Force-position hybrid dynamic control method and system for laser welding machine

Abstract

The invention provides a force-position hybrid dynamic control method and system for a laser welding machine, and relates to the technical field of laser welding equipment.The control method comprises the steps that the operation speed of a movable platform is controlled in stages, including high-speed approaching, low-speed butt joint, real-time monitoring of clamping force and position deviation, binding force-position conversion and dynamic pressure maintaining compensation; the problems that a traditional welding machine is unstable in clamping force and low in efficiency are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding equipment, and in particular to a force-position hybrid dynamic control method and system for a laser welding machine. Background Art

[0002] Laser welding technology is widely used in industrial manufacturing. Although traditional laser welding machines have the advantages of high efficiency and low pollution, existing technologies have obvious defects. In terms of control systems, it is impossible to provide real-time feedback and adjust the welding clamping force, resulting in large fluctuations in welding quality and poor product consistency. Moreover, the speed of the moving platform cannot be automatically adjusted according to the welding stage, which increases the overall working time and reduces production efficiency. During the welding process, the clamping force is difficult to continuously monitor and dynamically control, making the welding pressure unstable and prone to welding defects such as loosening and cracking, which seriously affects product quality. When faced with complex workpieces, the limitations of traditional control methods are even more prominent.

[0003] Traditional laser welding machines are widely used in industrial production, offering advantages such as high efficiency and low pollution. However, due to limitations in their control systems' accuracy and efficiency, they lack real-time feedback and adjustment of the welding clamping force, resulting in unstable weld quality. The lack of the ability to automatically adjust the moving platform speed according to the welding stage can extend working time and reduce efficiency. Furthermore, the control system's inability to continuously monitor and dynamically adjust the clamping force during welding results in unstable welding pressure, increasing the risk of welding defects such as loosening and cracking. These shortcomings demonstrate the adaptability limitations of traditional control methods. In contrast, the hybrid force-position control method, through technological innovation, effectively addresses these issues, significantly improving the performance of laser welding machines and enhancing their accuracy, efficiency, and adaptability. Specifically, the positioning and clamping of the workpiece often relies on the operator's experience and skill, making them susceptible to human factors and leading to unstable welding accuracy. Secondly, the pressure control during welding is imprecise, making it impossible to provide real-time feedback and adjustment of the welding clamping force, making it difficult to ensure weld quality. Furthermore, the welding speed and power adjustment lack intelligence, making it difficult to dynamically adjust according to the welding stage and workpiece characteristics, resulting in low welding efficiency and an increased risk of welding defects. These problems limit the application of laser welding machines in the field of high-precision and high-efficiency welding.

[0004] Therefore, there is an urgent need to provide a new technical solution to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to overcome at least one technical problem existing in the prior art and to provide a force-position hybrid dynamic control method and system for a laser welding machine.

[0006] On the one hand, an embodiment of the present invention provides a force-position hybrid dynamic control method for a laser welding machine, wherein the laser welding machine includes: a moving platform, a static platform, a laser system, a transmission system and a control system, and the control method includes: step S1, obtaining the current position information of the moving platform in real time; step S2, dynamically controlling the rising speed of the moving platform based on the current position information of the moving platform and a preset position mark; step S3, when the moving platform rises to the preset position mark, obtaining the force data of the moving platform in real time through a pressure sensor; step S4, obtaining the current clamping force of the lower tooling placed on the moving platform and the upper tooling placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform rises freely before mold closing; step S5, judging whether the moving platform and the static platform have entered the mold closing working state based on the current clamping force; step S6, in response to the moving platform and the static platform entering the mold closing working state, the control system controls the sensor based on the preset force-position hybrid strategy. The driving system adjusts the rotation speed of the servo motor; step S7, determines whether the difference between the current clamping force and the preset target clamping force meets the preset third judgment condition; step S8, in response to the preset third judgment condition being met, the control system controls the laser system to start laser welding; step S9, in the process of the laser system performing laser welding, determines whether the difference between the current clamping force and the preset target clamping force is less than a preset pressure threshold; step S10, in response to being less than the preset pressure threshold, the control system controls the servo motor to work at the current speed, and goes to step S9 until the laser welding work is completed; step S11, in response to being not less than the preset pressure threshold, the control system controls the transmission system to enter the dynamic pressure holding working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to drive the moving platform to slowly rise; step S12, when the laser welding work is completed, the control system controls the transmission system to drive the moving platform back to its initial position at a preset third speed.

[0007] Furthermore, the laser welding machine also includes a gantry and a safety door. The moving platform serves as a carrier for installing the lower jig and the workpiece, and is responsible for achieving precise positioning and movement of the workpiece during the welding process. The static platform serves as a mounting carrier for the upper jig and the laser, and is used to fix the upper jig and the laser to ensure close fit between the upper jig and the workpiece during welding. The gantry serves as the load-bearing body of the welding machine, and is used to bear the dead weight of the moving platform and the static platform, as well as the reaction force of the welding clamping force during operation, to provide a stable support structure for the welding machine. The safety door is used to isolate the working space from the external environment, and the transmission system is used to control the movement of the moving platform.

[0008] Furthermore, the step S2, dynamically controlling the rising speed of the moving platform based on the current position information of the moving platform and the preset position mark, includes: step S200, judging whether the position difference between the moving platform and the preset position mark satisfies a preset first judgment condition based on the current position information of the moving platform; step S210, in response to the position difference between the moving platform and the preset position mark satisfying the preset first judgment condition, controlling the transmission system through the control system to drive the moving platform to rise at a first speed; step S220, in response to the position difference between the moving platform and the preset position mark not satisfying the preset first judgment condition, controlling the transmission system through the control system to drive the moving platform to rise at a second speed.

[0009] Furthermore, the step S4, obtaining the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is freely rising before mold closing, includes: step S400, obtaining the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece by calculating the difference between the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is freely rising before mold closing; the step S5, judging whether the moving platform and the static platform have entered the mold closing working state based on the current clamping force, includes: step S500, judging whether the current clamping force meets the preset second judgment condition; step S510, in response to meeting the preset second judgment condition, judging that the moving platform and the static platform have entered the mold closing state; step S520, in response to not meeting the preset second judgment condition, going to step S3.

[0010] Furthermore, in step S6, in response to the dynamic platform and the static platform entering the mold clamping working state, the control system controls the transmission system to adjust the rotation speed of the servo motor based on a preset force-position mixing strategy, including: step S600, the control system calculates a force deviation signal based on the current clamping force and the preset target clamping force; step S610, converts the force deviation signal into a position signal through a force-position conversion coefficient; step S620, compensates the output angle based on the angle compensation amount of the transmission shaft under the preset target clamping force to obtain the compensated output angle; step S630, the control system controls the transmission system to adjust the rotation speed of the servo motor through a PID controller based on the position signal and the compensated output angle.

[0011] Furthermore, the force deviation signal is calculated as follows:

[0012] e f (t) = F1 + F0 - F(t);

[0013] The calculation formula for converting the force deviation signal into a position signal using the force-position conversion coefficient in step S610 is:

[0014] ΔL=C F ×e f (t);

[0015] The output angle calculation formula in step S620 is:

[0016]

[0017] Where θ(t) is the cumulative rotation angle that the servo motor should reach at time t, Δθ is the rotation angle change caused by position deviation, and Δθ is the rotation angle change caused by position deviation. 补 Expressed as the angle compensation caused by force deviation, C F represents the force-position conversion coefficient, l represents the arm length from the pressure sensor to the point of action, r represents the transmission radius of the ball screw pair, i represents the reduction ratio between the servo motor and the screw, η represents the overall transmission efficiency of the servo system, L represents the lead of the ball screw, G represents the shear elastic modulus of the material, I p Expressed as the polar moment of inertia of the screw section, e f (t) is represented as the force deviation signal, F1 is represented as the target clamping force, F0 is represented as the pressure value when the movable platform rises freely before mold closing, F(t) is represented as the force data of the movable platform detected by the pressure sensor, and ΔL is represented as the position signal.

[0018] Furthermore, the step S630, the control system controls the transmission system to adjust the rotation speed of the servo motor through the PID controller based on the position signal and the compensated output angle, including: step S6300, the control system uses the position signal and the compensated output angle as input parameters of the position controller integrated in the transmission system; step S6301, the position controller calculates the control quantity based on the PID control algorithm, and adjusts the rotation speed of the servo motor based on the output of the corresponding pulse signal or voltage signal.

[0019] Furthermore, in step S11, in response to a pressure threshold that is not less than a preset pressure threshold, the control system controls the transmission system to enter a dynamic pressure holding working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to drive the moving platform to slowly rise, and then includes: step S13, the control system controls the transmission system to maintain the dynamic pressure holding working mode for a preset time, and then goes to step S9 until the laser welding work is completed.

[0020] Furthermore, the method also includes: step S14, obtaining the current position information of the moving platform at preset time intervals during the laser welding operation of the laser system; step S15, judging whether the fifth judgment condition is met based on the distance difference between the position information obtained at the current time and the position information obtained at the previous time interval; step S16, in response to meeting the fifth judgment condition, the control system issues an abnormal position alarm signal of the moving platform, stops the welding operation and goes to step S12.

[0021] In the second aspect, an embodiment of the present invention provides a force-position hybrid dynamic control system for a laser welding machine, which is implemented by the above-mentioned force-position hybrid dynamic control method for a laser welding machine. The force-position hybrid dynamic control system includes: a dynamic control subsystem for moving platform rise, suitable for obtaining the current position information of the moving platform in real time; dynamically controlling the rising speed of the moving platform based on the current position information of the moving platform and a preset position mark; a pre-clamping control subsystem, suitable for obtaining the force data of the moving platform in real time through a pressure sensor when the moving platform rises to a preset position mark; obtaining the current clamping force of the lower tooling placed on the moving platform and the upper tooling placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform rises freely before mold closing; judging whether the moving platform and the static platform have entered the mold closing working state based on the current clamping force; a force-position conversion and compensation control subsystem, suitable for responding to the moving platform and the static platform entering the mold closing working state, the control system The system controls the transmission system to adjust the rotation speed of the servo motor based on a preset force-position mixing strategy; the welding and dynamic pressure holding control subsystem is suitable for judging whether the difference between the current clamping force and the preset target clamping force meets the preset third judgment condition; in response to meeting the preset third judgment condition, the control system controls the laser system to start laser welding; during the laser welding process of the laser system, it is judged whether the difference between the current clamping force and the preset target clamping force is less than a preset pressure threshold; in response to being less than the preset pressure threshold, the control system controls the servo motor to work at the current speed; in response to being not less than the preset pressure threshold, the control system controls the transmission system to enter the dynamic pressure holding working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to drive the moving platform to slowly rise; the moving platform retraction control subsystem is suitable for when the laser welding work is completed, the control system controls the transmission system to drive the moving platform back to its initial position at a preset third speed.

[0022] In a third aspect, an embodiment of the present invention further provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the above-mentioned force-position hybrid dynamic control method for a laser welding machine.

[0023] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium, which, when the instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute the above-mentioned force-position hybrid dynamic control method for a laser welding machine.

[0024] The beneficial effects of the present invention are:

[0025] (1) The force-position hybrid control strategy is used to reduce the clamping force error of the workpiece during laser welding, thereby improving the quality of laser welding.

[0026] (2) By dynamically adjusting the rising speed of the moving platform, the moving platform can rise at high speed and dock at low speed, which further improves the docking accuracy of the moving and static platforms while reducing the working time.

[0027] (3) By dynamically maintaining the pressure on the moving platform during the laser welding process, the deviation of the clamping force between the moving and static platforms caused by the deformation of the workpiece due to welding is avoided, thereby reducing the rework rate of the workpiece.

[0028] (4) Improve welding efficiency: By optimizing each stage of the welding process, the welding efficiency is effectively improved. In the high-speed approach control stage, the rapid movement of the moving platform shortens the preparation time before welding and reduces the idle time of the equipment. In the low-speed precision docking stage, although the speed is reduced, the precise control of this stage is to ensure the smooth progress of subsequent welding, avoid repeated welding or repairs caused by docking errors, and improve the overall welding efficiency. In the welding clamping force control and laser start-up stage, the control method can quickly respond to pressure changes and adjust the output of the servo motor in time so that the welding clamping force quickly reaches the target value, reducing the waiting time before welding. In the dynamic pressure holding control stage, through precise control, welding defects caused by unstable clamping force are avoided, and subsequent repair work is reduced, thereby improving welding efficiency. In addition, in the rapid reset stage, the moving platform can quickly descend back to the initial position to prepare for the next welding cycle, further shortening the welding cycle. Combining the optimization of the above stages, the present invention significantly improves welding efficiency, shortens the production cycle, and improves production rhythm, which can meet the needs of large-scale production.

[0029] (5) Reduce energy consumption and cost: In the high-speed approach control stage, the moving platform moves rapidly at a relatively high speed. Although the speed is fast, the energy consumption in this stage is relatively low due to the long distance. In the low-speed precise docking stage, the moving platform moves slowly at a relatively low speed. Although the speed is reduced, the energy consumption in this stage is also effectively controlled due to the short distance. In the welding clamping force control and laser start-up stage, the control method compensates the output of the servo motor so that the welding clamping force reaches the target value, avoiding energy waste caused by excessive or insufficient clamping force. In the dynamic pressure holding control stage, the servo motor rotates at an extremely low speed. Although the duration is long, the energy consumption in this stage is relatively small due to the extremely low speed. In the rapid reset stage, the moving platform quickly descends back to the initial position. Although the speed is fast, the energy consumption in this stage is also effectively controlled due to the short distance. In addition, by improving welding quality and efficiency, welding defects and rework are reduced, and material waste and labor costs are reduced. Taking the above factors into consideration, the present invention significantly reduces energy consumption and costs in the welding process and improves production efficiency.

[0030] (6) Enhanced equipment adaptability and stability: The control method of the present invention is suitable for welding various complex workpieces and has strong adaptability. By precisely controlling the position of the dynamic platform and the welding pressure, it can meet the welding requirements of different workpieces, such as the welding of complex components such as through-type taillights. During the welding process, by real-time monitoring and adjustment of various parameters, it can effectively deal with uncertain factors such as workpiece deformation and changes in material properties, ensuring the stability of the welding process. For example, in the dynamic pressure holding control stage, even if the welding rib melts and the clamping force decreases, the system can keep the clamping force stable by adjusting the output of the servo motor. In addition, the control method of the present invention also has good stability, can ensure the continuity and consistency of the welding process, and avoid welding defects caused by control errors. By optimizing the control algorithm and parameters, the anti-interference ability of the system is improved, and the stability of the equipment in different environments is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below with reference to the accompanying drawings and examples.

[0032] Figure 1 This is a schematic diagram of the overall structure of a laser welding machine provided in Example 1 of the present invention.

[0033] Figure 2 This is a flow chart of a force-position hybrid dynamic control method for a laser welding machine provided in Example 1 of the present invention.

[0034] Figure 3 This is a flow chart of another force-position hybrid dynamic control method for a laser welding machine provided in Example 1 of the present invention.

[0035] Figure 4This is a flow chart of another force-position hybrid dynamic control method for a laser welding machine provided in Example 1 of the present invention.

[0036] Figure 5 This is a flow chart of another force-position hybrid dynamic control method for a laser welding machine provided in Example 1 of the present invention.

[0037] Figure 6 This is a flow chart of another force-position hybrid dynamic control method for a laser welding machine provided in Example 1 of the present invention.

[0038] Figure 7 This is a flow chart of another force-position hybrid dynamic control method for a laser welding machine provided in Example 1 of the present invention.

[0039] Figure 8 This is an actual process diagram of a laser welding machine provided in Example 1 of the present invention.

[0040] Figure 9 This is a schematic structural diagram of a force-position hybrid dynamic control system for a laser welding machine provided in Example 2 of the present invention.

[0041] Figure 10 This is a partial block diagram of an electronic device provided in Example 3 of the present invention.

[0042] The reference numerals are as follows:

[0043] Outer shell 1, control system 2, dynamic platform 11, static platform 12, laser system 13, transmission system 14, gantry 15, safety door 16, lower fixture 111, upper fixture 121. DETAILED DESCRIPTION

[0044] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the various operations as sequential processes, many of the operations therein can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the various operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0045] It should be understood that although the terms "first," "second," and the like may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used solely to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, without departing from the scope of the exemplary embodiments. The term "and / or" as used herein includes any and all combinations of one or more of the listed associated items.

[0046] The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic manner, and therefore only shows the components related to the present invention.

[0047] Example 1

[0048] For ease of understanding, the following is an overall description of the inventive concept before describing the embodiments of the present invention in detail:

[0049] The present application provides a force-position hybrid dynamic control method and system for a laser welding machine, and the control process includes the following steps: Step 1, high-speed approach control: when the distance is far, in order to shorten the working time, the position sensor is used to control the moving platform to approach the static platform at high speed before positioning; Step 2, low-speed precise docking: when the distance is close, the motor starts to brake and slow down and drops to a certain speed, and the moving platform approaches the static platform at a slow speed; Step 3, mold closing start judgment: when the pressure sensor senses a significant increase in pressure, that is, the detection pressure of the pressure sensor minus the pressure of the moving platform that rises freely before mold closing reaches a certain value, it is considered that the lower fixture on the moving platform drives the lamp to start squeezing the upper fixture on the static platform to generate a clamping force, and then the working state is judged to be the start of mold closing; Step 4, force-position conversion and compensation control: the pressure sensor feeds back the deviation signal between the current force and the target force, and converts it into position through the force-position conversion coefficient. The servo motor's output speed is adjusted by a position controller based on the output angle required to compensate for the torsional deformation of the drive shaft under the target force. Step 5: Welding force control and laser activation: The control algorithm compensates the servo motor's output to achieve sufficient deformation of the moving platform, thereby ensuring the weld clamping force reaches the target force. Once the weld is determined to have met the target, the laser welder fires and begins operation. Step 6: Dynamic pressure hold control: When the laser melts the weld rib of the lamp, Δh decreases, resulting in a decrease in the weld clamping force, which in turn reduces the pressure sensor reading. Therefore, the servo motor is controlled to continue rotating at a very low speed, allowing the drive system to slowly raise the moving platform to maintain a stable clamping force. This process, which lasts for 20 to 30 seconds, is called dynamic pressure hold. Step 7: Rapid reset: When the pressure hold ends, indicating the weld is complete, the position sensor can quickly lower the moving platform back to its initial position. This hybrid force-position control strategy and a staged dynamic adjustment mechanism systematically address the core issues of precision, efficiency, and adaptability in traditional laser welding.

[0050] The specific implementation is as follows:

[0051] like Figure 2 As shown, it is a flow chart of a force-position hybrid dynamic control method for a laser welding machine provided by the present invention.

[0052] As an example, combined with Figure 1As shown, the laser welding machine includes an outer shell 1 and a control system 2. The outer shell 1 is equipped with a moving platform 11, a static platform 12, a laser system 13, a transmission system 14, a gantry 15, and a safety door 16. The moving platform 11 serves as a carrier for the lower fixture 111 and the workpiece. It integrates various functional modules and electrical components related to replacing and clamping the lower fixture 111. It is also the main moving component, responsible for achieving precise positioning and movement of the workpiece during the welding process. The static platform 12 is a mounting carrier for the upper fixture 121 and the laser system 13. It integrates various functional modules and electrical components related to replacing and clamping the upper fixture. It is used to fix the upper fixture 121 and the laser system 13, ensuring a tight fit between the upper fixture and the workpiece during welding. The gantry 15 serves as the load-bearing body of the welding machine, bearing the weight of the moving platform 11 and the static platform 12 as well as the reaction force of the welding clamping force during operation, providing a stable support structure for the welding machine. The safety door is used to isolate the workspace from the external environment, avoiding potential hazards such as laser radiation and high temperature, and ensuring the safety of the operator. The transmission system 14 is used to control the movement of the moving platform 11 .

[0053] As an example, the control method includes: step S1, obtaining the current position information of the moving platform in real time; step S2, dynamically controlling the rising speed of the moving platform based on the current position information of the moving platform and a preset position mark; step S3, when the moving platform rises to the preset position mark, obtaining the force data of the moving platform in real time through the pressure sensor; step S4, obtaining the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform rises freely before mold closing; step S5, judging whether the moving platform and the static platform have entered the mold closing working state based on the current clamping force; step S6, in response to the moving platform and the static platform entering the mold closing working state, the control system controls the transmission system to adjust the rotation speed of the servo motor based on the preset force-position mixing strategy; step S7, judging the current clamping force and the pressure value when the moving platform rises freely before mold closing Whether the difference between the preset target clamping forces meets the preset third judgment condition; step S8, in response to the preset third judgment condition being met, the control system controls the laser system to start laser welding; step S9, during the laser welding process of the laser system, judge whether the difference between the current clamping force and the preset target clamping force is less than the preset pressure threshold; step S10, in response to being less than the preset pressure threshold, the control system controls the servo motor to operate at the current speed, and goes to step S9 until the laser welding work is completed; step S11, in response to being not less than the preset pressure threshold, the control system controls the transmission system to enter the dynamic pressure holding working mode, controls the servo motor to rotate at the preset speed, and drives the transmission system to drive the moving platform to slowly rise; step S12, when the laser welding work is completed, the control system controls the transmission system to drive the moving platform back to the initial position at the preset third speed.

[0054] In some feasible embodiments, combined with Figure 3 As shown, the step S2, dynamically controlling the rising speed of the moving platform based on the current position information of the moving platform and the preset position mark includes: step S200, judging whether the position difference between the moving platform and the preset position mark meets the preset first judgment condition based on the current position information of the moving platform; step S210, in response to the position difference between the moving platform and the preset position mark meeting the preset first judgment condition, controlling the transmission system through the control system to drive the moving platform to rise at a first speed; step S220, in response to the position difference between the moving platform and the preset position mark not meeting the preset first judgment condition, controlling the transmission system through the control system to drive the moving platform to rise at a second speed. Preferably, the first judgment condition is the current position information S of the moving platform. nThe distance difference between the preset position marker S0 is less than or equal to the preset distance threshold, that is, S n -S0≤preset distance threshold, wherein the preset distance threshold is preferably 10mm, that is, when S n -S0≤10, the moving platform 11 is driven to rise at the first speed, wherein the first speed is preferably 0.3m / s; when S n - When S0>10, the moving platform 11 is driven to rise at a second speed, wherein the second speed is preferably 0.02 m / s. That is, in the initial stage of the welding process, the distance between the moving platform 11 and the static platform 12 is relatively far. At this time, the position sensor monitors the distance between the two in real time and compares the detected distance value with the preset mark distance. If the detected distance minus the mark distance is greater than 10 mm, it indicates that the distance between the moving platform and the static platform is still far. In order to effectively shorten the working time of the entire welding process, the system controls the servo motor through the signal fed back by the position sensor, so that it drives the moving platform to approach the static platform at a high speed of 0.3 m / s. This high-speed approach control strategy is designed to quickly reduce the distance between the moving platform and the static platform, laying the foundation for subsequent precise docking and welding operations, while improving welding efficiency. When the distance between the moving platform 11 and the static platform 12 gradually decreases, and the distance detected by the position sensor minus the mold closing mark distance is less than or equal to 10 mm, it indicates that the two have entered the precise docking stage. To ensure the smooth and accurate docking of the moving platform with the stationary platform, the motor initiates braking and deceleration, reducing the moving platform's speed to 0.002 m / s. At this low speed, the moving platform continues to slowly approach the stationary platform. The system now provides more precise control over the moving platform's motion, effectively avoiding docking errors or impacts caused by excessive speed. This ensures precise alignment between the lower and upper jigs, ensuring a smooth welding process.

[0055] In some feasible embodiments, combined with Figure 4As shown, the step S4, based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is freely rising before mold closing, obtains the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece, including: step S400, by calculating the difference between the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is freely rising before mold closing; the step S5, based on the current clamping force, determines whether the moving platform and the static platform have entered the mold closing working state, including: step S500, determines whether the current clamping force meets the preset second judgment condition; step S510, in response to meeting the preset second judgment condition, determines that the moving platform and the static platform have entered the mold closing state; step S520, in response to not meeting the preset second judgment condition, goes to step S3. Preferably, the calculation formula of the current clamping force is:

[0056] F 夹 =F(t)-F0;

[0057] Among them, F(t) is the pressure data detected by the pressure sensor, and F0 is the pressure value when the moving platform rises freely before mold closing.

[0058] Preferably, the second judgment condition is F 夹 Is it greater than a preset pressure threshold, wherein the preset pressure threshold is preferably 500N. That is, when F 夹 >500N, it is judged that the dynamic platform and the static platform enter the mold closing state. When F 夹 When ≤500N, go to step S3. That is, during the docking process between the dynamic platform 11 and the static platform 12, the pressure sensor monitors the pressure changes between the two in real time. When the pressure value detected by the pressure sensor rises significantly, that is, the detected pressure minus the pressure value when the dynamic platform rises freely before mold closing is greater than 500N, the system determines that the lower fixture on the dynamic platform has begun to drive the workpiece to squeeze the upper fixture on the static platform, generating an initial clamping force. At this time, the system determines the working state as the start of mold closing. The basis for this mold closing start judgment is based on the pressure change signal fed back by the pressure sensor, which accurately identifies the key nodes of the welding process and provides an important basis for subsequent welding clamping force control and the start of laser welding.

[0059] In some feasible embodiments, combined with Figure 5As shown, in step S6, in response to the dynamic platform and the static platform entering the mold clamping working state, the control system controls the transmission system to adjust the rotation speed of the servo motor based on a preset force-position mixing strategy, including: step S600, the control system calculates a force deviation signal based on the current clamping force and the preset target clamping force; step S610, converts the force deviation signal into a position signal through a force-position conversion coefficient; step S620, compensates the output angle based on the angle compensation amount of the transmission shaft under the preset target clamping force to obtain the compensated output angle; step S630, the control system controls the transmission system to adjust the rotation speed of the servo motor through a PID controller based on the position signal and the compensated output angle.

[0060] Preferably, the pressure sensor continuously monitors the current clamping force and compares it with the preset target force to obtain a force deviation signal between the two. The system converts this force deviation signal into a position signal through the force-position conversion coefficient, while taking into account that under the action of the target force, the drive shaft may undergo torsional deformation and the output angle needs to be compensated. Based on this, the position controller adjusts the output speed of the servo motor according to the converted position signal and the compensated output angle. This force-position conversion and compensation control process is intended to accurately control the motion position and clamping force of the dynamic platform, so that it can quickly respond to pressure changes, ensure the stability and accuracy of the welding clamping force, and lay a solid foundation for high-quality welding. Among them, the preset target clamping force is preferably 25000N. Specifically, the force deviation signal is calculated as follows:

[0061] e f (t) = F1 + F0 - F(t);

[0062] The calculation formula for converting the force deviation signal into a position signal using the force-position conversion coefficient in step S610 is:

[0063] ΔL=C F ×e f (t);

[0064] The output angle calculation formula in step S620 is:

[0065]

[0066] Where θ(t) is the cumulative rotation angle that the servo motor should reach at time t, Δθ is the rotation angle change caused by position deviation, and Δθ is the rotation angle change caused by position deviation. 补 Expressed as the angle compensation caused by force deviation, C Frepresents the force-position conversion coefficient, l represents the arm length from the pressure sensor to the point of action, r represents the transmission radius of the ball screw pair, i represents the reduction ratio between the servo motor and the screw, η represents the overall transmission efficiency of the servo system, L represents the lead of the ball screw, G represents the shear elastic modulus of the material, I p Expressed as the polar moment of inertia of the screw section, e f (t) is represented as the force deviation signal, F1 is represented as the target clamping force, F0 is represented as the pressure value when the movable platform rises freely before mold closing, F(t) is represented as the force data of the movable platform detected by the pressure sensor, and ΔL is represented as the position signal.

[0067] Preferably, in step S8, in response to the preset third judgment condition being met, the control system controls the laser system to start laser welding, including: the third judgment condition is whether the current clamping force is greater than or equal to the preset target clamping force, where the target clamping force is preferably 25000N, that is, the third judgment condition is F 夹 Is it greater than or equal to 25000N? 夹 When the force is ≥25,000N, it indicates that the upper and lower jigs have clamped the workpiece, further proving that the workpiece is ready for welding. The welding system is then controlled to weld the workpiece. This process is a key step in welding quality control. By precisely controlling the welding clamping force and initiating laser welding in a timely manner, we ensure that the welding process is carried out under optimal conditions, resulting in high-quality welding results.

[0068] Preferably, the step S630, the control system controls the transmission system to adjust the rotation speed of the servo motor through the PID controller based on the position signal and the compensated output angle, includes: step S6300, the control system uses the position signal and the compensated output angle as input parameters of the position controller integrated in the transmission system; step S6301, the position controller calculates the control quantity based on the PID control algorithm, and adjusts the rotation speed of the servo motor based on the pulse signal or voltage signal corresponding to the control quantity output. Specifically, the position controller receives the position signal obtained from the force-position conversion link, which is obtained by converting the pressure deviation through the force-position conversion coefficient, and reflects the position adjustment requirement corresponding to the deviation between the current clamping force and the target force. At the same time, it receives the output angle signal after compensation for the torsional deformation of the transmission shaft. This signal corrects the influence of the force deformation of the transmission shaft on the angle output, making the angle control more accurate. It should be noted that since PID control is already very mature in the existing technology, it will not be described in detail here.

[0069] In some feasible implementations, steps S9-S11 are the welding pressure holding stage, wherein, in step S9, during the laser welding operation of the laser system, it is determined whether the difference between the current clamping force and the preset target clamping force is less than a preset pressure threshold. The preset pressure threshold is preferably 300N. More specifically, the determination condition here is |F 夹 -F1|<300N. That is, when |F 夹 -F1|<300N, the pressure holding process is not started, but if |F 夹 -F1|≥300N, the dynamic pressure holding process begins. Figure 6 As shown, in step S11, in response to a pressure threshold that is not less than a preset value, the control system controls the transmission system to enter a dynamic pressure-maintaining working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to slowly raise the movable platform. The process also includes: step S13, the control system controls the transmission system to maintain the dynamic pressure-maintaining working mode for a preset time, and then goes to step S9 until the laser welding operation is completed. Specifically, during the laser welding process, as the height of the weld rib gradually melts, its height difference Δh decreases, which will cause the welding clamping force to show a downward trend, that is, the pressure sensor reading decreases. In order to maintain the stability of the welding clamping force, the system needs to control the servo motor to continue to rotate at an extremely low speed, such as 0.0005-0.001rad / s (equivalent to the platform rising at ≈0.001mm / s), and the drive transmission system drives the movable platform to slowly rise to compensate for the decrease in clamping force caused by the melting of the weld rib. This dynamic pressure-maintaining process lasts for 20 to 30 seconds and is called the dynamic pressure-maintaining stage. Dynamic pressure holding control is an important safeguard in the welding process. Through real-time monitoring and precise control, it ensures the stability of the welding clamping force and provides strong support for obtaining high-quality welded joints.

[0070] In some feasible embodiments, combined with Figure 7 As shown, the method further includes: step S14, obtaining the current position information of the moving platform at a preset time interval during the laser system performing laser welding; step S15, judging whether the fifth judgment condition is met based on the distance difference between the position information obtained at the current time and the position information obtained at the previous time interval; step S16, in response to meeting the fifth judgment condition, the control system issues an abnormal position alarm signal of the moving platform, stops the welding work and goes to step S12. Preferably, the fifth judgment condition is the position information S obtained at the current time. n The location information S obtained at the previous time interval n-1 Is the distance difference between them less than or equal to a preset threshold value, where the preset threshold value is preferably -0.1, that is, the fifth judgment condition is S n -S n-1≤-0.1, meaning, this step is designed to prevent the moving platform from retracting during the laser welding process. Specifically, during laser welding, the displacement sensor continuously monitors the moving platform's position to ensure it does not drop. The clamping force is allowed to slightly exceed a predetermined value when the moving platform rises excessively, but the moving platform must never retract. This could cause the welded lamp to loosen, leading to welding defects or even failure. The warning value is set to a retraction distance of no more than 0.1mm. This step effectively prevents the moving platform from dropping during laser welding, further reducing the scrap rate of workpieces.

[0071] In some feasible implementations, the end of the dynamic pressure-holding phase signifies the successful completion of the welding process. At this point, the system uses a position sensor to obtain the position of the moving platform and rapidly descends it back to its initial position, preparing for the next welding cycle. This rapid repositioning process ensures that the platform's speed and acceleration remain within safe limits to avoid impact or damage caused by excessive speed. Furthermore, accurate and timely repositioning is essential to improve welding equipment efficiency and production cycle time.

[0072] For ease of understanding, combined Figure 8The following figure illustrates the actual laser welding process: Step 1: Fixture Positioning: The operator snaps the workpiece to be welded (in this example, the lampshade and lamp housing) into the lower profiling jig and ensures it is correctly positioned. The lower profiling jig automatically clamps the workpiece to prevent displacement or deformation during welding, ensuring accurate and stable welding. Step 2: Lifting and Clamping: After the welding switch is activated, the safety door automatically closes, isolating the workspace from the external environment and preventing potential hazards such as laser radiation and high temperatures. A servo motor provides power, which is transmitted to the moving platform via a drive chain, raising the lower die until it closes with the upper die of the profiling jig, while continuing to apply pressure. During this process, the moving platform's motion trajectory is defined by high-precision linear guides, ensuring smooth and accurate movement. Step 3: Welding Process: When the pressure reaches the predetermined clamping force, the laser emits laser light, melting the welding surface of the light-absorbing component and completing the weld. A temperature sensor monitors the temperature of the weld point in real time and adjusts the laser output power based on the feedback data to ensure weld quality and performance. During the laser welding process, the laser beam is transmitted to the welding head through an optical fiber and is precisely guided by an optical system to ensure that the power density and energy distribution in the welding area meet the requirements. Step 4, pressure holding control: During welding, the pressure sensor at the servo motor will feedback the pressure data in real time. The servo motor will adjust the output power according to the pressure data and continue to hold the pressure to maintain the stability of the welding clamping force. This dynamic pressure holding process will last for 20 to 30 seconds to ensure the melting of the welding ribs and the formation of the weld joint. Step 5, release and reset: When the pressure holding is over, the welding process is completed. At this time, the motor drives the moving platform to descend rapidly and return to the origin position. The lower mold clamp is automatically released, the safety door opens, and the staff can take out the welded workpiece. Afterwards, the system is ready for the next welding cycle. The entire process is highly automated, which improves welding efficiency and quality.

[0073] In the above-described embodiment, welding quality and accuracy are significantly improved by precisely controlling the position of the moving platform and welding pressure. During the high-speed approach control phase, the moving platform rapidly approaches the stationary platform at a speed of 0.3 m / s, shortening pre-welding preparation time and reducing workpiece deformation caused by prolonged contact. During the low-speed precision docking phase, the moving platform slowly approaches the stationary platform at a speed of 0.002 m / s, ensuring precise alignment between the lower and upper jigs and avoiding welding defects caused by docking errors. During the mold closing start judgment phase, a pressure sensor monitors pressure changes in real time. When the pressure rises above 500 N, the mold closing is accurately determined, ensuring the timely generation of the welding clamping force. During the force-position conversion and compensation control phase, the pressure deviation signal is converted into a position signal, and the servo motor output speed is adjusted by a position controller to compensate for torsional deformation of the drive shaft, achieving precise control of the welding clamping force. During the welding clamping force control and laser start phase, the control algorithm compensates the servo motor output to ensure that the welding clamping force reaches the target force of 25,000 N, providing stable conditions for laser welding. During the dynamic pressure-holding control phase, the servo motor rotates at an extremely low speed, causing the dynamic platform to rise slowly, maintaining a stable clamping force and preventing a drop in clamping force due to melting of the weld rib. This series of precise control measures optimizes various parameters during the welding process, significantly improving welding quality and precision. The weld is well-formed and free of obvious defects, meeting the requirements of high-precision welding.

[0074] Example 2

[0075] See also Figure 9 , this embodiment provides a schematic structural diagram of a force-position hybrid dynamic control system for a laser welding machine.

[0076] As an example, the force-position hybrid dynamic control system is implemented by the force-position hybrid dynamic control method for a laser welding machine described in Example 1. The force-position hybrid dynamic control system is the control system 2 described in Example 1. The force-position hybrid dynamic control system includes:

[0077] The moving platform ascending dynamic control subsystem 900 is adapted to obtain the current position information of the moving platform in real time; and dynamically control the ascending speed of the moving platform based on the current position information of the moving platform and a preset position flag.

[0078] The pre-clamping control subsystem 910 is adapted to obtain the force data of the moving platform in real time through a pressure sensor when the moving platform rises to a preset position mark; obtain the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform rises freely before mold closing; and determine whether the moving platform and the static platform have entered the mold closing working state based on the current clamping force.

[0079] The force-position conversion and compensation control subsystem 920 is adapted to respond to the dynamic platform and the static platform entering the mold clamping working state, and the control system controls the transmission system to adjust the rotation speed of the servo motor based on a preset force-position mixing strategy.

[0080] The welding and dynamic pressure holding control subsystem 930 is suitable for judging whether the difference between the current clamping force and the preset target clamping force meets the preset third judgment condition; in response to meeting the preset third judgment condition, the control system controls the laser system to start laser welding; during the laser welding process of the laser system, it is judged whether the difference between the current clamping force and the preset target clamping force is less than the preset pressure threshold; in response to being less than the preset pressure threshold, the control system controls the servo motor to operate at the current speed; in response to being not less than the preset pressure threshold, the control system controls the transmission system to enter the dynamic pressure holding working mode, controls the servo motor to rotate at the preset speed, and drives the transmission system to drive the platform to slowly rise.

[0081] The moving platform retraction control subsystem 940 is adapted to control the transmission system to drive the moving platform back to its initial position at a preset third speed after the laser welding work is completed.

[0082] It is not difficult to find that this embodiment is a system embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0083] It is worth noting that all modules involved in this embodiment are logical units. In actual applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovations of this invention, this embodiment does not include units that are not closely related to solving the technical problems proposed by this invention. However, this does not mean that other units do not exist in this embodiment.

[0084] Example 3

[0085] See also Figure 10 An embodiment of the present invention also provides an electronic device, comprising: a memory and a processor; the memory stores at least one program instruction; the processor loads and executes the at least one program instruction to implement the force-position hybrid dynamic control method for a laser welding machine provided in Example 1.

[0086] The memory 702 and processor 701 are connected using a bus. The bus can include any number of interconnected buses and bridges, connecting various circuits of one or more processors 701 and memory 702. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and, therefore, are not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor 701 is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor 701.

[0087] The processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 702 can be used to store data used by the processor 701 when performing operations.

[0088] Example 4

[0089] An embodiment of the present invention further provides a storage medium storing a force-position hybrid dynamic control method for a laser welding machine. When executed by a processor, the force-position hybrid dynamic control program for the laser welding machine implements the steps of the force-position hybrid dynamic control method for the laser welding machine described above. Because this storage medium incorporates all the technical solutions of all the aforementioned embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the aforementioned embodiments, and therefore will not be further elaborated upon here.

[0090] The above is only an embodiment of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A force-position hybrid dynamic control method for a laser welding machine, the laser welding machine comprising: The moving platform, the static platform, the laser system, the transmission system and the control system are characterized in that the control method includes: Step S1, obtaining the current position information of the moving platform in real time; Step S2: dynamically controlling the ascending speed of the moving platform based on the current position information of the moving platform and a preset position flag; Step S3: When the moving platform rises to a preset position mark, the force data of the moving platform is obtained in real time through the pressure sensor; Step S4, obtaining the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is freely rising before mold closing; Step S5: judging whether the dynamic platform and the static platform have entered a mold clamping working state based on the current clamping force; Step S6: In response to the dynamic platform and the static platform entering the mold clamping working state, the control system controls the transmission system to adjust the rotation speed of the servo motor based on a preset force-position mixing strategy; Step S7: determining whether the difference between the current clamping force and the preset target clamping force satisfies a preset third determination condition; Step S8: In response to a preset third judgment condition being met, the control system controls the laser system to start laser welding; Step S9: During the laser welding process of the laser system, determining whether the difference between the current clamping force and the preset target clamping force is less than a preset pressure threshold; Step S10: In response to the pressure being less than a preset threshold, the control system controls the servo motor to operate at the current speed, and the process goes to step S9 until the laser welding process is completed. Step S11: In response to a pressure not less than a preset threshold, the control system controls the transmission system to enter a dynamic pressure-maintaining working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to slowly raise the platform; Step S12: After the laser welding work is completed, the control system controls the transmission system to drive the movable platform to return to the initial position at a preset third speed.

2. The force-position hybrid dynamic control method for a laser welding machine according to claim 1, characterized in that: The laser welding machine also includes a gantry and a safety door. The moving platform serves as a carrier for mounting the lower jig and the workpiece, and is responsible for achieving precise positioning and movement of the workpiece during the welding process. The static platform serves as a mounting carrier for the upper jig and the laser, and is used to fix the upper jig and the laser to ensure close fit between the upper jig and the workpiece during welding. The gantry serves as the load-bearing body of the welding machine, and is used to bear the deadweight of the moving platform and the static platform, as well as the reaction force of the welding clamping force during operation, to provide a stable support structure for the welding machine. The safety door is used to isolate the working space from the external environment, and the transmission system is used to control the movement of the moving platform.

3. The force-position hybrid dynamic control method for a laser welding machine according to claim 1, characterized in that: The step S2 of dynamically controlling the ascending speed of the moving platform based on the current position information of the moving platform and a preset position flag includes: Step S200: determining whether a position difference between the moving platform and a preset position marker satisfies a preset first judgment condition based on the current position information of the moving platform; Step S210: In response to a position difference between the movable platform and a preset position marker satisfying a preset first judgment condition, controlling the transmission system through the control system to drive the movable platform to ascend at a first speed; Step S220: In response to the position difference between the moving platform and the preset position mark not satisfying a preset first judgment condition, the control system controls the transmission system to drive the moving platform to rise at a second speed.

4. The force-position hybrid dynamic control method for a laser welding machine according to claim 1, characterized in that: The step S4, obtaining the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece based on the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is freely rising before mold closing, includes: Step S400, calculating the difference between the force data of the moving platform detected by the pressure sensor and the pressure value when the moving platform is rising freely before mold closing, and obtaining the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece; The step S5 of judging whether the dynamic platform and the static platform have entered the mold clamping working state based on the current clamping force includes: Step S500: determining whether the current clamping force satisfies a preset second determination condition; Step S510: In response to a preset second judgment condition being met, determining that the movable platform and the static platform enter a mold clamping start state; Step S520: In response to the second preset judgment condition not being met, go to step S3.

5. The force-position hybrid dynamic control method for a laser welding machine according to claim 1, characterized in that: The step S6, in response to the dynamic platform and the static platform entering the mold clamping working state, the control system controls the transmission system to adjust the rotation speed of the servo motor based on a preset force-position mixing strategy, includes: Step S600: The control system calculates a force deviation signal based on the current clamping force and a preset target clamping force; Step S610: converting the force deviation signal into a position signal using a force-position conversion coefficient; Step S620: Compensating the output angle based on the angle compensation amount of the transmission shaft under the preset target clamping force to obtain a compensated output angle; Step S630: The control system controls the transmission system to adjust the rotation speed of the servo motor through a PID controller based on the position signal and the compensated output angle.

6. The force-position hybrid dynamic control method for a laser welding machine according to claim 5, characterized in that: The force deviation signal is calculated as follows: yes f (t)=F1+F0-F(t); The calculation formula for converting the force deviation signal into a position signal using the force-position conversion coefficient in step S610 is: ΔL=C F ×e f (t); The output angle calculation formula in step S620 is: Where θ(t) is the cumulative rotation angle that the servo motor should reach at time t, Δθ is the rotation angle change caused by position deviation, and Δθ is the rotation angle change caused by position deviation. 补 Expressed as the angle compensation caused by force deviation, C F represents the force-position conversion coefficient, l represents the arm length from the pressure sensor to the point of action, r represents the transmission radius of the ball screw pair, i represents the reduction ratio between the servo motor and the screw, η represents the overall transmission efficiency of the servo system, L represents the lead of the ball screw, G represents the shear elastic modulus of the material, I p Expressed as the polar moment of inertia of the screw section, e f (t) is represented as the force deviation signal, F1 is represented as the target clamping force, F0 is represented as the pressure value when the movable platform rises freely before mold closing, F(t) is represented as the force data of the movable platform detected by the pressure sensor, and ΔL is represented as the position signal.

7. The force-position hybrid dynamic control method for a laser welding machine according to claim 5, characterized in that: The step S630, wherein the control system controls the transmission system to adjust the rotation speed of the servo motor through a PID controller based on the position signal and the compensated output angle, includes: Step S6300: The control system uses the position signal and the compensated output angle as input parameters of a position controller integrated in the transmission system; Step S6301: The position controller calculates a control quantity based on a PID control algorithm, and outputs a pulse signal or voltage signal corresponding to the control quantity to adjust the speed of the servo motor.

8. The force-position hybrid dynamic control method for a laser welding machine according to claim 1, characterized in that: In step S11, in response to the pressure being not less than a preset threshold, the control system controls the transmission system to enter a dynamic pressure-maintaining working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to drive the platform to slowly rise, and further includes: Step S13: After the control system controls the transmission system to maintain the dynamic pressure holding working mode for a preset time, the process goes to step S9 until the laser welding work is completed.

9. The force-position hybrid dynamic control method for a laser welding machine according to claim 1, characterized in that: The method further comprises: Step S14: acquiring the current position information of the moving platform at preset time intervals during the laser welding process of the laser system; Step S15: determining whether a fifth judgment condition is met based on a distance difference between the location information obtained at the current time and the location information obtained at the previous time interval; Step S16: In response to the fifth judgment condition being met, the control system issues an abnormal position alarm signal for the movable platform, stops the welding operation and goes to step S12.

10. A force-position hybrid dynamic control system for a laser welding machine, implemented by the force-position hybrid dynamic control method for a laser welding machine according to any one of claims 1 to 9, characterized in that: The force-position hybrid dynamic control system includes: The dynamic control subsystem for the moving platform ascent is adapted to obtain the current position information of the moving platform in real time; and dynamically control the ascent speed of the moving platform based on the current position information of the moving platform and a preset position flag; The pre-clamping control subsystem is adapted to obtain, in real time, force data of the moving platform through a pressure sensor when the moving platform rises to a preset position mark; obtain, based on the force data of the moving platform detected by the pressure sensor and the pressure value of the moving platform during free rise before mold closing, the current clamping force of the lower jig placed on the moving platform and the upper jig placed on the static platform on the workpiece; and determine, based on the current clamping force, whether the moving platform and the static platform have entered a state for starting mold closing; a force-position conversion and compensation control subsystem adapted to control the transmission system to adjust the rotational speed of the servo motor based on a preset force-position mixing strategy in response to the dynamic platform and the static platform entering a mold clamping working state; The welding and dynamic pressure-holding control subsystem is adapted to determine whether the difference between the current clamping force and the preset target clamping force satisfies a preset third judgment condition; in response to the preset third judgment condition being satisfied, the control system controls the laser system to start laser welding; during the laser welding process, the control system determines whether the difference between the current clamping force and the preset target clamping force is less than a preset pressure threshold; in response to the pressure being less than the preset pressure threshold, the control system controls the servo motor to operate at the current speed; in response to the pressure being not less than the preset threshold, the control system controls the transmission system to enter a dynamic pressure-holding working mode, controls the servo motor to rotate at a preset speed, and drives the transmission system to slowly raise the platform; The moving platform retraction control subsystem is suitable for controlling the transmission system to drive the moving platform back to the initial position at a preset third speed after the laser welding work is completed.

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