform the welding path planning method according to any one of claims 1 to 8.

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